Shutdown must not stand the robot back up, and quack opens the beak - #170
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apirrone
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August 29, 2026 08:17
This was referenced Sep 1, 2026
A sit-then-power-off went limp with this tick's snapshot still showing enabled, so the enable-driven bring-up ramped home immediately (pollen-robotics#159). Ignore robot.init for the rest of that sequence, and go Limp on the no-sit path too. robotctl quack was voice-only; the pad already opens the mouth via the triggers. Hold the beak open for a one-shot so you can tell which duck answered (pollen-robotics#153). Drop a duplicate #[cfg(test)] in chorale so clippy -D warnings passes. Assisted-by: Cursor Grok 4.6
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Fixes #159 and #153.
Prevent a completed shutdown from re-enabling torque through the same tick's stale enable snapshot. Ignore
robot.initwhile shutdown is in progress or power is off, skip enable-driven bring-up during that sequence and setBringup::Limpon the no-sit power-off path.robotctl quacknow holds the beak open for 450 ms, including when audio playback fails. It preserves the blocking goodbye behavior and avoids taking over while ride, theremin or chorale owns the PCM. The mouth can move while sitting but torqued.Motor-gain tuning is unchanged: policy.gain remains 200 with I/D at zero.
Also remove a duplicate
#[cfg(test)]attribute that failed strict Clippy.Test plan
cargo test -p robotd: 99 unit tests and 7 updater_gate tests passed, including shutdown/init and one-shot beak regressions.RUSTFLAGS="-D warnings" cargo clippy -p robotd --all-targetsrobotctl quackopens the beak and plays the call.The tested shutdown path has no policy and powers off immediately. The sit-with-policy path requires ONNX and remains unvalidated.
Codex assisted with this description.