8 Commits

Include renames

Author	SHA1	Message	Date
cristhian	a95d804f0b	fix jogging stepping by holding one velocity instead of re-arming ... `set_cartesian_velocity` passed `duration=velocity_command_ttl_s` on every message, so each one re-armed a timed segment and the controller re-planned the same motion. On a real Lite6 that is not smooth travel: the arm moves in steps. Reducing how often the velocity is sent does not help — re-arming four times a second still steps — so it now uses `duration=0`, the SDK's "always effective, will not stop automatically", and skips a velocity that has not changed. One command stands until a different one replaces it. That removes the controller-side expiry, which `_expire_jog` was relying on: it flipped `_jogging` and reported `ready` without commanding anything, because the controller's own timer had already stopped the arm. With the velocity held indefinitely that would leave an arm travelling while the node reported idle, so `_expire_jog` now queues the stop itself. It goes through the job queue rather than the driver, since it runs on the reporter thread and the control thread owns the driver. `VELOCITY_COMMAND_TTL_S` is unchanged in value and meaning to a caller, but it is now enforced here rather than by the controller. Both halves are one commit on purpose: `duration=0` without the stop in `_expire_jog` is an arm that never stops when its sender dies. Adds tests/test_driver.py — the driver had no direct coverage, because FakeArm replaces it everywhere else, which is why this was invisible to the suite.	2026-09-16 14:27:46 -03:00
cristhianandClaude Opus 5	8cd4db93f1	docs: update the test count ... Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>	2026-09-15 12:32:43 -05:00
cristhian	412aeac955	docs: rewrite README and AGENTS for the service node ... Documents the eleven services, the wait flag, motion_state and preemption, and the lifecycle guarantees around restart and shutdown. AGENTS.md records the two rules that are easy to break by accident: the stopping event must stay set-to-stop, because an event that is set while running makes every wait() return at once and turns each cadence into a busy loop; and every request gets exactly one response, since a caller has no other way to know its request finished.	2026-09-12 11:47:06 -03:00
cristhian aguilera	1c7654e429	add markdownlint config and fix README lint errors ... Add .markdownlint.json with 120-column line limit. Fix MD060 table separator style to match padded header rows.	2026-04-02 14:19:05 -03:00
cristhian aguilera	b7aa1dd3aa	add TOOL_TYPE offset to tcp_pose for vacuum and gripper ... Apply Z-axis tool offset when publishing tcp_pose so the output reflects the actual tool tip. Adds TOOL_TYPE (none/vacuum/gripper) and TOOL_OFFSET_MM env vars with standard Lite6 accessory presets. Bump version to 0.1.2.	2026-04-02 14:07:28 -03:00
cristhian	8333e53018	Update README.md	2026-04-01 23:42:22 +00:00
cristhian aguilera	8e3d976a17	add dora_ulite6 standalone node with command lifecycle status ... Migrates the ulite6 Python dora node from dora_littlehand into a self-contained repository following the dora-zed structure. Adds command lifecycle state ("started"/"done"/"failed") and type ("command"/"error") to the status output so coordinator nodes can reliably sequence robot actions without polling.	2026-04-01 08:51:19 -03:00
cristhian	19ef9c074f	Initial commit	2026-04-01 08:03:25 +00:00