cpee 1.5.25 → 2.0.2

data/cockpit/templates.legacy/Worklist Test CPEE.xml

@@ -1,14 +1,14 @@
 <testset>
-  <dataelements>
+  <dataelements xmlns="http://cpee.org/ns/properties/2.0">
     <bla xmlns="http://riddl.org/ns/common-patterns/properties/1.0"/>
   </dataelements>
-  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
-  <endpoints>
+  <handlerwrapper xmlns="http://cpee.org/ns/properties/2.0">DefaultHandlerWrapper</handlerwrapper>
+  <endpoints xmlns="http://cpee.org/ns/properties/2.0">
     <timeout xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</timeout>
     <worklist xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org:9302</worklist>
   </endpoints>
-  <positions/>
-  <description>
+  <positions xmlns="http://cpee.org/ns/properties/2.0"/>
+  <description xmlns="http://cpee.org/ns/properties/2.0">
     <description xmlns="http://cpee.org/ns/description/1.0">
       <call id="a1" endpoint="worklist">
         <parameters>
@@ -27,12 +27,12 @@
       </call>
     </description>
   </description>
-  <transformation>
+  <transformation xmlns="http://cpee.org/ns/properties/2.0">
     <description type="copy"/>
     <dataelements type="none"/>
     <endpoints type="none"/>
   </transformation>
-  <attributes>
+  <attributes xmlns="http://cpee.org/ns/properties/2.0">
     <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">asda</info>
     <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
     <organisation1 xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org/~demo/orgviz/organisation_informatik.xml</organisation1>

data/cockpit/templates.legacy/Worklist Test.xml

@@ -1,14 +1,14 @@
 <testset>
-  <dataelements>
+  <dataelements xmlns="http://cpee.org/ns/properties/2.0">
     <bla xmlns="http://riddl.org/ns/common-patterns/properties/1.0"/>
   </dataelements>
-  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
-  <endpoints>
+  <handlerwrapper xmlns="http://cpee.org/ns/properties/2.0">DefaultHandlerWrapper</handlerwrapper>
+  <endpoints xmlns="http://cpee.org/ns/properties/2.0">
     <timeout xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</timeout>
     <worklist xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org:9398</worklist>
   </endpoints>
-  <positions/>
-  <description>
+  <positions xmlns="http://cpee.org/ns/properties/2.0"/>
+  <description xmlns="http://cpee.org/ns/properties/2.0">
     <description xmlns="http://cpee.org/ns/description/1.0">
       <call id="a1" endpoint="worklist">
         <parameters>
@@ -29,12 +29,12 @@
       </call>
     </description>
   </description>
-  <transformation>
+  <transformation xmlns="http://cpee.org/ns/properties/2.0">
     <description type="copy"/>
     <dataelements type="none"/>
     <endpoints type="none"/>
   </transformation>
-  <attributes>
+  <attributes xmlns="http://cpee.org/ns/properties/2.0">
     <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">asda</info>
     <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
     <organisation1 xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org/~demo/orgviz/organisation_informatik.xml</organisation1>

data/cockpit/templates.legacy/Worklist Test2.xml

@@ -1,14 +1,14 @@
 <testset>
-  <dataelements>
+  <dataelements xmlns="http://cpee.org/ns/properties/2.0">
     <bla xmlns="http://riddl.org/ns/common-patterns/properties/1.0"/>
   </dataelements>
-  <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
-  <endpoints>
+  <handlerwrapper xmlns="http://cpee.org/ns/properties/2.0">DefaultHandlerWrapper</handlerwrapper>
+  <endpoints xmlns="http://cpee.org/ns/properties/2.0">
     <timeout xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</timeout>
     <worklist xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://solo.wst.univie.ac.at:9302</worklist>
   </endpoints>
-  <positions/>
-  <description>
+  <positions xmlns="http://cpee.org/ns/properties/2.0"/>
+  <description xmlns="http://cpee.org/ns/properties/2.0">
     <description xmlns="http://cpee.org/ns/description/1.0">
       <call id="a1" endpoint="worklist">
         <parameters>
@@ -30,12 +30,12 @@
       </call>
     </description>
   </description>
-  <transformation>
+  <transformation xmlns="http://cpee.org/ns/properties/2.0">
     <description type="copy"/>
     <dataelements type="none"/>
     <endpoints type="none"/>
   </transformation>
-  <attributes>
+  <attributes xmlns="http://cpee.org/ns/properties/2.0">
     <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">asda</info>
     <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
     <organisation1 xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org/~demo/orgviz/organisation_informatik.xml</organisation1>

