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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

  Downloads

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