F update bristol test branch

ansible/data/ansible/requirements.txt

@@ -1,17 +1,18 @@
 ansible==4.2.0
 ansible-core==2.11.11
+boto3==1.24.88
 jinja2==3.1.1
 packaging==21.3 
 resolvelib==0.5.4
 MarkupSafe==2.0.1
 asn1crypto==1.5.1
 cffi==1.15.0
-cryptography==3.3.2
+pyOpenSSL==22.1.0
 lxml==4.8.0
 requests==2.27.1
 pycparser==2.21
 pyparsing==2.4.7
 PyYAML==5.4.1
 six==1.15.0
 setuptools==51.1.1
-testresources==2.0.1
+testresources==2.0.1

ansible/data/molecule/requirements.txt

@@ -5,7 +5,7 @@ ansible-lint==5.4.0
 asn1crypto==1.5.1
 arrow==1.2.2
 bcrypt==3.2.0
-boto3==1.23.0
+boto3==1.24.88
 boto==2.49.0
 binaryornot==0.4.4
 Cerberus==1.3.2

ansible/inventory/local/dhcp

@@ -1,2 +1,2 @@
 [dhcp]
-10.9.11.1 ansible_connection=local ansible_ssh_common_args='-o StrictHostKeyChecking=no'
+10.9.11.1 ansible_connection=local is_ansible_control_node=true ansible_ssh_common_args='-o StrictHostKeyChecking=no'

ansible/inventory/local/group_vars/configure_software.yml

@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
 new_docker_user: user
 new_docker_user_password: "{{ new_docker_user }}"

ansible/inventory/local/group_vars/dhcp.yml

@@ -1,3 +1,17 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
 internet_interface_name: "eth0" # Specify which interface the server laptop gets internet from
 dhcp_interface_name: "eth0" # Specify the USB-ethernet adapter name connected to server going to the NUC

ansible/inventory/local/group_vars/docker_deploy.yml

@@ -1,48 +1,38 @@
+# Copyright 2022-2023 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
-image: "shadowrobot/dexterous-hand" # Docker image name
-tag: "noetic-release" # Tag of the exact Docker hub image to pull
+image: "public.ecr.aws/shadowrobot/dexterous-hand" # Docker image name
+tag: "noetic-v1.0.21" # Tag of the exact Docker hub image to pull
 product: '' # Name of the product (hand_e, arm_hand_e, hand_lite, arm_hand_lite, hand_extra_lite, arm_hand_extra_lite)
 reinstall: false # Flag to know if the docker container should be fully reinstalled
 container_name: "dexterous_hand" # Name of the docker container
 nvidia_docker: false # Define if nvidia-container-toolkit is used (default is false)
-desktop_icon: true # Generates a desktop icon to launch the hand
 use_aws: false # Flag to prompt for customer key for uploading files to AWS
 shortcut_name: "Shadow_Hand_Launcher" # Specify the name for the desktop icon (default: Shadow_Hand_Launcher)
-optoforce: false # Specify if optoforce sensors are going to be used with a branch name (Only for Flexible Hand)
-launch_hand: false # Specify if hand driver should start when double clicking desktop icon
 demo_icons: true # Generates desktop icons to run demos
 setup_directory: "/usr/local/bin" # Where setup scripts should be installed that are launched when Docker starts
 terminator: true # Launch terminator when the Docker starts
 upgrade_check: false # If set to true will pull latest docker image and prompt to upgrade the container
-sim_hand: false # if set to true it will autolaunch the hand in simulation
+sim_icon: false # If set to true it will create simulation icons
 hand_side: "right" # Specify if the hand is right or left (ignored if bimanual=true)
 bimanual: false # Specify if both hands are used or not
-arm_ip_left: "" # Specify the IP address of left arm
-arm_ip_right: "" # Specify the IP address of right arm
-ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
 remote_bag_user: "shadowop"
 remote_bag_storage_IP: "10.5.10.59"
 remote_bag_storage_location: "/volume1/ros_bags"
 bag_all_data_from: ["shadowrobot_210312", "shadowrobot_210311", "shadowrobot_210311_210312"]
 pr_branches: "" # Space-separated list in double quotes of PRs and branches like this "https://github.com/shadow-robot/repo/pull/266 https://github.com/shadow-robot/repo/tree/custom_branch" to check out on server and catkin_make
 local_image: false # This boolean dictates if you want to use a local image or not. Skips all authentication checks and stops the image from being pulled.
-arm_hand_readthedocs_token: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          66353963666432383265393835616638613636366135663330383339323666636139653535386338
-          3862393133333033323961633735643131306134366135300a393435356162343863326530333131
-          39646636663333653732643033353838343237623834383434373533653465366463623165386565
-          6135376565363933620a386561666563666431343931626239613761663537366239643063626236
-          66626266333436366434376536636537626262343161633535663935666561383136
-arm_hand_readthedocs_link: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          36666266326536386336316166626631333738613730666165326435353063646535363163353432
-          3965623466306161623433333538363938666331376661630a373663626237303463353636323330
-          33336531653431663438376531653734306330346335646161626262643965363030373837346135
-          3361356664303739390a363731643964643830363966313963356364386232656530666634383866
-          33386263323131663836626565383431656164363763363862333235333862623334666461363336
-          66633735326261373334353134313331636663303638633664333237626461316130653362353763
-          32616439626536373862646339623065643063313764353835633039376333643466366234396465
-          35316232643932633138373330366536613061366335386532346332353461363965663533333132
-          33666434393533396132643533356461656339366465323333653366353663386538656436353733
-          38626635363932626431326661666633643732363665646566353162623862663938393838356237
-          316632643837373336333761303336616661
+
+skip_molecule_task: false # Used for automated tests - should not be used by users

