diff --git a/3rdparty/constraints.txt b/3rdparty/constraints.txt
index 88376112d..468c84e34 100644
--- a/3rdparty/constraints.txt
+++ b/3rdparty/constraints.txt
@@ -9,16 +9,16 @@
 //     "CPython==3.11.*"
 //   ],
 //   "generated_with_requirements": [
-//     "Cython~=0.29.37",
-//     "Flask~=3.0.2",
-//     "Pillow~=10.2.0",
+//     "Cython~=3.0.10",
+//     "Flask~=3.0.3",
+//     "Pillow~=10.3.0",
 //     "PyYAML~=6.0.1",
 //     "aiofiles~=23.2.1",
 //     "aiologger~=0.7.0",
-//     "aiorun~=2023.7.2",
+//     "aiorun~=2024.5.1",
 //     "apispec-webframeworks~=1.1.0",
-//     "apispec[yaml]~=6.6.0",
-//     "autopep8~=2.1.0",
+//     "apispec[yaml]~=6.6.1",
+//     "autopep8~=2.2.0",
 //     "ciso8601~=2.3.1",
 //     "colorlog~=6.8.2",
 //     "dataclasses-jsonschema[apispec,fast-dateparsing,fast-validation]~=2.16.0",
@@ -26,7 +26,7 @@
 //     "fanucpy~=0.1.14",
 //     "fastuuid~=0.8.0",
 //     "flask-swagger-ui~=4.11.1",
-//     "flask_cors~=4.0.0",
+//     "flask_cors~=4.0.1",
 //     "gTTS~=2.5.1",
 //     "hidapi~=0.14.0",
 //     "lru-dict~=1.3.0",
@@ -35,34 +35,35 @@
 //     "open3d==0.18.0",
 //     "openapi-spec-validator~=0.7.1",
 //     "opencv-contrib-python~=4.9.0.80",
-//     "orjson~=3.9.15",
+//     "opencv-stubs[opencv-contrib]==0.0.9",
+//     "orjson~=3.10.3",
 //     "packaging~=24.0",
 //     "pydub-stubs==0.25.1.1",
 //     "pydub~=0.25.1",
 //     "pyhumps==3.8.0",
 //     "pyk4a@ git+https://github.com/Jakub-Dv/pyk4a.git@feature/body-tracking",
 //     "pyserial~=3.5",
-//     "pyspacemouse~=1.1.1",
-//     "pytest-asyncio~=0.23.6",
+//     "pyspacemouse~=1.1.3",
+//     "pytest-asyncio~=0.23.7",
 //     "pytest-randomly~=3.15.0",
 //     "pytest-repeat~=0.9.3",
-//     "pytest~=8.1.1",
+//     "pytest~=8.2.2",
 //     "python-dateutil~=2.9.0.post0",
-//     "requests~=2.31.0",
-//     "setuptools~=69.2.0",
+//     "requests~=2.32.3",
+//     "setuptools~=70.0.0",
 //     "sqlitedict~=2.1.0",
 //     "types-PyYAML==6.0.12.20240311",
-//     "types-aiofiles==23.2.0.20240311",
+//     "types-aiofiles==23.2.0.20240403",
 //     "types-orjson==3.6.2",
 //     "types-playsound~=1.3.1.3",
 //     "types-python-dateutil==2.9.0.20240316",
-//     "types-requests==2.31.0.20240311",
-//     "types-setuptools==69.2.0.20240317",
+//     "types-requests==2.32.0.20240602",
+//     "types-setuptools==70.0.0.20240524",
 //     "typing-inspect~=0.9.0",
 //     "urdfpy~=0.0.22",
-//     "websocket-client~=1.7.0",
+//     "websocket-client~=1.8.0",
 //     "websockets~=12.0",
-//     "werkzeug~=3.0.1"
+//     "werkzeug~=3.0.3"
 //   ],
 //   "manylinux": "manylinux2014",
 //   "requirement_constraints": [],
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@@ -150,19 +151,19 @@
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@@ -177,13 +178,13 @@
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             "pyyaml==6.0.1; extra == \"docs\"",
-            "sphinx-issues==4.0.0; extra == \"docs\"",
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+            "sphinx==7.3.7; extra == \"docs\"",
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@@ -299,43 +300,43 @@
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-              "url": "https://files.pythonhosted.org/packages/e0/c9/de22c040d4c821c6c797ca1d720f1f4b2f4293d5757e811c62ae544496c4/pytest_asyncio-0.23.6-py3-none-any.whl"
+              "hash": "009b48127fbe44518a547bddd25611551b0e43ccdbf1e67d12479f569832c20b",
+              "url": "https://files.pythonhosted.org/packages/e5/98/947690b1a79af83e584143cb904497caff05bb6016614b38326a81076357/pytest_asyncio-0.23.7-py3-none-any.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "ffe523a89c1c222598c76856e76852b787504ddb72dd5d9b6617ffa8aa2cde5f",
-              "url": "https://files.pythonhosted.org/packages/cd/ef/80107b9e939875ad613c705d99d91e4510dcf5fed29613ac9aecbcba0a8d/pytest-asyncio-0.23.6.tar.gz"
+              "hash": "5f5c72948f4c49e7db4f29f2521d4031f1c27f86e57b046126654083d4770268",
+              "url": "https://files.pythonhosted.org/packages/13/d9/1dcac9b3fc6eccf8f1e3a657439c11ffc5cf762edd20f65577f832ba248b/pytest_asyncio-0.23.7.tar.gz"
             }
           ],
           "project_name": "pytest-asyncio",
@@ -258,7 +262,7 @@
             "sphinx>=5.3; extra == \"docs\""
           ],
           "requires_python": ">=3.8",
-          "version": "0.23.6"
+          "version": "0.23.7"
         },
         {
           "artifacts": [
@@ -353,9 +357,11 @@
       "platform_tag": null
     }
   ],
+  "only_builds": [],
+  "only_wheels": [],
   "path_mappings": {},
-  "pex_version": "2.1.148",
-  "pip_version": "23.1.2",
+  "pex_version": "2.3.1",
+  "pip_version": "24.0",
   "prefer_older_binary": false,
   "requirements": [
     "pygments",
diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt
index b6220fd8b..3ff0f2820 100644
--- a/3rdparty/requirements.txt
+++ b/3rdparty/requirements.txt
@@ -1,13 +1,13 @@
-Cython~=0.29.37
-Flask~=3.0.2
-Pillow~=10.2.0
+Cython~=3.0.10
+Flask~=3.0.3
+Pillow~=10.3.0
 PyYAML~=6.0.1
 aiofiles~=23.2.1
 aiologger~=0.7.0
-aiorun~=2023.7.2
+aiorun~=2024.5.1
 apispec-webframeworks~=1.1.0  # dependency on Flask has to be specified manually!
-apispec[yaml]~=6.6.0
-autopep8~=2.1.0
+apispec[yaml]~=6.6.1
+autopep8~=2.2.0
 colorlog~=6.8.2
 ciso8601~=2.3.1
 dataclasses-jsonschema[fast-validation,apispec,fast-dateparsing]~=2.16.0
@@ -15,7 +15,7 @@ easyhid~=0.0.10
 fanucpy~=0.1.14
 fastuuid~=0.8.0
 flask-swagger-ui~=4.11.1
-flask_cors~=4.0.0
+flask_cors~=4.0.1
 gTTS~=2.5.1
 hidapi~=0.14.0
 lru-dict~=1.3.0
@@ -24,31 +24,32 @@ numpy~=1.26.4
 open3d==0.18.0
 openapi-spec-validator~=0.7.1
 opencv-contrib-python~=4.9.0.80
-orjson~=3.9.15
+orjson~=3.10.3
 packaging~=24.0
 pydub~=0.25.1
 pyhumps==3.8.0
 pyk4a@ git+https://github.com/Jakub-Dv/pyk4a.git@feature/body-tracking
 pyserial~=3.5
-pyspacemouse~=1.1.1
-pytest-asyncio~=0.23.6
+pyspacemouse~=1.1.3
+pytest-asyncio~=0.23.7
 pytest-randomly~=3.15.0
 pytest-repeat~=0.9.3
-pytest~=8.1.1
+pytest~=8.2.2
 python-dateutil~=2.9.0.post0
-requests~=2.31.0
-setuptools~=69.2.0
+requests~=2.32.3
+setuptools~=70.0.0
 sqlitedict~=2.1.0
 types-playsound~=1.3.1.3
 typing-inspect~=0.9.0
 urdfpy~=0.0.22
-websocket-client~=1.7.0
+websocket-client~=1.8.0
 websockets~=12.0
-werkzeug~=3.0.1
+werkzeug~=3.0.3
 types-PyYAML==6.0.12.20240311
-types-aiofiles==23.2.0.20240311
+types-aiofiles==23.2.0.20240403
 types-orjson==3.6.2
 types-python-dateutil==2.9.0.20240316
-types-requests==2.31.0.20240311
-types-setuptools==69.2.0.20240317
+types-requests==2.32.0.20240602
+types-setuptools==70.0.0.20240524
 pydub-stubs==0.25.1.1
+opencv-stubs[opencv-contrib]==0.0.9
diff --git a/README.md b/README.md
index 74293efd5..5772817b9 100644
--- a/README.md
+++ b/README.md
@@ -36,7 +36,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2/README.md) | [CHANGELOG](src/python/arcor2/CHANGELOG.md)
 
