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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
  

  Downloads

  • Source Code (ZIP)
  • Source Code (TAR.GZ)