feat: report position and force in the teleop status - #17
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An operator UI that watches a teleop session cannot read the gripper itself while it runs — the loop owns the CAN bus until teleop_stop. The status dict was the only window into the session, and it carried the opening but not the position or the force behind it, so a caller had no way to show what the jaws were doing (or, on a follower, how hard the leader was squeezing). status() now also reports position_mm and force_n: the master's own state, or the values from the frame the slave last followed.
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This was referenced Sep 29, 2026
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Summary
A caller watching a teleop session cannot read the gripper itself while it runs — the loop owns
the CAN bus until
teleop_stop.teleop_status()is therefore the only window into the session,and it reported the opening but not the position or the force behind it. An operator UI had no way
to show what the jaws were doing, or how hard a leader was squeezing.
status()now also reportsposition_mmandforce_n: the master's own state, or the valuesfrom the frame the slave last followed.
Changes
src/litegrip/teleop.py—_last_position_mm/_last_force_nseeded in__init__, updatedin the master loop (own
get_state) and the slave loop (the followed frame, including the alignframe), and added to
status(). Stored only on the good-frame path, so a non-finite reading isnever surfaced.
tests/test_teleop.py—MasterLoopTest.test_status_reports_position_and_force(status agreeswith the published frame) and
SlaveLoopTest.test_status_reports_the_followed_position_and_force.README.md/readme_zn.md— the status list gainsposition_mm/force_n.Testing
Issues
None — the repository has no issue tracker entries, matching the previous PRs.