- - 2024-04-11: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2%2F1.3.0) ([pypi](https://pypi.org/project/arcor2/1.3.0/)).
+ - 2024-06-14: [1.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2%2F1.4.0) ([pypi](https://pypi.org/project/arcor2/1.4.0/)).
  
 ### arcor2_arserver
 
@@ -54,7 +54,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_build/README.md) | [CHANGELOG](src/python/arcor2_build/CHANGELOG.md)
 
- - 2024-05-22: [1.5.0](https://github.com/robofit/arcor2/releases/tag/arcor2_build%2F1.5.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_build/tags?page=1&ordering=last_updated&name=1.5.0), [pypi](https://pypi.org/project/arcor2-build/1.5.0/)).
+ - 2024-06-14: [1.6.0](https://github.com/robofit/arcor2/releases/tag/arcor2_build%2F1.6.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_build/tags?page=1&ordering=last_updated&name=1.6.0), [pypi](https://pypi.org/project/arcor2-build/1.6.0/)).
 
 ### arcor2_build_data
 
@@ -84,7 +84,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_execution/README.md) | [CHANGELOG](src/python/arcor2_execution/CHANGELOG.md)
 
- - 2024-04-11: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution%2F1.3.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution/tags?page=1&ordering=last_updated&name=1.3.0), [pypi](https://pypi.org/project/arcor2-execution/1.3.0/)).
+ - 2024-06-14: [1.4.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution%2F1.4.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution/tags?page=1&ordering=last_updated&name=1.4.0), [pypi](https://pypi.org/project/arcor2-execution/1.4.0/)).
  
 ### arcor2_execution_data
 
@@ -96,7 +96,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_execution_rest_proxy/README.md) | [CHANGELOG](src/python/arcor2_execution_rest_proxy/CHANGELOG.md)
 
- - 2024-04-11: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_rest_proxy%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution_proxy/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-execution-rest-proxy/1.1.0/)).
+ - 2024-06-14: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_execution_rest_proxy%2F1.2.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_execution_proxy/tags?page=1&ordering=last_updated&name=1.2.0), [pypi](https://pypi.org/project/arcor2-execution-rest-proxy/1.2.0/)).
  
 ### arcor2_fanuc
 
@@ -139,7 +139,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
 
 [README](src/python/arcor2_runtime/README.md) | [CHANGELOG](src/python/arcor2_runtime/CHANGELOG.md)
 
- - 2024-04-11: [1.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_runtime%2F1.2.0) ([pypi](https://pypi.org/project/arcor2-runtime/1.2.0/)).
+ - 2024-06-14: [1.3.0](https://github.com/robofit/arcor2/releases/tag/arcor2_runtime%2F1.3.0) ([pypi](https://pypi.org/project/arcor2-runtime/1.3.0/)).
 
 ### arcor2_scene
 
diff --git a/compose-files/fit-demo/docker-compose.yml b/compose-files/fit-demo/docker-compose.yml
index e51487b06..4500bd68a 100644
--- a/compose-files/fit-demo/docker-compose.yml
+++ b/compose-files/fit-demo/docker-compose.yml
@@ -47,7 +47,7 @@ services:
       - ARCOR2_KINECT_AZURE_URL=http://192.168.104.100:5017 # Run kinect using pants
 
   fit-demo-build:
-    image: arcor2/arcor2_build:1.5.0
+    image: arcor2/arcor2_build:1.6.0
     container_name: fit-demo-build
     depends_on:
       fit-demo-project:
@@ -61,7 +61,7 @@ services:
       - fit-demo-project-network
 
   fit-demo-execution:
-    image: arcor2/arcor2_execution:1.3.0
+    image: arcor2/arcor2_execution:1.4.0
     container_name: fit-demo-execution
     networks:
       - fit-demo-execution-network
@@ -75,6 +75,22 @@ services:
     volumes:
         - fit-demo-execution:/root/project
 
+  fit-demo-execution-proxy:
+    image: arcor2/arcor2_execution_proxy:1.2.0
+    container_name: fit-demo-execution-proxy
+    networks:
+      - fit-demo-execution-network
+    environment:
+      - ARCOR2_PROJECT_PATH=/root/project
+      - ARCOR2_EXECUTION_URL=ws://fit-demo-execution:6790
+    depends_on:
+      fit-demo-execution:
+        condition: service_started
+    volumes:
+      - fit-demo-execution:/root/project
+    ports:
+      - "5009:5009"
+
   fit-demo-kinect:
     image: arcor2/arcor2_kinect_azure:0.8.0
     container_name: fit-demo-kinect
@@ -170,7 +186,7 @@ services:
       - "5013:5013"
 
   fit-demo-asset:
-    image: registry.gitlab.com/kinalisoft/test-it-off/asset:2.0.0
+    image: registry.gitlab.com/kinalisoft/test-it-off/asset:2.0.2
     container_name: "fit-demo-asset"
     environment:
         - "ASSETS_FOLDER=/tmp/assets"
@@ -184,7 +200,7 @@ services:
         - "10040:10040"
 
   fit-demo-project:
-    image: registry.gitlab.com/kinalisoft/test-it-off/project:2.0.0
+    image: registry.gitlab.com/kinalisoft/test-it-off/project:2.0.1
     container_name: "fit-demo-project"
     ports:
       - "10000-10001:10000-10001"
diff --git a/mypy.ini b/mypy.ini
index 75d734a05..5f494d78a 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -100,3 +100,9 @@ ignore_missing_imports = True
 
 [mypy-gtts.*]
 ignore_missing_imports = True
+
+[mypy-yaml]
+ignore_missing_imports = True
+
+[mypy-dateutil]
+ignore_missing_imports = True
diff --git a/pants.toml b/pants.toml
index 38a25eb53..ffd9a1f3a 100644
--- a/pants.toml
+++ b/pants.toml
@@ -1,5 +1,5 @@
 [GLOBAL]
-pants_version = "2.19.0"
+pants_version = "2.21.0"
 colors = true
 process_execution_local_parallelism = 4
 
diff --git a/src/docker/arcor2_3d_mouse/Dockerfile b/src/docker/arcor2_3d_mouse/Dockerfile
index 49ebb1ca8..34815edd3 100644
--- a/src/docker/arcor2_3d_mouse/Dockerfile
+++ b/src/docker/arcor2_3d_mouse/Dockerfile
@@ -1,14 +1,14 @@
 