ansible/inventory/local/group_vars/install_software.yml

@@ -1,2 +1,16 @@
+# Copyright 2022 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
 user: "{{ ansible_user_id }}"

ansible/inventory/teleop/staging_b → ansible/inventory/server_and_nuc/development

@@ -1,5 +1,5 @@
 [server]
-10.9.9.1 ansible_connection=local ansible_ssh_common_args='-o StrictHostKeyChecking=no'
+10.9.9.1 ansible_connection=local is_ansible_control_node=true ansible_ssh_common_args='-o StrictHostKeyChecking=no'
 
 [control_machine]
 10.9.9.2 ansible_host=nuc-control ansible_ssh_pipelining=true ansible_connection=ssh ansible_ssh_user=user ansible_user=user remote_user=user ansible_ssh_common_args='-o StrictHostKeyChecking=no'

ansible/inventory/server_and_nuc/group_vars/control_machine.yml

@@ -1,6 +1,20 @@
+# Copyright 2022-2023 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
 image: "public.ecr.aws/shadowrobot/dexterous-hand" # Docker image name
-tag: "noetic-release" # Tag of the exact Docker hub image to pull
+tag: "noetic-v1.0.21" # Tag of the exact Docker hub image to pull
 product: '' # Name of the product (hand_e, arm_hand_e, hand_lite, arm_hand_lite, hand_extra_lite, arm_hand_extra_lite)
 reinstall: false # Flag to know if the docker container should be fully reinstalled
 container_name: "dexterous_hand" # Name of the docker container
@@ -9,23 +23,22 @@ use_aws: false # Flag to prompt for customer key for uploading files to AWS
 setup_directory: "/usr/local/bin" # Where setup scripts should be installed that are launched when Docker starts
 terminator: false # Launch terminator when the Docker starts
 nvidia_docker: false # Define if nvidia-container-toolkit is used (defaul is false)
-optoforce: false # Specify if optoforce sensors are going to be used with a branch name (Only for Flexible Hand)
 upgrade_check: false # If set to true will pull latest docker image and prompt to upgrade the container
 hand_side: "right" # Specify if the hand is right or left (ignored if bimanual=true)
 bimanual: false # Specify if both left and right hands are used or not
 arm_ip_left: "" # Specify the IP address of left arm
 arm_ip_right: "" # Specify the IP address of right arm
 ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
-glove: "shadow_glove" # Determines which glove is installed (haptx or shadow_glove)
-real_glove: true # Whether a real physical glove is being used for hand control or not
-biotacs: true # Whether the hands will have biotac fingertips
+glove: "" # Determines which glove is installed (shadow_glove)
+real_glove: false # Whether a real physical glove is being used for hand control or not
 polhemus_type: "viper" # Allows the user to specify the polhemus type used (liberty or viper)
 remote_bag_user: "shadowop"
 remote_bag_storage_IP: "10.5.10.59"
 remote_bag_storage_location: "/volume1/ros_bags"
 record_data: false
 pr_branches: "" # Space-separated list in double quotes of PRs and branches like this "https://github.com/shadow-robot/repo/pull/266 https://github.com/shadow-robot/repo/tree/custom_branch" to check out on server and catkin_make
 local_image: false # This boolean dictates if you want to use a local image or not. Skips all authentication checks and stops the image from being pulled.
+delivery: true # This variable is used to determine whether we are using this for product delivery, or for development purposes. (should be used internally by Shadow Engineers)
 ansible_become_password: !vault |
           $ANSIBLE_VAULT;1.1;AES256
           37666530346662303365643738316338633231613365666339383135616237666336646133326435
@@ -40,3 +53,5 @@ ansible_ssh_pass: !vault |
           31613934306166313637326339313136393537393664663664353862613762646333646437646630
           3331323561646639620a363162363661363834616465393132383664363038666532323162393934
           3239
+
+skip_molecule_task: false # Used for automated tests

