chore: send pose to kinect after calibration

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

@@ -2,7 +2,7 @@ version: '3.8'
 
 services:
   fit-demo-arserver:
-    image: arcor2/arcor2_arserver:1.0.1
+    image: arcor2/arcor2_arserver:1.0.2
     container_name: fit-demo-arserver
     depends_on:
       fit-demo-project:
@@ -72,7 +72,7 @@ services:
         - fit-demo-execution:/root/project
 
   fit-demo-kinect:
-    image: arcor2/arcor2_kinect_azure:0.6.0
+    image: arcor2/arcor2_kinect_azure:0.7.1
     container_name: fit-demo-kinect
     networks:
       - fit-demo-kinect-network
@@ -174,7 +174,7 @@ services:
       - fit-demo-asset
 
   fit-demo-upload-object-types:
-    image: arcor2/arcor2_upload_fit_demo:1.2.0
+    image: arcor2/arcor2_upload_fit_demo:1.2.1
     container_name: "fit-demo-upload-object-types"
     depends_on:
       fit-demo-project:

src/docker/arcor2_arserver/BUILD

@@ -1,5 +1,5 @@
 shell_source(name="start.sh", source="start.sh")
 
 docker_image(
-    name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.0.1"]
+    name="arcor2_arserver", repository="arcor2/arcor2_arserver", dependencies=[":start.sh"], image_tags=["1.0.2"]
 )

src/docker/arcor2_kinect_azure/BUILD

@@ -3,5 +3,5 @@ docker_image(
     name="arcor2_kinect_azure",
     repository="arcor2/arcor2_kinect_azure",
     dependencies=["build-support:install_kinect_prerequisites.sh"],
-    image_tags=["0.7.0"],
+    image_tags=["0.7.1"],
 )

src/docker/arcor2_upload_fit_demo/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.2.0"])
+docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.2.1"])

src/python/arcor2/object_types/abstract.py

@@ -100,8 +100,7 @@ def pose(self) -> Pose:
         """
         return self._pose
 
-    @pose.setter
-    def pose(self, pose: Pose) -> None:
+    def set_pose(self, pose: Pose) -> None:
         self._pose = pose
 
     def update_pose(self, new_pose: Pose, *, an: None | str = None) -> None:
@@ -111,7 +110,7 @@ def update_pose(self, new_pose: Pose, *, an: None | str = None) -> None:
         :return:
         """
 
-        self.pose = new_pose
+        self.set_pose(new_pose)
 
     update_pose.__action__ = ActionMetadata()  # type: ignore
 
@@ -137,13 +136,8 @@ def __init__(
         self.collision_model.id = self.id
         scene_service.upsert_collision(self.collision_model, pose)
 
-    @property  # workaround for https://github.com/python/mypy/issues/5936
-    def pose(self) -> Pose:
-        return super().pose
-
-    @pose.setter
-    def pose(self, pose: Pose) -> None:
-        self._pose = pose  # TODO how to set it through super() correctly?
+    def set_pose(self, pose: Pose) -> None:
+        super().set_pose(pose)
         if self._enabled:
             scene_service.upsert_collision(self.collision_model, pose)
 

src/python/arcor2/object_types/tests/test_scene_integration.py

@@ -49,7 +49,7 @@ def test_generic_with_pose(start_processes: None) -> None:
     obj = CollisionObject("id", "name", Pose(), Box("boxId", 0.1, 0.1, 0.1))
     assert obj.id in scene_service.collision_ids()
 
-    obj.pose = Pose()
+    obj.set_pose(Pose())
 
     obj.enabled = False
     assert obj.id not in scene_service.collision_ids()

src/python/arcor2_arserver/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.0.2] - 2023-05-02
+
+### Changed
+
+- Pose must now be updated with obj.set_pose(pose)
+
 ## [1.0.1] - 2023-04-24
 