 
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_3d_mouse.scripts/mouse_launcher.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_3d_mouse.scripts/mouse_launcher.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
diff --git a/src/docker/arcor2_arserver/Dockerfile b/src/docker/arcor2_arserver/Dockerfile
index d4d1c68f6..13884694d 100644
--- a/src/docker/arcor2_arserver/Dockerfile
+++ b/src/docker/arcor2_arserver/Dockerfile
@@ -1,15 +1,15 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_build/BUILD b/src/docker/arcor2_build/BUILD
index 4f90bab58..32e3d58bc 100644
--- a/src/docker/arcor2_build/BUILD
+++ b/src/docker/arcor2_build/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_build", repository="arcor2/arcor2_build", image_tags=["1.5.0"])
+docker_image(name="arcor2_build", repository="arcor2/arcor2_build", image_tags=["1.6.0"])
diff --git a/src/docker/arcor2_build/Dockerfile b/src/docker/arcor2_build/Dockerfile
index cdd2b40b3..6e55676ee 100644
--- a/src/docker/arcor2_build/Dockerfile
+++ b/src/docker/arcor2_build/Dockerfile
@@ -1,16 +1,16 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_build.scripts/build.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_build.scripts/build.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 curl=7.88.1-10+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_calibration/Dockerfile b/src/docker/arcor2_calibration/Dockerfile
index 78c09a7d0..6e1149261 100644
--- a/src/docker/arcor2_calibration/Dockerfile
+++ b/src/docker/arcor2_calibration/Dockerfile
@@ -1,17 +1,17 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # libgomp1 and libusb-1.0-0 are because of Open3D
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_dobot/Dockerfile b/src/docker/arcor2_dobot/Dockerfile
index 9c566877e..1cb2d3233 100644
--- a/src/docker/arcor2_dobot/Dockerfile
+++ b/src/docker/arcor2_dobot/Dockerfile
@@ -1,16 +1,16 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_execution/BUILD b/src/docker/arcor2_execution/BUILD
index d4f3cf8f9..fda5781eb 100644
--- a/src/docker/arcor2_execution/BUILD
+++ b/src/docker/arcor2_execution/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_execution", repository="arcor2/arcor2_execution", image_tags=["1.3.0"])
+docker_image(name="arcor2_execution", repository="arcor2/arcor2_execution", image_tags=["1.4.0"])
diff --git a/src/docker/arcor2_execution/Dockerfile b/src/docker/arcor2_execution/Dockerfile
index 635bb581a..52d8a27c2 100644
--- a/src/docker/arcor2_execution/Dockerfile
+++ b/src/docker/arcor2_execution/Dockerfile
@@ -1,15 +1,15 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_execution_proxy/BUILD b/src/docker/arcor2_execution_proxy/BUILD
index b548f49a6..8870e356c 100644
--- a/src/docker/arcor2_execution_proxy/BUILD
+++ b/src/docker/arcor2_execution_proxy/BUILD
@@ -1,5 +1,5 @@
 docker_image(
     name="arcor2_execution_proxy",
     repository="arcor2/arcor2_execution_proxy",
-    image_tags=["1.1.0"],
+    image_tags=["1.2.0"],
 )
diff --git a/src/docker/arcor2_execution_proxy/Dockerfile b/src/docker/arcor2_execution_proxy/Dockerfile
index 8b6afa37b..fc8824ff8 100644
--- a/src/docker/arcor2_execution_proxy/Dockerfile
+++ b/src/docker/arcor2_execution_proxy/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 RUN mkdir -p /root/tokens \
 	&& mkdir -p /root/project
diff --git a/src/docker/arcor2_fanuc/Dockerfile b/src/docker/arcor2_fanuc/Dockerfile
index cd0764ac4..19ce73951 100644
--- a/src/docker/arcor2_fanuc/Dockerfile
+++ b/src/docker/arcor2_fanuc/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_fanuc.scripts/fanuc.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_fanuc.scripts/fanuc.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # curl is for healthcheck
 RUN apt-get update \
diff --git a/src/docker/arcor2_fanuc_upload_object_types/Dockerfile b/src/docker/arcor2_fanuc_upload_object_types/Dockerfile
index 4f08542f1..8b192c804 100644
--- a/src/docker/arcor2_fanuc_upload_object_types/Dockerfile
+++ b/src/docker/arcor2_fanuc_upload_object_types/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_fanuc.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_fanuc.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
diff --git a/src/docker/arcor2_kinect_azure/Dockerfile b/src/docker/arcor2_kinect_azure/Dockerfile
index 77a0166bf..d5f2f6df2 100644
--- a/src/docker/arcor2_kinect_azure/Dockerfile
+++ b/src/docker/arcor2_kinect_azure/Dockerfile
@@ -1,18 +1,18 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 COPY build-support/install_kinect_prerequisites.sh /root/install_kinect_prerequisites.sh
 
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 gnupg2=2.2.40-1.1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 gnupg2=2.2.40-1.1 curl=7.88.1-10+deb12u5 \
         && /root/install_kinect_prerequisites.sh \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
diff --git a/src/docker/arcor2_scene/Dockerfile b/src/docker/arcor2_scene/Dockerfile
index 1eb1900f6..d881d06de 100644
--- a/src/docker/arcor2_scene/Dockerfile
+++ b/src/docker/arcor2_scene/Dockerfile
@@ -1,17 +1,17 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 # libgomp1 and libusb-1.0-0 are because of Open3D
 # curl is for healthcheck
 RUN apt-get update \
-        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
+        && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 libgomp1=12.2.0-14 libusb-1.0-0=2:1.0.26-1 curl=7.88.1-10+deb12u5 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
diff --git a/src/docker/arcor2_upload_builtin_objects/Dockerfile b/src/docker/arcor2_upload_builtin_objects/Dockerfile
index fe0e8cd3e..ae4b8401d 100644
--- a/src/docker/arcor2_upload_builtin_objects/Dockerfile
+++ b/src/docker/arcor2_upload_builtin_objects/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2.scripts/upload_builtin_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2.scripts/upload_builtin_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
diff --git a/src/docker/arcor2_upload_fit_demo/Dockerfile b/src/docker/arcor2_upload_fit_demo/Dockerfile
index 4306c8a41..5e546ac3a 100644
--- a/src/docker/arcor2_upload_fit_demo/Dockerfile
+++ b/src/docker/arcor2_upload_fit_demo/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.11.8-bookworm as deps
+FROM python:3.11.9-bookworm as deps
 COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.11.8-bookworm as srcs
+FROM python:3.11.9-bookworm as srcs
 COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.11.8-bookworm
+FROM python:3.11.9-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
diff --git a/src/python/arcor2/CHANGELOG.md b/src/python/arcor2/CHANGELOG.md
index 99c15d48c..391cc7b14 100644
--- a/src/python/arcor2/CHANGELOG.md
+++ b/src/python/arcor2/CHANGELOG.md
@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.4.0] - 2024-06-14
+
+### Changed
+
+- Optional `thread_id` added to `ActionStateBefore` - the value is supposed to be set for any action running on a thread other than main.
+
 ## [1.3.0] - 2024-04-11
 
 ### Changed
diff --git a/src/python/arcor2/VERSION b/src/python/arcor2/VERSION
index 589268e6f..e21e727f9 100644
--- a/src/python/arcor2/VERSION
+++ b/src/python/arcor2/VERSION
@@ -1 +1 @@
-1.3.0
\ No newline at end of file
+1.4.0
\ No newline at end of file
diff --git a/src/python/arcor2/data/events.py b/src/python/arcor2/data/events.py
index 247ebb819..768bdc452 100644
--- a/src/python/arcor2/data/events.py
+++ b/src/python/arcor2/data/events.py
@@ -126,6 +126,8 @@ class Data(JsonSchemaMixin):
         # might or might not be set in other cases
         action_point_ids: Optional[set[str]] = None
 
+        thread_id: Optional[int] = None  # unique identifier of a thread, not set for the main thread
+
     data: Data
 
 
diff --git a/src/python/arcor2_build/CHANGELOG.md b/src/python/arcor2_build/CHANGELOG.md
index 48d0116e6..ce4e4a484 100644
--- a/src/python/arcor2_build/CHANGELOG.md
+++ b/src/python/arcor2_build/CHANGELOG.md
@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.6.0] - 2024-06-14
+
+### Changed
+
+- Dependency on `arcor2_runtime~=1.3.0`.
+
 ## [1.5.0] - 2024-05-22
 
