Forge Controls

Reusable motion execution and control capabilities for Forge/Dora robotics dataflows.

The workspace provides lightweight motion controllers that consume Dora action payloads from forge_msgs, monitor fresh JointState feedback, and emit position-mode JointCommand references.

Packages:

• packages/gripper_action_controller: position-only single-joint gripper action controller.
• packages/joint_trajectory_controller: position-mode trajectory controller for fixed joint groups.

Each package separates a deterministic controller core from its thin Dora transport adapter and includes focused unit and fake-plant tests.

This workspace does not provide hard real-time motor control. Hardware firmware remains responsible for the low-level servo loop.

Standalone executables

Run scripts/build_pyinstaller.sh from any directory to build these single-file artifacts:

• dist/gripper_action_controller
• dist/joint_trajectory_controller
• dist/fake_joint_plant

The build uses an isolated Python 3.12 environment and verifies each executable's help command. It also checks that missing or invalid required arguments produce argparse exit code 2.

License

Apache License 2.0. Runtime dependencies are not distributed with this source repository and retain their respective licenses; see NOTICE and THIRD_PARTY_NOTICES.md. Review the complete bundled artifact before publishing standalone executables.