 ### Added

src/python/arcor2_arserver/scene.py

@@ -192,8 +192,8 @@ async def update_scene_object_pose(
 
         assert pose is not None
 
-        # Object pose is property that might call scene service - that's why it has to be called using executor.
-        await hlp.run_in_executor(setattr, obj_inst, "pose", pose)
+        # Setting object pose might call scene service - that's why it has to be called using executor.
+        await hlp.run_in_executor(obj_inst.set_pose, pose)
 
     if lock_owner:
         await glob.LOCK.write_unlock(obj.id, lock_owner, True)

src/python/arcor2_fit_demo/CHANGELOG.md

@@ -2,6 +2,13 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.2.1] - 2023-05-02
+
+### Changed
+
+- KinectAzure now correctly stops when scene is turned off
+- KinectAzure is updated with pose after each calibration
+
 ## [1.2.0] - 2023-04-24
 
 ### Changed

src/python/arcor2_kinect_azure/CHANGELOG.md

@@ -2,6 +2,13 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [0.7.1] - 2023-05-02
+
+## Fixed
+
+- Colors in color image
+- Synchronized images download
+
 ## [0.7.0] - 2023-04-19
 
 ### Changelog

src/python/arcor2_kinect_azure/kinect/__init__.py

@@ -236,13 +236,20 @@ def capture(self) -> PyK4ACapture:
                 time.sleep(0.2)
             return self._capture_buffer[-1]
 
+    @staticmethod
+    def convert_bgra_to_rgba(arr: np.ndarray) -> None:
+        arr[:, :, [0, 1, 2, 3]] = arr[:, :, [2, 1, 0, 3]]
+
     def color_image(self) -> Image.Image:
         capture = self.capture()
 
         if capture.color is None:
             raise KinectAzureException("Color image not available.")
+        else:
+            color = capture.color
+            self.convert_bgra_to_rgba(color)
 
-        return Image.fromarray(capture.color, mode="RGBA")
+        return Image.fromarray(color, mode="RGBA")
 
     def _depth_image(self) -> np.ndarray:
         capture = self.capture()
@@ -266,10 +273,13 @@ def depth_image(self, num_frames: int = 1) -> Image.Image:
     def sync_images(self) -> ColorAndDepthImage:
         capture = self.capture()
 
-        if not capture.color or not capture.depth:
+        if capture.color is None or capture.depth is None:
             raise KinectAzureException("Color/depth image not available.")
+        else:
+            color = capture.color
+            self.convert_bgra_to_rgba(color)
 
-        return ColorAndDepthImage(Image.fromarray(capture.color), Image.fromarray(capture.transformed_depth))
+            return ColorAndDepthImage(Image.fromarray(color).convert("RGB"), Image.fromarray(capture.transformed_depth))
 
     def cleanup(self) -> None:
         if self._capture_thread is not None:

src/python/arcor2_kinect_azure/routes/synchronized.py

@@ -13,7 +13,7 @@
 blueprint = Blueprint("synchronized", __name__, url_prefix="/synchronized")
 
 
-@blueprint.route("/synchronized/image", methods=["GET"])
+@blueprint.route("/image", methods=["GET"])
 @requires_started
 def get_image_both() -> RespT:
     """Get the both color/depth image.

src/python/arcor2_kinect_azure_data/object_types/kinect_azure.py

@@ -65,11 +65,11 @@ def to_id(self) -> BodyJointId:
 
 @dataclass
 class UrlSettings(Settings):
-    url: str = "http://localhost:5017"
+    url: str = "http://192.168.104.100:5017"
 
     @classmethod
     def from_env(cls) -> "UrlSettings":
-        url = os.getenv("ARCOR2_KINECT_AZURE_URL", "http://localhost:5017")
+        url = os.getenv("ARCOR2_KINECT_AZURE_URL", "http://192.168.104.100:5017")
         return cls(url)
 
     def construct_path(self, path: str) -> str:
@@ -135,7 +135,14 @@ def stop(self) -> None:
         if not self._started:
             return
 
-        call(Method.GET, self.construct_path("/state/stop"))
+        call(Method.PUT, self.construct_path("/state/stop"))
+
+    def cleanup(self) -> None:
+        self.stop()
+
+    def set_pose(self, pose: Pose) -> None:
+        call(Method.PUT, self.construct_path("/state/pose"), body=pose)
+        super().set_pose(pose)
 
     def color_image(self, *, an: Optional[str] = None) -> Image.Image:
         """Get color image from kinect.