 ### Changed
diff --git a/src/python/arcor2_build/VERSION b/src/python/arcor2_build/VERSION
index 3e1ad720b..ce6a70b9d 100644
--- a/src/python/arcor2_build/VERSION
+++ b/src/python/arcor2_build/VERSION
@@ -1 +1 @@
-1.5.0
\ No newline at end of file
+1.6.0
\ No newline at end of file
diff --git a/src/python/arcor2_calibration/robot.py b/src/python/arcor2_calibration/robot.py
index 01b36d6ca..0a9ba44a8 100644
--- a/src/python/arcor2_calibration/robot.py
+++ b/src/python/arcor2_calibration/robot.py
@@ -49,7 +49,7 @@ def calibrate_robot(
     camera_pose: Pose,
     camera_parameters: CameraParameters,
     robot: URDF,
-    depth_image: Image,
+    depth_image: Image.Image,
     draw_results: bool = False,
 ) -> Pose:
     logger.info("Creating robot model...")
diff --git a/src/python/arcor2_execution/CHANGELOG.md b/src/python/arcor2_execution/CHANGELOG.md
index 5b8118f81..410c00b37 100644
--- a/src/python/arcor2_execution/CHANGELOG.md
+++ b/src/python/arcor2_execution/CHANGELOG.md
@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.4.0] - 2024-06-14
+
+### Changed
+
+- Dependency on `arcor2_runtime~=1.3.0`.
+
 ## [1.3.0] - 2024-04-11
 
 ### Changed
diff --git a/src/python/arcor2_execution/VERSION b/src/python/arcor2_execution/VERSION
index 589268e6f..e21e727f9 100644
--- a/src/python/arcor2_execution/VERSION
+++ b/src/python/arcor2_execution/VERSION
@@ -1 +1 @@
-1.3.0
\ No newline at end of file
+1.4.0
\ No newline at end of file
diff --git a/src/python/arcor2_execution/scripts/execution.py b/src/python/arcor2_execution/scripts/execution.py
index 84387b514..c86a9c97b 100644
--- a/src/python/arcor2_execution/scripts/execution.py
+++ b/src/python/arcor2_execution/scripts/execution.py
@@ -185,9 +185,11 @@ async def _update_executed(package_id: str) -> None:
     args = [script_path]
 
     if req.args.start_paused:
+        logger.warning("The script will be paused before the first action.")
         args.append("-p")
 
     if req.args.breakpoints:
+        logger.warning(f"Configured breakpoints: {', '.join(req.args.breakpoints)}.")
         args.append(f"-b \"{','.join(req.args.breakpoints)}\"")
 
     logger.info(f"Starting script: {script_path}")
diff --git a/src/python/arcor2_execution_rest_proxy/CHANGELOG.md b/src/python/arcor2_execution_rest_proxy/CHANGELOG.md
index 1ea40d383..96543a6f8 100644
--- a/src/python/arcor2_execution_rest_proxy/CHANGELOG.md
+++ b/src/python/arcor2_execution_rest_proxy/CHANGELOG.md
@@ -2,6 +2,16 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.2.0] - 2024-06-14
+
+### Changed
+
+- `ExecutionInfo` contains action point IDs from all threads.
+
+### Fixed
+
+- It was not possible to clear breakpoints (send empty array) using Swagger.
+
 ## [1.1.0] - 2024-04-11
 
 ### Changed
diff --git a/src/python/arcor2_execution_rest_proxy/VERSION b/src/python/arcor2_execution_rest_proxy/VERSION
index 1cc5f657e..867e52437 100644
--- a/src/python/arcor2_execution_rest_proxy/VERSION
+++ b/src/python/arcor2_execution_rest_proxy/VERSION
@@ -1 +1 @@
-1.1.0
\ No newline at end of file
+1.2.0
\ No newline at end of file
diff --git a/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py b/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py
index f98d211d4..c57abddee 100644
--- a/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py
+++ b/src/python/arcor2_execution_rest_proxy/scripts/execution_rest_proxy.py
@@ -25,7 +25,7 @@
 from arcor2 import json
 from arcor2.data import events
 from arcor2.data import rpc as arcor2_rpc
-from arcor2.data.events import ActionStateAfter, ActionStateBefore, PackageInfo, PackageState, ProjectException
+from arcor2.data.events import ActionStateBefore, PackageInfo, PackageState, ProjectException
 from arcor2.data.rpc import get_id
 from arcor2.flask import RespT, create_app, run_app
 from arcor2_execution_data import EVENTS, EXPOSED_RPCS
@@ -177,8 +177,7 @@ class Token(JsonSchemaMixin):
 
 # hold last action state for AP visualization
 # do not unset ActionStateBefore event, this information might be used even after ActionStateAfter event
-action_state_before: None | ActionStateBefore.Data = None
-action_state_after: None | ActionStateAfter.Data = None
+action_state_before: dict[int | None, ActionStateBefore.Data] = {}
 
 breakpoints: dict[str, set[str]] = {}
 
@@ -195,8 +194,6 @@ def tokens_db():
 def ws_thread() -> None:  # TODO use (refactored) arserver client
     global package_info
     global package_state
-    global action_state_before
-    global action_state_after
     assert ws
 
     event_mapping: dict[str, type[events.Event]] = {evt.__name__: evt for evt in EVENTS}
@@ -220,16 +217,14 @@ def ws_thread() -> None:  # TODO use (refactored) arserver client
 
                 if package_state.state == PackageState.Data.StateEnum.RUNNING:
                     exception_messages.clear()
+                    action_state_before.clear()
+                elif package_state.state == PackageState.Data.StateEnum.STOPPED:
+                    action_state_before.clear()
 
             elif isinstance(evt, ProjectException):
                 exception_messages.append(evt.data.message)
             elif isinstance(evt, ActionStateBefore):
-                # assume ActionStateBefore event to be fired always before ActionStateAfter
-                # thus ActionStateBefore here belong to previous action - unset it
-                action_state_after = None
-                action_state_before = evt.data
-            elif isinstance(evt, ActionStateAfter):
-                action_state_after = evt.data
+                action_state_before[evt.data.thread_id] = evt.data
 
         elif "response" in data:
             resp = rpc_mapping[data["response"]].Response.from_dict(data)
@@ -712,7 +707,6 @@ def put_breakpoints(id: str) -> RespT:  # noqa
             type: array
             items:
               type: string
-          required: true
           description: List of breakpoints (IDs of action points).
       responses:
         200:
@@ -999,8 +993,11 @@ def packages_state() -> RespT:
     else:
         ret = ExecutionInfo(ExecutionState.Undefined)  # TODO this is unhandled state - log it
 
-    if action_state_before is not None:
-        ret.actionPointIds = action_state_before.action_point_ids
+    for d in action_state_before.values():
+        if d.action_point_ids:
+            if ret.actionPointIds is None:
+                ret.actionPointIds = set()
+            ret.actionPointIds = ret.actionPointIds.union(d.action_point_ids)
 
     return jsonify(ret.to_dict()), 200
 
diff --git a/src/python/arcor2_kinect_azure/kinect/__init__.py b/src/python/arcor2_kinect_azure/kinect/__init__.py
index 52264cb00..bf86c178a 100644
--- a/src/python/arcor2_kinect_azure/kinect/__init__.py
+++ b/src/python/arcor2_kinect_azure/kinect/__init__.py
@@ -338,7 +338,7 @@ def get_video_feed(self) -> Generator[bytes, None, None]:
             frame = self.skeleton_image(raw=True)
             # lower quality for smooth network transfer
             encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 30]
-            buffer = cv2.imencode(".jpg", frame, encode_param)[1]
+            buffer = cv2.imencode(".jpg", frame, encode_param)[1]  # type: ignore  # TODO solve it
             buffer_encode = np.array(buffer)
-            frame = buffer_encode.tobytes()
-            yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + frame + b"\r\n"
+            frame = buffer_encode.tobytes()  # type: ignore  # TODO solve it
+            yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + frame + b"\r\n"  # type: ignore  # TODO solve it
diff --git a/src/python/arcor2_kinect_azure/routes/skeleton.py b/src/python/arcor2_kinect_azure/routes/skeleton.py
index cf50dc7bf..de62e6a1d 100644
--- a/src/python/arcor2_kinect_azure/routes/skeleton.py
+++ b/src/python/arcor2_kinect_azure/routes/skeleton.py
@@ -36,7 +36,7 @@ def get_skeleton_image() -> RespT:
         img = color_image()
     else:
         assert app.KINECT is not None
-        img = app.KINECT.skeleton_image()
+        img = app.KINECT.skeleton_image()  # type: ignore  # TODO solve it
 
