usnistgov · jfernandez37 · Mar 23, 2026 · Apr 27, 2026 · Apr 27, 2026
diff --git a/Dockerfile b/Dockerfile
@@ -34,7 +34,7 @@ WORKDIR $ROS_WS
 # Copy ARIAC packages into workspace
 COPY ./ $ROS_WS/src/
 
-RUN apt-get update && pip3 install -r $ROS_WS/src/ariac_app/requirements.txt --break-system-packages
+RUN apt-get update && pip3 install --ignore-installed -r $ROS_WS/src/ariac_app/requirements.txt --break-system-packages
 
 # ================================================================
 # Resolve dependencies with rosdep

diff --git a/ariac_app/CHANGELOG.rst b/ariac_app/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/ariac_app/package.xml b/ariac_app/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_app</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>TODO: Package description</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/ariac_db/CHANGELOG.rst b/ariac_db/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/ariac_db/package.xml b/ariac_db/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_db</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>Package containing scripts and nodes for creating and working with the ariac database</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/ariac_description/CHANGELOG.rst b/ariac_description/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/ariac_description/package.xml b/ariac_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_description</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>TODO: Package description</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>TODO: License declaration</license>

diff --git a/ariac_gz/CHANGELOG.rst b/ariac_gz/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 * Improved vacuum tool design for reduced stickiness

diff --git a/ariac_gz/package.xml b/ariac_gz/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gz</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>TODO: Package description</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>TODO: License declaration</license>

diff --git a/ariac_interfaces/CHANGELOG.rst b/ariac_interfaces/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/ariac_interfaces/package.xml b/ariac_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_interfaces</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>TODO: Package description</description>
   <maintainer email="joseph.fernandez@nist.gov">ubuntu</maintainer>
   <license>TODO: License declaration</license>

diff --git a/ariac_plugins/CHANGELOG.rst b/ariac_plugins/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+* Fixed top shell wobble and stability issues
+* Reduced penalty deserialization issues
+
 2025.3.5 (2026-02-25)
 ----------------------
 * Improved vacuum tool design for reduced stickiness

diff --git a/ariac_plugins/include/ariac_components/penalty.hpp b/ariac_plugins/include/ariac_components/penalty.hpp
@@ -62,6 +62,16 @@ namespace ariac_components
   }
 }
 
+inline std::ostream& operator<<(std::ostream& _out, const ariac_components::Penalty &_penalty)
+{
+  return ariac_components::serializers::PenaltySerializer::Serialize(_out, _penalty);
+}
+
+inline std::istream& operator>>(std::istream& _in, ariac_components::Penalty &_penalty)
+{
+  return ariac_components::serializers::PenaltySerializer::Deserialize(_in, _penalty);
+}
+
 namespace gz::sim::components
 {
   using Penalty = Component<ariac_components::Penalty,

diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_plugins</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>Plugins for the ARIAC competition</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>Apache-2.0</license>

diff --git a/ariac_plugins/src/top_shell_plugin.cpp b/ariac_plugins/src/top_shell_plugin.cpp
@@ -31,6 +31,15 @@ void TopShellPlugin::Configure(
   gz_node->Subscribe(topic_names[1], &TopShellPlugin::slot_1_contact_msg_cb, this);
   gz_node->Subscribe(topic_names[4], &TopShellPlugin::slot_4_contact_msg_cb, this);
 
+  std::optional<gz::sim::Entity> assembly_conveyor_entity_opt = _ecm.EntityByName("assembly_conveyor");
+
+  if(!assembly_conveyor_entity_opt.has_value()){
+    throw std::runtime_error("Could not find assembly conveyor entity");
+  }
+
+  gz::sim::Entity assembly_conveyor_entity = assembly_conveyor_entity_opt.value();
+  section_3_link_entity = gz::sim::Model(assembly_conveyor_entity).LinkByName(_ecm, "section_3_belt");
+
   std::string base_topic = "/world/ariac/model/" + top_shell_model.Name(_ecm) + "/link/base_link/sensor/contact_sensor/contact";
 
   gz_node->Subscribe(base_topic, &TopShellPlugin::base_contact_msg_cb, this);

diff --git a/ariac_setup/CHANGELOG.rst b/ariac_setup/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/ariac_setup/package.xml b/ariac_setup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_setup</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>Python nodes for setting up the environment</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>TODO: License declaration</license>

diff --git a/robotiq_gripper_controller/CHANGELOG.rst b/robotiq_gripper_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog
 ^^^^^^^^^
 
+2025.3.6 (2026-04-27)
+----------------------
+
 2025.3.5 (2026-02-25)
 ----------------------
 

diff --git a/robotiq_gripper_controller/package.xml b/robotiq_gripper_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_gripper_controller</name>
-  <version>2025.3.4</version>
+  <version>2025.3.6</version>
   <description>TODO: Package description</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>Apache-2.0</license>