The browser reached this node through `dora-websocket-transceiver`: a second
node, a second port, and a round trip through the dataflow for every button
press, to carry a UI only this node can interpret. The node now serves the
page and holds the browsers' sockets itself on one port, so the console is
one URL and a consumer wires nothing for it.
`dora_teleop/server.py` runs aiohttp on a thread of its own and meets the
control loop at two non-blocking points: a bounded queue the tick drains, and
a snapshot handed back. Both queues are bounded deliberately — a flood is
dropped rather than grown, and a slow browser loses stale snapshots rather
than the newest — because nothing a browser does may stall the thread that
stops the arm. A port already in use stops the node rather than leaving it
announcing a console nobody can open.
The web deadman moved but did not change: it was a `clients` message from the
bridge and is now the open-socket count read each tick. One hop fewer, same
meaning.
Contract, so 0.2.0 -> 0.3.0: `ui_command` and `clients` are gone. `ui_state`
stays published for `dora topic echo` and the bench, with no browser reading
it. New WEB_HOST and WEB_PORT (7000; 0 opens no port).
The console itself is laid out like the arm's own pendant — two rings
quartered into arc sectors you hold, each with its out-of-plane axis as pills
above. Directions and signs match xArm Studio on the controller, `Y+` on the
left included: two consoles driving one arm that disagree about which way is
+Y is a trap, not a preference.
Also sends a velocity only when it changes, repeating an unchanged one on
JOG_KEEPALIVE_S (0.2 s) purely to beat the consumer's own expiry. Repeating
every tick made `dora-ulite6` re-plan the same motion twenty times a second.
That turned out not to be the whole cause of the stepping an operator felt —
the rest was fixed in dora-ulite6 v0.3.1, pinned here — but sending 18
messages where 83 went before is worth keeping on its own.
`dora-joy` moves to v0.1.1: v0.1 is an annotated tag, and dora 1.0.1 records
the tag object's id as the commit hash and then rejects its own checkout for
sitting on the peeled commit. Neither dataflow could be built before this.
Two problems, both found by the validate job once it could finally run.
categories named `teleop` and `input`, neither of which dora defines. The set is
fixed — sensor, actuator, robot, transform, filter, ml-inference, llm, speech,
communication, recorder, visualization, simulator, debug — and an unknown
variant makes the whole manifest unparseable, so every type annotation in it was
being ignored.
dataflow.yml spanned three repositories through sibling paths, which meant dora
could not resolve the other nodes' manifests and reported their typed outputs as
unannotated. It also could not be validated in CI, which clones one repo. The
house pattern is a self-contained dataflow, and this now follows it: teleop plus
a bench stand-in for the arm and the browser, both from this checkout. The real
three-node wiring moves to README.md, where a consumer would look for it.
The bench answers every service, publishes plausible telemetry, and prints the
velocities it is sent, so the node can be driven from a real gamepad with no
robot in the room. It is not a simulator and must not become one: it never
integrates a velocity or moves a pose.
cristhian