     return send_file(
         image_to_bytes_io(img, target_format="JPEG", target_mode="RGB"),
diff --git a/src/python/arcor2_runtime/CHANGELOG.md b/src/python/arcor2_runtime/CHANGELOG.md
index 24e0ab1c7..fff549e58 100644
--- a/src/python/arcor2_runtime/CHANGELOG.md
+++ b/src/python/arcor2_runtime/CHANGELOG.md
@@ -2,6 +2,16 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.3.0] - 2024-06-14
+
+### Changed
+
+- It is now possible to run actions in threads.
+
+### Fixed
+
+- It was not possible to use `Pose` as a breakpoint.
+
 ## [1.2.0] - 2024-04-11
 
 ### Changed
diff --git a/src/python/arcor2_runtime/VERSION b/src/python/arcor2_runtime/VERSION
index 867e52437..589268e6f 100644
--- a/src/python/arcor2_runtime/VERSION
+++ b/src/python/arcor2_runtime/VERSION
@@ -1 +1 @@
-1.2.0
\ No newline at end of file
+1.3.0
\ No newline at end of file
diff --git a/src/python/arcor2_runtime/action.py b/src/python/arcor2_runtime/action.py
index c20025e6c..29840c1a1 100644
--- a/src/python/arcor2_runtime/action.py
+++ b/src/python/arcor2_runtime/action.py
@@ -1,22 +1,59 @@
 import select
 import sys
+import threading
+from dataclasses import dataclass, field
 from functools import wraps
 from typing import Any, Callable, TypeVar, cast
 
 from arcor2.cached import CachedProject, CachedScene
-from arcor2.data.common import Pose, ProjectRobotJoints
+from arcor2.data.common import Pose, ProjectRobotJoints, StrEnum
 from arcor2.data.events import ActionStateAfter, ActionStateBefore, Event, PackageState
 from arcor2.exceptions import Arcor2Exception
 from arcor2.object_types.abstract import Generic
 from arcor2.object_types.utils import iterate_over_actions
 from arcor2.parameter_plugins.utils import plugin_from_instance
 
+
+class Commands(StrEnum):
+    PAUSE: str = "p"
+    RESUME: str = "r"
+    STEP: str = "s"
+
+
 ACTION_NAME_ID_MAPPING_ATTR = "_action_name_id_mapping"
 AP_ID_ATTR = "_ap_id"
 
-_pause_on_next_action = False
-start_paused = False
-breakpoints: None | set[str] = None
+
+@dataclass
+class Globals:
+    breakpoints: None | set[str] = None
+
+    pause_on_next_action = threading.Event()  # stepping
+    pause = threading.Event()  # regular pausing
+    resume = threading.Event()
+
+    # currently executed action(s)
+    # thread_id: action_id*, function
+    # *might be unknown for projects without logic
+    ea: dict[int | None, None | tuple[None | str, Callable]] = field(default_factory=dict)
+
+    depth: dict[int | None, int] = field(default_factory=dict)
+
+    lock: threading.Lock = field(default_factory=threading.Lock)
+
+
+g = Globals()
+
+
+def patch_aps(project: CachedProject) -> None:
+    """orientations / joints have to be monkey-patched with AP's ID in order to
+    make breakpoints work in @action."""
+
+    for ap in project.action_points:
+        setattr(ap.position, AP_ID_ATTR, ap.id)
+
+        for joints in project.ap_joints(ap.id):
+            setattr(joints, AP_ID_ATTR, ap.id)
 
 
 def patch_object_actions(type_def: type[Generic]) -> None:
@@ -70,9 +107,9 @@ def read_stdin(timeout: float = 0.0) -> str | None:
         return None
 
 
-def handle_stdin_commands(*, before: bool, breakpoint: bool = False) -> None:
+def _get_commands():
     """Reads stdin and checks for commands from parent script (e.g. Execution
-    unit). Prints events to stdout.
+    unit). Prints events to stdout. State is signalled using events.
 
     p == pause script
     r == resume script
@@ -80,22 +117,48 @@ def handle_stdin_commands(*, before: bool, breakpoint: bool = False) -> None:
     :return:
     """
 
-    global _pause_on_next_action
-    global start_paused
+    while True:
+        raw_cmd = read_stdin(0.1)
 
-    if read_stdin() == "p" or (before and _pause_on_next_action) or start_paused or breakpoint:
-        start_paused = False
-        print_event(PackageState(PackageState.Data(PackageState.Data.StateEnum.PAUSED)))
-        while True:
-            cmd = read_stdin(0.1)
+        if not raw_cmd:
+            continue
+
+        cmd = Commands(raw_cmd)
+
+        with g.lock:
+            if g.pause.is_set():
+                if cmd in (Commands.STEP, Commands.RESUME):
+                    g.pause.clear()
+                    print_event(PackageState(PackageState.Data(PackageState.Data.StateEnum.RUNNING)))
+
+                    if cmd == Commands.STEP:
+                        g.pause_on_next_action.set()
+
+                    g.resume.set()
+            else:
+                if cmd == Commands.PAUSE:
+                    g.resume.clear()
+                    g.pause.set()
+                    print_event(PackageState(PackageState.Data(PackageState.Data.StateEnum.PAUSED)))
+
+
+_cmd_thread = threading.Thread(target=_get_commands)
+_cmd_thread.daemon = True
+_cmd_thread.start()
 
-            if cmd not in ("s", "r"):
-                continue
 
-            _pause_on_next_action = cmd == "s"
+def handle_stdin_commands(*, before: bool, breakpoint: bool = False) -> None:
+    """Actual handling of commands in (potentially parallel) actions."""
+
+    with g.lock:
+        if (breakpoint or (before and g.pause_on_next_action.is_set())) and not g.pause.is_set():
+            g.pause_on_next_action.clear()
+            g.resume.clear()
+            g.pause.set()
+            print_event(PackageState(PackageState.Data(PackageState.Data.StateEnum.PAUSED)))
 
-            print_event(PackageState(PackageState.Data(PackageState.Data.StateEnum.RUNNING)))
-            break
+    if g.pause.is_set():
+        g.resume.wait()
 
 
 def print_event(event: Event) -> None:
@@ -125,11 +188,6 @@ def results_to_json(res: Any) -> None | list[str]:
         return [plugin_from_instance(res).value_to_json(res)]
 
 
-# action_id*, function
-# *might be unknown for projects without logic
-_executed_action: None | tuple[None | str, Callable] = None
-
-
 def action(f: F) -> F:
     """Action decorator that prints events with action id and parameters or
     results.
@@ -149,20 +207,22 @@ def action(f: F) -> F:
 
     @wraps(f)
     def wrapper(obj: Generic, *action_args: Any, an: None | str = None, **kwargs: Any) -> Any:
-        # remembers the outermost action
-        # when set, serves as a flag, that we are inside an action
-        # ...then when another action is executed, we know that it is a nested one (and the outer one is composite)
-        global _executed_action
+        thread_id = threading.get_ident() if threading.current_thread() is not threading.main_thread() else None
+
+        if thread_id not in g.ea:
+            g.ea[thread_id] = None
 
-        action_id: None | str = None
-        action_mapping_provided = hasattr(obj, ACTION_NAME_ID_MAPPING_ATTR)
+        if thread_id not in g.depth:
+            g.depth[thread_id] = 0
 
-        # if not set (e.g. when writing actions manually), do not attempt to get action IDs from names
-        if action_mapping_provided:
-            if _executed_action and an:
-                raise Arcor2Exception("Inner actions should not have name specified.")
+        try:
+            action_id: None | str = None
+            action_mapping_provided = hasattr(obj, ACTION_NAME_ID_MAPPING_ATTR)
 
-            if not _executed_action:  # do not attempt to get id for inner actions
+            inner_action = g.depth[thread_id] > 0
+
+            if not inner_action:  # the following code should be executed only for outermost action
+                # do not attempt to get id for inner actions
                 try:
                     action_id = getattr(obj, ACTION_NAME_ID_MAPPING_ATTR)[an]
                 except AttributeError:
@@ -173,72 +233,91 @@ def wrapper(obj: Generic, *action_args: Any, an: None | str = None, **kwargs: An
                         raise Arcor2Exception("Mapping from action name to id provided, but action name not set.")
                     raise Arcor2Exception(f"Mapping from action name to id is missing key {an}.")
 