data/cockpit/templates.legacy/convert_cpee2.rb

@@ -0,0 +1,15 @@
+#!/usr/bin/ruby
+require 'xml/smart'
+
+Dir['*.xml'].each do |f|
+  XML::Smart.modify(f) do |doc|
+    doc.register_namespace 'd', 'http://cpee.org/ns/description/1.0'
+    doc.register_namespace 'p', 'http://riddl.org/ns/common-patterns/properties/1.0'
+    if doc.root.qname.name == 'testset'
+      doc.find('//attributes | //endpoints | //dataelements | //positions | //transformation | //handlerwrapper | //description').each do |e|
+        e.namespaces[nil] = 'http://cpee.org/ns/properties/2.0'
+        e.namespace = nil
+      end
+    end
+  end
+end

data/cockpit/templates.legacy/testsets.xml

@@ -34,4 +34,4 @@
   <testset>Lego Liddy</testset>
   <testset>Lego Full</testset>
   <!--testset>Manuel Labels</testset-->
-</testsets>
+</testsets>

data/cockpit/templates/BPM 2020 Manual Adjust.xml

@@ -1,17 +1,16 @@
-<testset>
+<testset xmlns="http://cpee.org/ns/properties/2.0">
   <dataelements/>
   <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
   <endpoints>
-    <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
-    <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
-    <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
-    <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
-    <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
-    <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
-    <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
-    <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
-    <grip_and_place xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
-    <move_rel xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/relative</move_rel>
+    <overview>http-put://ryloth.wst.univie.ac.at:9329/move/overview</overview>
+    <move_tool>http-put://ryloth.wst.univie.ac.at:9329/move/position/point</move_tool>
+    <move_camera>http-put://ryloth.wst.univie.ac.at:9329/move/position/view</move_camera>
+    <get_items_base>http-get://ryloth.wst.univie.ac.at:9329/view/items</get_items_base>
+    <get_items_neural>http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
+    <get_offset_base>http-get://ryloth.wst.univie.ac.at:9329/view/details</get_offset_base>
+    <get_offset_neural>http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
+    <grip_and_place>http-put://ryloth.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
+    <move_rel>http-put://ryloth.wst.univie.ac.at:9329/move/position/relative</move_rel>
   </endpoints>
   <description>
     <description xmlns="http://cpee.org/ns/description/1.0">
@@ -28,8 +27,8 @@
         <code>
           <prepare/>
           <finalize output="result">data.direction_first = result
-data.direction_first['x'] = data.direction_first['dir_x'] * 10
-data.direction_first['y'] = data.direction_first['dir_y'] * 10</finalize>
+data.direction_first['x'] = data.direction_first['dir_x'] * 6
+data.direction_first['y'] = data.direction_first['dir_y'] * 6</finalize>
           <update output="result"/>
           <rescue output="result"/>
         </code>
@@ -72,32 +71,6 @@ data.direction_first['y'] = data.direction_first['dir_y'] * 10</finalize>
           </_notes>
         </annotations>
       </call>
-      <call id="a15" endpoint="wait">
-        <parameters>