ansible/inventory/server_and_nuc/group_vars/server.yml

@@ -1,13 +1,25 @@
+# Copyright 2022-2023 Shadow Robot Company Ltd.
+#
+# This program is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by the Free
+# Software Foundation version 2 of the License.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+# more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program. If not, see <http://www.gnu.org/licenses/>.
+
 ---
 image: "public.ecr.aws/shadowrobot/dexterous-hand" # Docker image name
-tag: "noetic-release" # Tag of the exact Docker hub image to pull
+tag: "noetic-v1.0.21" # Tag of the exact Docker hub image to pull
 product: '' # Name of the product (hand_e, arm_hand_e, hand_lite, arm_hand_lite, hand_extra_lite, arm_hand_extra_lite)
 reinstall: false # Flag to know if the docker container should be fully reinstalled
 container_name: "dexterous_hand" # Name of the docker container
 nvidia_docker: true # Define if nvidia-container-toolkit is used (defaul is false)
-desktop_icon: true # Generates a desktop icon to launch the hand
 shortcut_name: "Shadow_Hand_Launcher" # Specify the name for the desktop icon (default: Shadow_Hand_Launcher)
-optoforce: false # Specify if optoforce sensors are going to be used with a branch name (Only for Flexible Hand)
 use_aws: false # Flag to prompt for customer key for uploading files to AWS
 setup_directory: "/usr/local/bin" # Where setup scripts should be installed that are launched when Docker starts
 terminator: true # Launch terminator when the Docker starts
@@ -21,51 +33,13 @@ ansible_become_password: "{{ sudo_password }}" # Specify the sudo password for t
 arm_ip_left: "" # Specify the IP address of left arm
 arm_ip_right: "" # Specify the IP address of right arm
 ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
-glove: "shadow_glove" # Determines which glove is installed (haptx or shadow_glove)
-real_glove: true # Whether a real physical glove is being used for hand control or not
-biotacs: true # Whether the hands will have biotac fingertips
+glove: "" # Determines which glove is installed (shadow_glove)
+real_glove: false # Whether a real physical glove is being used for hand control or not
 polhemus_type: "viper" # Allows the user to specify the polhemus type used (liberty or viper)
 pr_branches: "" # Space-separated list in double quotes of PRs and branches like this "https://github.com/shadow-robot/repo/pull/266 https://github.com/shadow-robot/repo/tree/custom_branch" to check out on server and catkin_make
 router: false # Specify if a router is used between server and NUC
-scene_file: "" # Allows the user to override the scene_file used in GUI launch (only for arm+hand product) e.g. scene_file="\$(find sr_description_common)/scenes/custom.scene" (if empty, default in Github will be used)
+scene_file: "" # Allows the user to override the scene_file used in GUI launch (only for arm+hand product) e.g. scene_file="new_scene" (we do not add .scene to the variable as it assumes:$(find sr_description_common)/scenes/{scene_file}.scene and $(find sr_description_common)/worlds/{scene_file}.world)
+delivery: true # This variable is used to determine whether we are using this for product delivery, or for development purposes. (should be used internally by Shadow Engineers)
 local_image: false # This boolean dictates if you want to use a local image or not. Skips all authentication checks and stops the image from being pulled.
-arm_hand_readthedocs_token: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          66353963666432383265393835616638613636366135663330383339323666636139653535386338