-            if _executed_action and not _executed_action[1].__action__.composite:  # type: ignore
-                msg = f"Outer action {_executed_action[1].__name__}/{_executed_action[0]} not flagged as composite."
-                _executed_action = None
-                raise Arcor2Exception(msg)
-
-        if _executed_action is None:  # the following code should be executed only for outermost action
-            _executed_action = action_id, f
+                assert g.ea[thread_id] is None
+
+                g.ea[thread_id] = action_id, f
+
+                # collect action point ids, ignore missing
+                action_point_ids: set[str] = set()
+                for aa in action_args:
+                    try:
+                        if isinstance(aa, ProjectRobotJoints):
+                            action_point_ids.add(getattr(aa, AP_ID_ATTR))
+                        elif isinstance(aa, Pose):
+                            action_point_ids.add(getattr(aa.position, AP_ID_ATTR))
+                    except AttributeError:
+                        if g.breakpoints:
+                            raise Arcor2Exception("Orientations/Joints not patched. Breakpoints won't work!")
+
+                # validate if break is required
+                make_a_break = bool(g.breakpoints and g.breakpoints.intersection(action_point_ids))
+
+                # dispatch ActionStateBefore event for every (outermost) action
+                state_before = ActionStateBefore(
+                    ActionStateBefore.Data(
+                        # TODO deal with kwargs parameters
+                        action_id,
+                        None,
+                        action_point_ids if action_point_ids else None,
+                        thread_id,
+                    )
+                )
 
-            # collect action point ids, ignore missing
-            action_point_ids: set[str] = set()
-            for aa in action_args:
                 try:
-                    if isinstance(aa, (Pose, ProjectRobotJoints)):
-                        action_point_ids.add(getattr(aa, AP_ID_ATTR))
-                except AttributeError:
-                    if breakpoints:
-                        raise Arcor2Exception("Orientations/Joints not patched. Breakpoints won't work!")
-
-            # validate if break is required
-            make_a_break = bool(breakpoints and breakpoints.intersection(action_point_ids))
-
-            # dispatch ActionStateBefore event for every (outermost) action
-            state_before = ActionStateBefore(
-                ActionStateBefore.Data(
-                    # TODO deal with kwargs parameters
-                    action_id,
-                    None,
-                    action_point_ids if action_point_ids else None,
-                )
-            )
+                    state_before.data.parameters = [plugin_from_instance(arg).value_to_json(arg) for arg in action_args]
+                except Arcor2Exception:
+                    if action_id:
+                        # for projects with logic, it should not happen that there is unknown parameter type
+                        # for projects without logic (for which we don't know action_id), it is fine...
+                        raise
 
+                print_event(state_before)
+
+                handle_stdin_commands(before=True, breakpoint=make_a_break)
+
+            else:  # handle outermost actions
+                # if not set (e.g. when writing actions manually), do not attempt to get action IDs from names
+                if action_mapping_provided:
+                    if an:
+                        raise Arcor2Exception("Inner actions should not have name specified.")
+
+                    if not g.ea[thread_id][1].__action__.composite:  # type: ignore
+                        # TODO not sure why this was needed, assert was not enough
+                        ea_value = cast(tuple[str | None, Callable[..., Any]], g.ea[thread_id])
+
+                        msg = f"Outer action {ea_value[1].__name__}/{ea_value[0]} not flagged as composite."
+                        raise Arcor2Exception(msg)
+
+            g.depth[thread_id] += 1
+
+            # the action itself is executed under all circumstances
             try:
-                state_before.data.parameters = [plugin_from_instance(arg).value_to_json(arg) for arg in action_args]
+                res = f(obj, *action_args, an=an, **kwargs)
             except Arcor2Exception:
-                if action_id:
-                    # for projects with logic, it should not happen that there is unknown parameter type
-                    # for projects without logic (for which we don't know action_id), it is fine...
-                    _executed_action = None
-                    raise
+                # this is actually not necessary at the moment as when exception is raised, the script ends anyway
+                # TODO maybe print ProjectException from here instead of from Resources' context manager?
+                # ...could provide action_id from here
+                raise
 
-            print_event(state_before)
+            g.depth[thread_id] -= 1
 
-            handle_stdin_commands(before=True, breakpoint=make_a_break)
+            # manage situation when we are getting out of (composite) action
+            if not inner_action:
+                if action_mapping_provided and action_id:  # for projects with logic - check based on action_id
+                    # TODO not sure why this was needed, assert was not enough
+                    ea_value = cast(tuple[str | None, Callable[..., Any]], g.ea[thread_id])
+                    assert ea_value[0] == action_id
+                    print_event(ActionStateAfter(ActionStateAfter.Data(action_id, results_to_json(res))))
 
-        # the action itself is executed under all circumstances
-        try:
-            res = f(obj, *action_args, an=an, **kwargs)
-        except Arcor2Exception:
-            # this is actually not necessary at the moment as when exception is raised, the script ends anyway
-            _executed_action = None
-            # TODO maybe print ProjectException from here instead of from Resources' context manager?
-            # ...could provide action_id from here
-            raise
+                g.ea[thread_id] = None
 
-        # manage situation when we are getting out of (composite) action
-        if action_mapping_provided:  # for projects with logic - check based on action_id
-            if action_id and _executed_action[0] == action_id:
-                _executed_action = None
-                print_event(ActionStateAfter(ActionStateAfter.Data(action_id, results_to_json(res))))
-        else:  # for projects without logic - can be only based on checking the method
-            if _executed_action[1] == f:
-                # TODO shouldn't we sent ActionStateAfter even here?
-                _executed_action = None
+            handle_stdin_commands(before=False)
 
-        handle_stdin_commands(before=False)
+            return res
 
-        return res
+        except Arcor2Exception:
+            g.depth[thread_id] = 0
+            g.ea[thread_id] = None
+            raise
 
     return cast(F, wrapper)
diff --git a/src/python/arcor2_runtime/resources.py b/src/python/arcor2_runtime/resources.py
index a99813816..50fb24efa 100644
--- a/src/python/arcor2_runtime/resources.py
+++ b/src/python/arcor2_runtime/resources.py
@@ -21,7 +21,7 @@
 from arcor2.object_types.utils import built_in_types_names, settings_from_params
 from arcor2.parameter_plugins.base import TypesDict
 from arcor2_runtime import action, package
-from arcor2_runtime.action import AP_ID_ATTR, patch_object_actions, patch_with_action_mapping, print_event
+from arcor2_runtime.action import patch_aps, patch_object_actions, patch_with_action_mapping, print_event
 from arcor2_runtime.arguments import parse_args
 from arcor2_runtime.events import RobotEef, RobotJoints
 from arcor2_runtime.exceptions import print_exception
@@ -142,20 +142,19 @@ def __init__(
             if apply_action_mapping:
                 patch_with_action_mapping(cls, self.scene, self.project)
 
-        action.start_paused, action.breakpoints = parse_args()
+        start_paused, action.g.breakpoints = parse_args()
 
-        if action.breakpoints:
+        if start_paused:
+            action.g.pause_on_next_action.set()
+
+        # check if all breakpoint IDs really exist
+        if action.g.breakpoints:
             ap_ids = self.project.action_points_ids
-            for bp in action.breakpoints:
+            for bp in action.g.breakpoints:
                 if bp not in ap_ids:
                     raise ResourcesException(f"Breakpoint ID unknown: {bp}.")
 