-          <label>Wait for camera stream delay</label>
-          <method>:post</method>
-          <arguments>
-            <timeout>5</timeout>
-          </arguments>
-          <stream>
-            <sensors/>
-            <aggregators/>
-            <costs/>
-          </stream>
-        </parameters>
-        <annotations>
-          <_timing>
-            <_timing_wait/>
-            <_timing_threshold/>
-            <_timing_min/>
-            <_timing_max/>
-            <_timing_avg/>
-          </_timing>
-          <_notes>
-            <_notes_general/>
-          </_notes>
-        </annotations>
-      </call>
       <call id="a17" endpoint="get_offset_base">
         <parameters>
           <label>Get second offset and calc distance</label>
@@ -116,7 +89,7 @@ if (data.direction_first['dir_x'] * data.direction_second['dir_x'] &gt;= 0)
 else
   data.traveled = data.direction_first['len'] + data.direction_second['len']
 end
-data.len = data.direction_second['len'] / (data.traveled / 10)
+data.len = data.direction_second['len'] / (data.traveled / 6)
 data.direction_second['x'] = data.direction_second['dir_x'] * data.len
 data.direction_second['y'] = data.direction_second['dir_y'] * data.len</finalize>
           <update output="result"/>
@@ -161,32 +134,6 @@ data.direction_second['y'] = data.direction_second['dir_y'] * data.len</finalize
           </_notes>
         </annotations>
       </call>
-      <call id="a16" endpoint="wait">
-        <parameters>
-          <label>Wait for camera stream delay</label>
-          <method>:post</method>
-          <arguments>
-            <timeout>5</timeout>
-          </arguments>
-          <stream>
-            <sensors/>
-            <aggregators/>
-            <costs/>
-          </stream>
-        </parameters>
-        <annotations>
-          <_timing>
-            <_timing_wait/>
-            <_timing_threshold/>
-            <_timing_min/>
-            <_timing_max/>
-            <_timing_avg/>
-          </_timing>
-          <_notes>
-            <_notes_general/>
-          </_notes>
-        </annotations>
-      </call>
       <call id="a2" endpoint="get_offset_base">
         <parameters>
           <label>Investigate Precision</label>
@@ -201,7 +148,7 @@ data.direction_second['y'] = data.direction_second['dir_y'] * data.len</finalize
           <prepare/>
           <finalize output="result">data.direction_third = result</finalize>
           <update output="result"/>
-          <rescue output="result"/>
+          <rescue output="result">'Oh no!'</rescue>
         </code>
         <annotations>
           <_timing>
@@ -227,9 +174,9 @@ data.item['adjust_y'] = (data.direction_first['y'] + data.direction_second['y'])
     <endpoints type="none"/>
   </transformation>
   <attributes>
-    <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">BPM 2020 Manual Adjust</info>
-    <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
-    <theme xmlns="http://riddl.org/ns/common-patterns/properties/1.0">preset</theme>
-    <resource xmlns="http://riddl.org/ns/common-patterns/properties/1.0">ur51</resource>
+    <info>BPM 2020 Manual Adjust</info>
+    <modeltype>CPEE</modeltype>
+    <theme>preset</theme>
+    <resource>ur51</resource>
   </attributes>
 </testset>

