fix(arcor2_dobot): bias conv to mm for dobot

README.md

@@ -78,7 +78,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_dobot/README.md) | [CHANGELOG](src/python/arcor2_dobot/CHANGELOG.md)
 
- - 2024-02-08: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-dobot/1.1.0/)).
+ - 2024-02-20: [1.1.1](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.1.1) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.1.1), [pypi](https://pypi.org/project/arcor2-dobot/1.1.1/)).
 
 ### arcor2_execution
 

compose-files/fit-demo/docker-compose.lab.yml

@@ -4,15 +4,15 @@ services:
   fit-demo-dobot-magician:
     environment:
       - ARCOR2_DOBOT_MOCK=false
-      - ARCOR2_DOBOT_BIAS_X=0.06
-      - ARCOR2_DOBOT_BIAS_Z=-0.06
+      - ARCOR2_DOBOT_BIAS_X=0.0597
+      - ARCOR2_DOBOT_BIAS_Z=0.06
     devices:
       - /dev/dobotMagician:/dev/dobot
   fit-demo-dobot-magician2:
     environment:
       - ARCOR2_DOBOT_MOCK=false
-      - ARCOR2_DOBOT_BIAS_X=0.06
-      - ARCOR2_DOBOT_BIAS_Z=-0.06
+      - ARCOR2_DOBOT_BIAS_X=0.0597
+      - ARCOR2_DOBOT_BIAS_Z=0.06
     devices:
       - /dev/dobotMagician2:/dev/dobot
 

compose-files/fit-demo/docker-compose.yml

@@ -98,7 +98,7 @@ services:
       - ./calibration.yaml:/root/calibration.yaml
 
   fit-demo-dobot-magician:
-    image: arcor2/arcor2_dobot:1.1.0
+    image: arcor2/arcor2_dobot:1.1.1
     container_name: fit-demo-dobot-magician
     depends_on:
       fit-demo-scene:
@@ -114,7 +114,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-magician2:
-    image: arcor2/arcor2_dobot:1.1.0
+    image: arcor2/arcor2_dobot:1.1.1
     container_name: fit-demo-dobot-magician2
     depends_on:
       fit-demo-scene:
@@ -130,7 +130,7 @@ services:
       - ARCOR2_DOBOT_MODEL=magician
 
   fit-demo-dobot-m1:
-    image: arcor2/arcor2_dobot:1.1.0
+    image: arcor2/arcor2_dobot:1.1.1
     container_name: fit-demo-dobot-m1
     depends_on:
       fit-demo-scene:

src/docker/arcor2_dobot/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.1.0"])
+docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.1.1"])

src/python/arcor2_dobot/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.1.1] - 2024-02-20
+
+### Fixed
+
+- Biases are now converted to millimeters when sent to robot.
+
 ## [1.1.0] - 2024-02-08
 
 ### Changed

src/python/arcor2_dobot/VERSION

@@ -1 +1 @@
-1.1.0
+1.1.1

src/python/arcor2_dobot/dobot.py

@@ -19,6 +19,10 @@
 BIAS_Y = get_float("ARCOR2_DOBOT_BIAS_Y", 0.0)
 BIAS_Z = get_float("ARCOR2_DOBOT_BIAS_Z", 0.0)
 
+assert BIAS_X >= 0
+assert BIAS_Y >= 0
+assert BIAS_Z >= 0
+
 
 class DobotException(RobotException):
     pass
@@ -52,7 +56,8 @@ def __init__(self, pose: Pose, port: str = "/dev/dobot", simulator: bool = False
             except DobotApiException as e:
                 raise DobotApiException("Could not connect to the robot.") from e
 
-            self._dobot.set_end_effector_params(BIAS_X, BIAS_Y, BIAS_Z)
+            # bias has to be converted to millimeters
+            self._dobot.set_end_effector_params(BIAS_X * 1000, BIAS_Y * 1000, BIAS_Z * 1000)
 
         else:
             self._joint_values: list[Joint] = []  # has to be set to some initial value in derived classes

src/python/arcor2_dobot/magician.py

@@ -21,7 +21,7 @@ class DobotMagician(Dobot):
     link_2_length = 0.135
     link_3_length = 0.147
     link_4_length = BIAS_X
-    end_effector_length = -BIAS_Z
+    end_effector_length = BIAS_Z
 
     def __init__(self, pose: Pose, port: str = "/dev/dobot", simulator: bool = False) -> None:
         super(DobotMagician, self).__init__(pose, port, simulator)