Standalone Inverse Service

Highlights

just the one that wrote. A second viewer refreshes on its own session-updated event instead of

polling — exactly one event per holding session, and never two for the writer.

always reporting the mount the session configured. The label that tells you which of the two you

are looking at is now truthful by construction, in every output shape.

service served a value captured when the device came up and never revisited it. It can now

refresh that reference on demand at the client's own render cadence — rate-limited service-side

so a fast client cannot flood the device link — and announce the change once the mount has

actually rotated.

Internal improvements

Wireless VerseGrip's inertial yaw drift: it fits the grip's absolute yaw against the motion of

the paired Inverse3 or Minverse it is attached to, and once a stack of quality gates all hold, it

writes a single correction back to the grip firmware. It ships disabled, is reachable only

with the experimental opt-in switch on, and carries a runtime switch that forces every live grip

back off the moment it is flipped — non-optional for something that writes to device firmware.

selection is validated — firmware capability and device readiness — before any device is changed,

so a mixed-firmware fleet can no longer end up half-switched behind an error on the second device.

two concurrent requesters could lose each other's answer, and one ambiguous value stood for both

"refused" and "nothing yet" — which could turn a refusal into a retry storm. Each request now

carries its own token, a request that never reached the wire registers nothing, and a lost

response resolves as failed instead of wedging. The sweep that does this costs nothing while no

request is outstanding.

pen performs a full pose recalibration, which is correct on every shipped pen regardless of

firmware version; that path is explicitly exempt from the capability floor introduced for

computed heading corrections, and the exemption is spelled out at the call site rather than

inferred.

Fixes

Despite its name, the scaling_factor field on config/gravity_compensation is not a

multiplier: it is the extra end-effector payload mass, in kilograms, that the device compensates

for on top of its own weight. The reset took the name at face value and restored the "neutral"

factor 1 — a phantom one-kilogram payload — so a reset left the device pushing the handle up,

which is not what a freshly connected device does. The reset now returns the real default:

compensation enabled with scaling_factor at 0, meaning the device carries its own weight and

assumes no payload. If your application had been using the reset to raise the compensation

strength, set the value you want explicitly instead.

come to disable home return while telling the caller it was enabled — a reset now genuinely

restores the factory default (on), and the value your application reads back afterwards is the

value the device is actually using.

a write that landed on the device itself — shared by every session holding that device — refreshed

only the writing client's configuration, and the device-wide routes refreshed nobody at all. Any

other client on the same device kept reporting the old value until it polled. Every holding

session is now notified.

previous dock persisted across docks, so the second dock treated its first rejection as the end

of its retry window. The retry window is now reset per dock attempt.

reassigned by the connection thread while a staging path read it under a different lock. The

identifier is now snapshotted once under the correct lock, and every path below — refusals

included — works from that copy.

message paths assembled their payload and checksum and requested the send without taking the

write lock, so two senders could interleave on the shared buffer.

Potential breaking changes

was deleted or re-pathed, the public C API has no diff, and no settings key was renamed, removed,

or given a new default. Applications that opt in to the SDK's preview or experimental surfaces

do have migration work this cycle, including a switch-tier change and a removed token set;

every step is documented in the engineering companion changelog.

route or response shape changed, but an application that relied on the reset writing a

scaling_factor of 1 now gets the factory default of 0 — compensation itself stays enabled

either way. Set the value explicitly rather than depending on the reset; see the fix above.

changed, but an application that relied on the reset to disable home return now finds it

enabled instead. Set it explicitly to off after a reset if that is what you need; see the fix

above.

session-updated event only ever arrived because of its own write will now also receive one when

another client changes a device they both hold, followed by a full configuration render. This is

the intended consequence of the fan-out above; a client that simply re-reads on the event needs no

change.