data/cockpit/templates/BPM 2020 Solution Baseline.xml

@@ -1,19 +1,18 @@
-<testset>
+<testset xmlns="http://cpee.org/ns/properties/2.0">
   <dataelements>
-    <places xmlns="http://riddl.org/ns/common-patterns/properties/1.0">[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2]]</places>
+    <places>[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2],[0,3],[1,3],[0,4],[1,4],[0,5],[1,5]]</places>
   </dataelements>
   <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
   <endpoints>
-    <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
-    <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
-    <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
-    <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
-    <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
-    <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
-    <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
-    <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
-    <grip_and_place xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
-    <subprocess xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org:9296/url/</subprocess>
+    <overview>http-put://ryloth.wst.univie.ac.at:9329/move/overview</overview>
+    <move_tool>http-put://ryloth.wst.univie.ac.at:9329/move/position/point</move_tool>
+    <move_camera>http-put://ryloth.wst.univie.ac.at:9329/move/position/view</move_camera>
+    <get_items_base>http-get://ryloth.wst.univie.ac.at:9329/view/items</get_items_base>
+    <get_items_neural>http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
+    <get_offset_base>http-get://ryloth.wst.univie.ac.at:9329/view/details</get_offset_base>
+    <get_offset_neural>http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
+    <grip_and_place>http-put://ryloth.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
+    <subprocess>http://localhost:9296/url/</subprocess>
   </endpoints>
   <description>
     <description xmlns="http://cpee.org/ns/description/1.0">
@@ -46,32 +45,6 @@
             </_notes>
           </annotations>
         </call>
-        <call id="a7" endpoint="wait">
-          <parameters>
-            <label>Wait for camera stream delay</label>
-            <method>:post</method>
-            <arguments>
-              <timeout>5</timeout>
-            </arguments>
-            <stream>
-              <sensors/>
-              <aggregators/>
-              <costs/>
-            </stream>
-          </parameters>
-          <annotations>
-            <_timing>
-              <_timing_wait/>
-              <_timing_threshold/>
-              <_timing_min/>
-              <_timing_max/>
-              <_timing_avg/>
-            </_timing>
-            <_notes>
-              <_notes_general/>
-            </_notes>
-          </annotations>
-        </call>
         <call id="a3" endpoint="get_items_base">
           <parameters>
             <label>Get item positions</label>
@@ -129,39 +102,13 @@
                 </_notes>
               </annotations>
             </call>
-            <call id="a15" endpoint="wait">
-              <parameters>
-                <label>Wait for camera stream delay</label>
-                <method>:post</method>
-                <arguments>
-                  <timeout>5</timeout>
-                </arguments>
-                <stream>
-                  <sensors/>
-                  <aggregators/>
-                  <costs/>
-                </stream>
-              </parameters>
-              <annotations>
-                <_timing>
-                  <_timing_wait/>
-                  <_timing_threshold/>
-                  <_timing_min/>
-                  <_timing_max/>
-                  <_timing_avg/>
-                </_timing>
-                <_notes>
-                  <_notes_general/>
-                </_notes>
-              </annotations>
-            </call>
             <call id="a2" endpoint="subprocess">
               <parameters>
                 <label>Adjust</label>
                 <method>:post</method>
                 <arguments>
                   <behavior>wait_running</behavior>
-                  <url>http://cpee.org/~demo/cpee-cockpit/templates/BPM%202020%20Manual%20Adjust.xml</url>
+                  <url>http://localhost/flow/templates/BPM%202020%20Manual%20Adjust.xml</url>
                   <init/>
                   <endpoints/>
                   <stream/>
@@ -174,7 +121,7 @@
               </parameters>
               <code>
                 <prepare/>
-                <finalize output="result"># data.place = data.places.shift
+                <finalize output="result">data.place = data.places.shift
 data.item = result['item']
 data.item['x'] = data.items.first['x'] + data.item['adjust_x']
 data.item['y'] = data.items.first['y'] + data.item['adjust_y']</finalize>
@@ -194,7 +141,6 @@ data.item['y'] = data.items.first['y'] + data.item['adjust_y']</finalize>
                 </_notes>
               </annotations>
             </call>
-            <stop id="a4"/>
             <call id="a8" endpoint="grip_and_place">
               <parameters>
                 <label>Grip and Place</label>
@@ -242,9 +188,9 @@ data.item['y'] = data.items.first['y'] + data.item['adjust_y']</finalize>
     <endpoints type="none"/>
   </transformation>
   <attributes>
-    <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">BPM 2020 Solution Baseline Manual Adjust</info>
-    <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
-    <theme xmlns="http://riddl.org/ns/common-patterns/properties/1.0">preset</theme>
-    <resource xmlns="http://riddl.org/ns/common-patterns/properties/1.0">ur51</resource>
+    <info>BPM 2020 Solution Baseline</info>
+    <modeltype>CPEE</modeltype>
+    <theme>preset</theme>
+    <resource>ur51</resource>
   </attributes>
 </testset>