-        # orientations / joints have to be monkey-patched with AP's ID in order to make breakpoints work in @action
-        for ap in self.project.action_points:
-            setattr(ap.position, AP_ID_ATTR, ap.id)
-
-            for joints in self.project.ap_joints(ap.id):
-                setattr(joints, AP_ID_ATTR, ap.id)
+        patch_aps(self.project)
 
         package_id = os.path.basename(os.getcwd())
         package_meta = package.read_package_meta(package_id)
diff --git a/src/python/arcor2_runtime/tests/test_action.py b/src/python/arcor2_runtime/tests/test_action.py
index 730e18532..ee11a1f8f 100644
--- a/src/python/arcor2_runtime/tests/test_action.py
+++ b/src/python/arcor2_runtime/tests/test_action.py
@@ -1,16 +1,21 @@
+import importlib
 import io
+import threading
+import time
 
 import pytest
 
-from arcor2.data.common import ActionMetadata, Orientation, Pose, Position
-from arcor2.data.events import ActionStateAfter, ActionStateBefore
+from arcor2.data.common import ActionMetadata, Orientation, Pose, Position, ProjectRobotJoints
+from arcor2.data.events import ActionStateAfter, ActionStateBefore, PackageState
 from arcor2.exceptions import Arcor2Exception
 from arcor2.object_types.abstract import Generic
-from arcor2_runtime import action
+from arcor2_runtime import action as glob_action
 from arcor2_runtime.action import ACTION_NAME_ID_MAPPING_ATTR, AP_ID_ATTR, patch_object_actions
 
 
 def test_patch_object_actions(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
     class MyObject(Generic):
         def action(self, pose: Pose, *, an: None | str = None) -> None:
             pass
@@ -24,12 +29,14 @@ def action(self, pose: Pose, *, an: None | str = None) -> None:
 
     obj_id = "123"
     pose = Pose(Position(0, 0, 0), Orientation(1, 0, 0, 0))
-    setattr(pose, AP_ID_ATTR, "pose")  # set pose id (simulate pose declaration in scene json)
+    setattr(pose.position, AP_ID_ATTR, "pose")  # set pose id (simulate pose declaration in scene json)
 
     my_obj = MyObject(obj_id, "")
 
+    thread_id = None  # main thread
+
     my_obj.action(pose)
-    assert action._executed_action is None
+    assert not action.g.ea
     out_before, _ = capsys.readouterr()
     assert not out_before
 
@@ -37,7 +44,7 @@ def action(self, pose: Pose, *, an: None | str = None) -> None:
     setattr(MyObject, ACTION_NAME_ID_MAPPING_ATTR, {"name": "id"})  # this simulates what patch_with_action_mapping does
 
     my_obj.action(pose, an="name")
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
     out_after, _ = capsys.readouterr()
 
     arr = out_after.strip().split("\n")
@@ -55,15 +62,17 @@ def action(self, pose: Pose, *, an: None | str = None) -> None:
     with pytest.raises(Arcor2Exception):
         my_obj.action(pose)
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
     with pytest.raises(Arcor2Exception):
         my_obj.action(pose, an="unknown_action_name")
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
 
 def test_patch_object_actions_without_mapping(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
     class MyObject(Generic):
         def action(self, pose: Pose, *, an: None | str = None) -> None:
             pass
@@ -77,13 +86,14 @@ def action(self, pose: Pose, *, an: None | str = None) -> None:
 
     obj_id = "123"
     pose = Pose(Position(0, 0, 0), Orientation(1, 0, 0, 0))
-    setattr(pose, AP_ID_ATTR, "pose")  # set pose id (simulate pose declaration in scene json)
+    setattr(pose.position, AP_ID_ATTR, "pose")  # set pose id (simulate pose declaration in scene json)
 
     my_obj = MyObject(obj_id, "")
+    thread_id = None
     patch_object_actions(MyObject)  # no mapping given
 
     my_obj.action(pose)  # this should be ok
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
     out_after, _ = capsys.readouterr()
 
     assert out_after
@@ -98,18 +108,19 @@ def action(self, pose: Pose, *, an: None | str = None) -> None:
     assert before_evt.data.parameters
     assert Pose.from_json(before_evt.data.parameters[0]) == pose
 
-    assert before_evt.data.action_point_ids is not None
-    assert "pose" in before_evt.data.action_point_ids
+    assert before_evt.data.action_point_ids == {"pose"}
 
     # the 'an' should be just ignored
     # we are testing here that second execution of action is fine
     my_obj.action(pose, an="whatever")
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
     out_after2, _ = capsys.readouterr()
     assert out_after2 == out_after
 
 
 def test_composite_action(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
     class MyObject(Generic):
         def inner_inner_action(self, *, an: None | str = None) -> None:
             pass
@@ -120,7 +131,7 @@ def inner_action(self, *, an: None | str = None) -> None:
         def inner_action_2(self, *, an: None | str = None) -> None:
             pass
 
-        def action(self, *, an: None | str = None) -> None:
+        def comp_action(self, *, an: None | str = None) -> None:
             self.inner_action()
             self.inner_action_2()
 
@@ -134,7 +145,7 @@ def action_with_inner_name_spec(self, *, an: None | str = None) -> None:
         inner_inner_action.__action__ = ActionMetadata()  # type: ignore
         inner_action.__action__ = ActionMetadata(composite=True)  # type: ignore
         inner_action_2.__action__ = ActionMetadata()  # type: ignore
-        action.__action__ = ActionMetadata(composite=True)  # type: ignore
+        comp_action.__action__ = ActionMetadata(composite=True)  # type: ignore
         action_wo_flag.__action__ = ActionMetadata()  # type: ignore
         action_with_inner_name_spec.__action__ = ActionMetadata()  # type: ignore
 
@@ -147,16 +158,18 @@ def action_with_inner_name_spec(self, *, an: None | str = None) -> None:
 
     my_obj = MyObject(obj_id, "")
 
-    my_obj.action()
-    assert action._executed_action is None
+    thread_id = None
+
+    my_obj.comp_action()
+    assert not action.g.ea
     out_before, _ = capsys.readouterr()
     assert not out_before
 
     patch_object_actions(MyObject)
     setattr(MyObject, ACTION_NAME_ID_MAPPING_ATTR, {"name": "id"})  # this simulates what patch_with_action_mapping does
 
-    my_obj.action(an="name")
-    assert action._executed_action is None
+    my_obj.comp_action(an="name")
+    assert action.g.ea[thread_id] is None
     out_after, _ = capsys.readouterr()
 
     arr = out_after.strip().split("\n")
@@ -169,30 +182,32 @@ def action_with_inner_name_spec(self, *, an: None | str = None) -> None:
     assert after_evt.data.action_id == "id"
 
     with pytest.raises(Arcor2Exception, match="Mapping from action name to id provided, but action name not set."):
-        my_obj.action()
+        my_obj.comp_action()
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
     invalid_an = "unknown_action_name"
     with pytest.raises(Arcor2Exception, match=f"Mapping from action name to id is missing key {invalid_an}."):
-        my_obj.action(an=invalid_an)
+        my_obj.comp_action(an=invalid_an)
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
     with pytest.raises(
         Arcor2Exception, match=f"Outer action {my_obj.action_wo_flag.__name__}/id not flagged as composite."
     ):
         my_obj.action_wo_flag(an="name")
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
     with pytest.raises(Arcor2Exception, match="Inner actions should not have name specified."):
         my_obj.action_with_inner_name_spec(an="name")
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
 
 
 def test_unknown_parameter_type(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
     class UnknownParameterType:
         pass
 
@@ -211,11 +226,13 @@ def action(self, param: UnknownParameterType, *, an: None | str = None) -> None:
 
     my_obj = MyObject(obj_id, "")
 
+    thread_id = None
+
     patch_object_actions(MyObject)
 