-          3862393133333033323961633735643131306134366135300a393435356162343863326530333131
-          39646636663333653732643033353838343237623834383434373533653465366463623165386565
-          6135376565363933620a386561666563666431343931626239613761663537366239643063626236
-          66626266333436366434376536636537626262343161633535663935666561383136
-arm_hand_readthedocs_link: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          36666266326536386336316166626631333738613730666165326435353063646535363163353432
-          3965623466306161623433333538363938666331376661630a373663626237303463353636323330
-          33336531653431663438376531653734306330346335646161626262643965363030373837346135
-          3361356664303739390a363731643964643830363966313963356364386232656530666634383866
-          33386263323131663836626565383431656164363763363862333235333862623334666461363336
-          66633735326261373334353134313331636663303638633664333237626461316130653362353763
-          32616439626536373862646339623065643063313764353835633039376333643466366234396465
-          35316232643932633138373330366536613061366335386532346332353461363965663533333132
-          33666434393533396132643533356461656339366465323333653366353663386538656436353733
-          38626635363932626431326661666633643732363665646566353162623862663938393838356237
-          316632643837373336333761303336616661
-glove_hand_readthedocs_token: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          33386366643631653639623762636466346264363263343138386363643537346436653038626339
-          6566316437373566633833633934306636646663333532350a636365633737373233383238663035
-          38616162656665376238353437353563323161666331663566646136666639626566376462386233
-          6136306164316563340a346666313266653761636664623262393638393930366363633666633763
-          65643735323235363962623238663237633662373132353166323231373365363461
-glove_hand_readthedocs_link: !vault |
-          $ANSIBLE_VAULT;1.1;AES256
-          66616130383864383038643362336232643739356666623635313130653631373430653861613630
-          3666653764666338666361623139313130353836306664390a636434366166643930623163623764
-          32646130616233613562653633636331313766323966393039643864633065373535333465643339
-          3133663535643237320a373165343162313036373566376533633164613337343666643432643036
-          36336437393965336262356339363530613738616561363361383938363135663761313962643039
-          66633437613232373931636131653031393236343034363163346162636166613332316133386438
-          66303635373064633732383832373864326136663962633236363165313264666238626162393663
-          64666264663938336161313834366130366138393664633231303864313061356535356462623532
-          39343334313330613632333838613833386564343862623439656333346331383433313535346564
-          36343461306464643930653039386237393964353633323031636162343766303566383338326532
-          323636663438386636613038663061653465
+
+skip_molecule_task: false # Used for automated tests - should not be used by users

ansible/inventory/server_and_nuc/phantom_hands

@@ -1,5 +1,5 @@
 [server]
-10.5.10.146 ansible_connection=local ansible_ssh_common_args='-o StrictHostKeyChecking=no'
+10.5.10.146 ansible_connection=local is_ansible_control_node=true ansible_ssh_common_args='-o StrictHostKeyChecking=no'
 
 [control_machine]
 10.5.10.147 ansible_host=nuc-control ansible_ssh_pipelining=true ansible_connection=ssh ansible_ssh_user=user ansible_user=user remote_user=user ansible_ssh_common_args='-o StrictHostKeyChecking=no'