data/cockpit/templates/BPM 2020 Solution NN.xml

@@ -1,18 +1,24 @@
-<testset>
+<testset xmlns="http://cpee.org/ns/properties/2.0">
   <dataelements>
-    <places xmlns="http://riddl.org/ns/common-patterns/properties/1.0">[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2]]</places>
+    <places>[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2],[0,3],[1,3],[0,4],[1,4],[0,5],[1,5]]</places>
   </dataelements>
   <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
+  <handlers>
+    <handler url="http://tango.wst.univie.ac.at:9332">
+      <votes topic='state'>change</votes>
+      <events topic='state'>change</events>
+      <events topic='task'>instantiation</events>
+    </handler>
+  </handlers>
   <endpoints>
-    <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
-    <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
-    <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
-    <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
-    <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
-    <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
-    <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
-    <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
-    <grip_and_place xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
+    <overview>http-put://ryloth.wst.univie.ac.at:9329/move/overview</overview>
+    <move_tool>http-put://ryloth.wst.univie.ac.at:9329/move/position/point</move_tool>
+    <move_camera>http-put://ryloth.wst.univie.ac.at:9329/move/position/view</move_camera>
+    <get_items_base>http-get://ryloth.wst.univie.ac.at:9329/view/items</get_items_base>
+    <get_items_neural>http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
+    <get_offset_base>http-get://ryloth.wst.univie.ac.at:9329/view/details</get_offset_base>
+    <get_offset_neural>http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
+    <grip_and_place>http-put://ryloth.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
   </endpoints>
   <description>
     <description xmlns="http://cpee.org/ns/description/1.0">
@@ -46,32 +52,6 @@
             </_notes>
           </annotations>
         </call>
-        <call id="a7" endpoint="wait">
-          <parameters>
-            <label>Wait for camera stream delay</label>
-            <method>:post</method>
-            <arguments>
-              <timeout>5</timeout>
-            </arguments>
-            <stream>
-              <sensors/>
-              <aggregators/>
-              <costs/>
-            </stream>
-          </parameters>
-          <annotations>
-            <_timing>
-              <_timing_wait/>
-              <_timing_threshold/>
-              <_timing_min/>
-              <_timing_max/>
-              <_timing_avg/>
-            </_timing>
-            <_notes>
-              <_notes_general/>
-            </_notes>
-          </annotations>
-        </call>
         <call id="a3" endpoint="get_items_neural">
           <parameters>
             <label>Get item positions</label>
@@ -130,32 +110,6 @@ data.item = result[0]</finalize>
                 </_notes>
               </annotations>
             </call>
-            <call id="a4" endpoint="wait">
-              <parameters>
-                <label>Wait for camera stream delay</label>
-                <method>:post</method>
-                <arguments>
-                  <timeout>5</timeout>
-                </arguments>
-                <stream>
-                  <sensors/>
-                  <aggregators/>
-                  <costs/>
-                </stream>
-              </parameters>
-              <annotations>
-                <_timing>
-                  <_timing_wait/>
-                  <_timing_threshold/>
-                  <_timing_min/>
-                  <_timing_max/>
-                  <_timing_avg/>
-                </_timing>
-                <_notes>
-                  <_notes_general/>
-                </_notes>
-              </annotations>
-            </call>
             <call id="a6" endpoint="get_offset_neural">
               <parameters>
                 <label>Get item offset</label>
@@ -169,8 +123,8 @@ data.item = result[0]</finalize>
               <code>
                 <prepare/>
                 <finalize output="result">data.adjusted = {
-  'x' =&gt; data.item['x'] + result['adjust_x'],
-  'y' =&gt; data.item['y'] + result['adjust_y']
+  'x' =&gt; data.item['x'] + result['dir_x'],
+  'y' =&gt; data.item['y'] + result['dir_y']
 }</finalize>
                 <update output="result"/>
                 <rescue output="result"/>
@@ -192,8 +146,8 @@ data.item = result[0]</finalize>
               <parameters>
                 <label>Grip and Place</label>
                 <arguments>
-                  <x>!data.adjusted['x']</x>
-                  <y>!data.adjusted['y']</y>
+                  <x>!data.adjusted['x'].round(0)</x>
+                  <y>!data.adjusted['y'].round(0)</y>
                   <place_x>!data.place[0]</place_x>
                   <place_y>!data.place[1]</place_y>
                 </arguments>
@@ -235,9 +189,9 @@ data.item = result[0]</finalize>
     <endpoints type="none"/>
   </transformation>
   <attributes>
-    <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">BPM 2020 Solution NN</info>
-    <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
-    <theme xmlns="http://riddl.org/ns/common-patterns/properties/1.0">preset</theme>
-    <resource xmlns="http://riddl.org/ns/common-patterns/properties/1.0">ur51</resource>
+    <info>BPM 2020 Solution NN</info>
+    <modeltype>CPEE</modeltype>
+    <theme>preset</theme>
+    <resource>ur51</resource>
   </attributes>
 </testset>