PF400 Interface Improvements: TCS Kinematics, Force Compliance, Height Detection, and Motion Enhancements

.env.example

@@ -2,11 +2,14 @@
 
 # NODE_STATUS_UPDATE_INTERVAL=2.0
 # NODE_STATE_UPDATE_INTERVAL=2.0
-# NODE_NODE_NAME=null
-# NODE_NODE_ID=null
-# NODE_NODE_TYPE=null
+# NODE_NAME=null
+# NODE_ID=null
+# NODE_TYPE=null
 # NODE_MODULE_NAME=null
 # NODE_MODULE_VERSION=null
+# NODE_ENABLE_REGISTRY_RESOLUTION=true
+# NODE_LAB_URL=null
+# NODE_REGISTRY_LOCK_TIMEOUT=60.0
 # NODE_URL="http://127.0.0.1:2000/"
 # NODE_UVICORN_KWARGS={"limit_concurrency":10}
 # NODE_ENABLE_RATE_LIMITING=true

.gitignore

@@ -161,5 +161,10 @@ cython_debug/
 #.idea/
 
 .vscode
-.DS_Store
 .madsci/
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride

.pre-commit-config.yaml

@@ -22,6 +22,7 @@ repos:
       # Run the linter.
       - id: ruff
         args: [--fix]
+        exclude: '\.ipynb$' # Exclude Jupyter Notebooks from linting.
       # Run the formatter.
       - id: ruff-format
   - repo: https://github.com/jag-k/pydantic-settings-export
@@ -31,3 +32,4 @@ repos:
         entry: pdm run pydantic-settings-export
         language: system
         files: ^src/pf400_rest_node\.py$
+        exclude: '\.ipynb$' # Exclude Jupyter Notebooks from all hooks.

docs/Configuration.md

@@ -12,11 +12,14 @@ Configuration for the pf400 node module.
 |------------------------------------|--------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------|
 | `NODE_STATUS_UPDATE_INTERVAL`      | `number` \| `NoneType`   | `2.0`                      | The interval in seconds at which the node should update its status.                                                                                                    | `2.0`                      |
 | `NODE_STATE_UPDATE_INTERVAL`       | `number` \| `NoneType`   | `2.0`                      | The interval in seconds at which the node should update its state.                                                                                                     | `2.0`                      |
-| `NODE_NODE_NAME`                   | `string` \| `NoneType`   | `null`                     | Name for this node. If not set, defaults to the class name.                                                                                                            | `null`                     |
-| `NODE_NODE_ID`                     | `string` \| `NoneType`   | `null`                     | Unique ID for this node. If not set, a new ULID is generated.                                                                                                          | `null`                     |
-| `NODE_NODE_TYPE`                   | `NodeType` \| `NoneType` | `null`                     | The type of thing this node provides an interface for.                                                                                                                 | `null`                     |
+| `NODE_NAME` \| `NODE_NAME`         | `string` \| `NoneType`   | `null`                     | Name for this node. If not set, defaults to the class name.                                                                                                            | `null`                     |
+| `NODE_ID` \| `NODE_ID`             | `string` \| `NoneType`   | `null`                     | Unique ID for this node. If not set, a new ULID is generated.                                                                                                          | `null`                     |
+| `NODE_TYPE` \| `NODE_TYPE`         | `NodeType` \| `NoneType` | `null`                     | The type of thing this node provides an interface for.                                                                                                                 | `null`                     |
 | `NODE_MODULE_NAME`                 | `string` \| `NoneType`   | `null`                     | Name of the node module implementation.                                                                                                                                | `null`                     |
 | `NODE_MODULE_VERSION`              | `string` \| `NoneType`   | `null`                     | Version of the node module implementation.                                                                                                                             | `null`                     |
+| `NODE_ENABLE_REGISTRY_RESOLUTION`  | `boolean`                | `true`                     | When true, resolve node_id from the ID Registry at startup for stable identity across restarts.                                                                        | `true`                     |
+| `NODE_LAB_URL`                     | `AnyUrl` \| `NoneType`   | `null`                     | Lab Manager URL for distributed registry coordination.                                                                                                                 | `null`                     |
+| `NODE_REGISTRY_LOCK_TIMEOUT`       | `number`                 | `60.0`                     | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts.                | `60.0`                     |
 | `NODE_URL` \| `NODE_URL`           | `AnyUrl`                 | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API.                                                                                      | `"http://127.0.0.1:2000/"` |
 | `NODE_UVICORN_KWARGS`              | `object`                 | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks.                   | `{"limit_concurrency":10}` |
 | `NODE_ENABLE_RATE_LIMITING`        | `boolean`                | `true`                     | Enable rate limiting middleware for the REST API.                                                                                                                      | `true`                     |