Skip to content

v0.4.0

Choose a tag to compare

View all tags
@github-actions github-actions released this 31 Oct 08:36
· 54 commits to main since this release
v0.4.0
fe0b547

  • Dual-arm following with independent CAN workers, all-arm preflight, coordinated
    takeover, peer-fault cancellation and serialized reports. Single-arm selection remains.

  • Operator-approved voltage-only leader alarms are nonblocking during physical
    following; stale/corrupt feedback, enabled leaders and other fault bits still stop.

  • Optional leader --follow adds operator-started physical following,
    relative takeover, direct MIT targets with upstream joint-bound clipping,
    65-degree gripper mapping, stop/disconnect cleanup and reports.
    Operator-run dual-arm following completed a short trial with both disables
    verified; startup remains passive. Quantified tracking accuracy is unmeasured.

  • Following no longer inherits manual-slider slew/offset restrictions. Leader
    calibration and diagnostics are collapsed by default in Viser.

  • Guided manual leader calibration in Viser: arm selection, stable natural-zero
    and gripper endpoint capture, visible completeness/unsaved status and persistence.

  • Capture rejects moving, stale or enabled-leader feedback and retains previous
    values on failure. Advanced direction/device controls remain available.

Assets 5
Loading