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• v0.3.1 3b941e722e

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  v0.3.1 — smooth jogging Stable

  cristhian released this 2026-09-16 17:29:45 +00:00 | 0 commits to main since this release

  Jogging a real Lite6 moved the arm in discrete steps rather than travelling. This release
  makes it smooth.

  The fix

  set_cartesian_velocity passed duration=velocity_command_ttl_s on every message. That
  parameter is a maximum — the SDK documents it as "over this time will automatically set
  the speed to 0" — so each message re-armed a half-second timed segment and the controller
  re-planned the same motion again.

  Sending less often does not help: re-arming four times a second steps just as much as
  twenty. So the velocity is now set with duration=0 ("always effective, will not stop
  automatically") and an unchanged velocity is not sent to the arm at all. One command
  stands until a different one replaces it.

  Behaviour change worth knowing about

  duration was also the controller-side deadman, and _expire_jog was relying on it — it
  reported ready without commanding anything, because the controller's own timer had
  already stopped the arm.

  VELOCITY_COMMAND_TTL_S is now enforced by this node rather than by the controller.
  Same name, same default (0.5 s), same meaning to a caller: a jog sender that goes quiet
  for longer than this gets the arm stopped. What changed is who stops it. _expire_jog
  now commands the stop itself instead of assuming the controller already did.

  Nothing to change in a dataflow. jog behaves as before from the outside.

  Tests

  86 → 92. 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.

  Known gap

  The new _expire_jog stop path is covered by unit tests but has not been exercised on
  hardware. The smooth-jogging half was confirmed on a real arm; killing a sender mid-jog
  to watch the stop fire was not. Worth doing before relying on it.

  Full detail: liria/dora-ulite6#4

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• v0.3.0 f29265a860

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  v0.3.0 — a dora 1.0 service node Stable

  cristhian released this 2026-09-15 21:26:59 +00:00 | 3 commits to main since this release

  The tag README.md and dora-node.yml have been advertising. Until now a consumer
  following either got an unresolvable ref.

  What this is

  The node speaks dora's service pattern: one request, one response, correlated by the
  request_id dora puts in the message metadata. Eleven services, Arrow struct payloads,
  and a jog input taking a base-frame velocity.

  The FastAPI REST server and web UI are gone — this is a dataflow node and nothing else.
  Both remain reachable at v0.1.2.

  Not drop-in from v0.1.x

  command/status → request/response; JSON strings → Arrow structs; action →
  service; vacuum_on/vacuum_off → grasp/release; jog is its own input; no
  started message. README.md carries the full migration notes, including the v0.1.x ones
  (web UI removal, DEFAULT_UNITS, tool-tip poses).

  Verified

  86 tests with no robot, dataflow or daemon; dora validate clean under strict_types;
  ruff and markdownlint clean; CI green on this commit.

  Not verified — no hardware was connected

  • That emergency_stop() followed by clear() leaves the controller accepting the next
    motion. First thing to check on real hardware.
  • That the xArm controller keeps executing a queued motion when the TCP connection drops.
    The shutdown-halts-the-arm behaviour assumes it does.

  Usage

    - id: ulite6
      git: ssh://git@gitea.liria.cl:5001/liria/dora-ulite6.git
      tag: v0.3.0
      build: pip install .
      path: dora-ulite6
  

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• v0.1.3 a5f05ddc6f

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  v0.1.3 Stable

  cristhian released this 2026-04-09 13:00:45 +00:00 | 14 commits to main since this release

  Changes

  • Fix markdownlint config and README lint errors
  • Fix AGENTS.md line-length lint errors

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• v0.1.2 b7aa1dd3aa

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  v0.1.2 Stable

  cristhian released this 2026-04-02 17:07:28 +00:00 | 16 commits to main since this release

  Changes

  • Add TOOL_TYPE env var (none, vacuum, gripper) to apply tool Z-offset to tcp_pose
  • Add TOOL_OFFSET_MM env var for fine-tuning on top of the preset
  • Default presets for standard UFactory Lite6 accessories: vacuum = 61 mm, gripper = 65 mm
  • /api/pose and Dora tcp_pose output now reflect tool tip position when a tool is configured
  • /api/config exposes tool_type and tool_offset_mm
  • Web UI TCP pose card title updates to show the active tool

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• v0.1.1 4174d566e9

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  v0.1.1 Stable

  cristhian released this 2026-04-02 16:27:05 +00:00 | 17 commits to main since this release

  Fixes

  • Refactor dataflow.yml to run from local path (remove git/git_checkout fields)
  • Pin dora-rs == 0.5.0 to match dora-cli 0.5.0 message format
  • Bump requires-python to >=3.12 to satisfy scipy >= 1.14.0

  Downloads

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