     # before the mapping is provided, unknown parameter type should be fine
     my_obj.action(UnknownParameterType(), an="name")
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
     out_after, _ = capsys.readouterr()
 
     assert out_after
@@ -231,4 +248,231 @@ def action(self, param: UnknownParameterType, *, an: None | str = None) -> None:
     with pytest.raises(Arcor2Exception, match=f"Unknown parameter type {UnknownParameterType.__name__}."):
         my_obj.action(UnknownParameterType(), an="name")
 
-    assert action._executed_action is None
+    assert action.g.ea[thread_id] is None
+
+
+def test_parallel_actions(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
+    class ParallelActionsObject(Generic):
+        def action1(self, *, an: None | str = None) -> None:
+            time.sleep(0.1)
+
+        def action2(self, *, an: None | str = None) -> None:
+            time.sleep(0.1)
+
+        action1.__action__ = ActionMetadata()  # type: ignore
+        action2.__action__ = ActionMetadata()  # type: ignore
+
+    # @action tries to read from stdin
+    sio = io.StringIO()
+    sio.fileno = lambda: 0  # type: ignore  # fake whatever fileno
+    monkeypatch.setattr("sys.stdin", sio)
+
+    obj_id = "123"
+
+    my_obj = ParallelActionsObject(obj_id, "")
+
+    patch_object_actions(ParallelActionsObject)
+
+    def thread1():
+        for _ in range(10):
+            my_obj.action1()
+
+    th1 = threading.Thread(target=thread1, daemon=True)
+    th1.start()
+
+    for _ in range(10):
+        my_obj.action2()
+
+    th1.join()
+
+    assert not action.g.pause.is_set()
+    assert not action.g.resume.is_set()
+    assert len(action.g.ea) == 2
+    assert None in action.g.ea
+
+
+def test_breakpoints_pose(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
+    class ActionObject(Generic):
+        def action1(self, pose: Pose, *, an: None | str = None) -> None:
+            pass
+
+        action1.__action__ = ActionMetadata()  # type: ignore
+
+    ap1_id = "123"
+    pose1 = Pose()
+    setattr(pose1.position, AP_ID_ATTR, ap1_id)  # simulates what patch_aps does
+
+    # @action tries to read from stdin
+    sio = io.StringIO()
+    sio.fileno = lambda: 0  # type: ignore  # fake whatever fileno
+    monkeypatch.setattr("sys.stdin", sio)
+
+    obj_id = "123"
+    my_obj = ActionObject(obj_id, "")
+    patch_object_actions(ActionObject)
+
+    action.g.breakpoints = {ap1_id}
+
+    def thread1():
+        my_obj.action1(pose1)
+
+    assert not action.g.pause.is_set()
+
+    th1 = threading.Thread(target=thread1, daemon=True)
+    th1.start()
+
+    assert action.g.pause.wait(0.1)
+
+    # maybe it would be better to send command to stdin, but it's a bit complicated
+    action.g.resume.set()
+
+    # can't test if action.g.pause was cleared - that is done when reading stdin in _get_commands
+    # time.sleep(0.1)
+    # assert not action.g.pause.is_set()
+
+    th1.join(0.1)
+    assert not th1.is_alive()
+
+    output, _ = capsys.readouterr()
+    arr = output.strip().split("\n")
+    assert len(arr) == 2
+
+    before_evt = ActionStateBefore.from_json(arr[0])
+    assert before_evt.data.action_point_ids == {ap1_id}
+
+    ps_evt = PackageState.from_json(arr[1])
+    assert ps_evt.data.state == PackageState.Data.StateEnum.PAUSED
+
+
+def test_breakpoints_joints(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
+    class ActionObject(Generic):
+        def action1(self, joints: ProjectRobotJoints, *, an: None | str = None) -> None:
+            pass
+
+        action1.__action__ = ActionMetadata()  # type: ignore
+
+    ap1_id = "123"
+    joints = ProjectRobotJoints("test_name", "test_robot", [])
+    setattr(joints, AP_ID_ATTR, ap1_id)  # simulates what patch_aps does
+
+    # @action tries to read from stdin
+    sio = io.StringIO()
+    sio.fileno = lambda: 0  # type: ignore  # fake whatever fileno
+    monkeypatch.setattr("sys.stdin", sio)
+
+    obj_id = "123"
+    my_obj = ActionObject(obj_id, "")
+    patch_object_actions(ActionObject)
+
+    action.g.breakpoints = {ap1_id}
+
+    def thread1():
+        my_obj.action1(joints)
+
+    assert not action.g.pause.is_set()
+
+    th1 = threading.Thread(target=thread1, daemon=True)
+    th1.start()
+
+    assert action.g.pause.wait(0.1)
+
+    # maybe it would be better to send command to stdin, but it's a bit complicated
+    action.g.resume.set()
+
+    # can't test if action.g.pause was cleared - that is done when reading stdin in _get_commands
+    # time.sleep(0.1)
+    # assert not action.g.pause.is_set()
+
+    th1.join(0.1)
+    assert not th1.is_alive()
+
+    output, _ = capsys.readouterr()
+    arr = output.strip().split("\n")
+    assert len(arr) == 2
+
+    before_evt = ActionStateBefore.from_json(arr[0])
+    assert before_evt.data.action_point_ids == {ap1_id}
+
+    ps_evt = PackageState.from_json(arr[1])
+    assert ps_evt.data.state == PackageState.Data.StateEnum.PAUSED
+
+
+def test_breakpoints_pose_parallel(monkeypatch, capsys) -> None:
+    action = importlib.reload(glob_action)  # to get local "copy" of the module
+
+    class ActionObject(Generic):
+        def action1(self, pose: Pose, *, an: None | str = None) -> None:
+            pass
+
+        def action2(self, pose: Pose, *, an: None | str = None) -> None:
+            pass
+
+        action1.__action__ = ActionMetadata()  # type: ignore
+        action2.__action__ = ActionMetadata()  # type: ignore
+
+    ap1_id = "123"
+    pose1 = Pose()
+    setattr(pose1.position, AP_ID_ATTR, ap1_id)  # simulates what patch_aps does
+
+    ap2_id = "456"
+    pose2 = Pose()
+    setattr(pose2.position, AP_ID_ATTR, ap2_id)  # simulates what patch_aps does
+
+    # @action tries to read from stdin
+    sio = io.StringIO()
+    sio.fileno = lambda: 0  # type: ignore  # fake whatever fileno
+    monkeypatch.setattr("sys.stdin", sio)
+
+    obj_id = "123"
+    my_obj = ActionObject(obj_id, "")
+    patch_object_actions(ActionObject)
+
+    action.g.breakpoints = {ap1_id, ap2_id}
+
+    def thread1():
+        my_obj.action1(pose1)
+
+    def thread2():
+        my_obj.action1(pose2)
+
+    assert not action.g.pause.is_set()
+
+    th1 = threading.Thread(target=thread1, daemon=True)
+    th1.start()
+
+    th2 = threading.Thread(target=thread2, daemon=True)
+    th2.start()
+
+    assert action.g.pause.wait(0.1)  # hitting breakpoint should result in program being paused
+
+    output, _ = capsys.readouterr()
+    arr = output.strip().split("\n")
+    assert len(arr) == 3
+
+    before_evt = ActionStateBefore.from_json(arr[0])
+    assert before_evt.data.action_point_ids == {ap1_id} or before_evt.data.action_point_ids == {ap2_id}
+
+    ps_evt = PackageState.from_json(arr[1])
+    assert ps_evt.data.state == PackageState.Data.StateEnum.PAUSED
+
+    before_evt2 = ActionStateBefore.from_json(arr[2])
+    assert before_evt2.data.action_point_ids == {ap1_id} or before_evt2.data.action_point_ids == {ap2_id}
+
+    assert before_evt2.data.action_point_ids != before_evt.data.action_point_ids
+
+    # maybe it would be better to send command to stdin, but it's a bit complicated
+    action.g.pause.clear()  # this would normally be done in _get_commands
+    action.g.resume.set()
+
+    # both threads should be finished
+    th1.join(0.1)
+    th2.join(0.1)
+
+    assert not th1.is_alive()
+    assert not th2.is_alive()