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dora_ulite6/README.md

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+# Dora ULite6 Node
+
+Dora node for controlling a UFactory Lite6 robot via REST API, web UI, and publishing joint/TCP state.
+
+## Dataflow
+
+```yaml
+- id: ulite6
+  build: uv pip install -e dora_ulite6
+  path: dora_ulite6/dora_ulite6/main.py
+  inputs:
+    tick: dora/timer/millis/10
+  outputs: [status, joint_pose, tcp_pose]
+  env:
+    ROBOT_IP: "192.168.1.192"
+    DEFAULT_SPEED: "30"
+    DEFAULT_UNITS: "mm"
+    API_HOST: "0.0.0.0"
+    API_PORT: "8080"
+    VACUUM_ENABLED: "false"
+```
+
+## Configuration
+
+| Env Variable | Default | Description |
+|--------------|---------|-------------|
+| `ROBOT_IP` | `192.168.1.192` | Robot IP address |
+| `DEFAULT_SPEED` | `30` | Movement speed (mm/s) |
+| `DEFAULT_UNITS` | `mm` | Position units (mm or m) |
+| `API_HOST` | `0.0.0.0` | API server host |
+| `API_PORT` | `8080` | API server port |
+| `VACUUM_ENABLED` | `false` | Enable vacuum gripper controls |
+
+## Web UI
+
+Access at `http://localhost:8080/`
+
+- Live status, TCP pose, and joint angles
+- Home and Reset buttons
+- Move to position form
+- Vacuum gripper controls (when enabled)
+
+## REST API
+
+Interactive docs at `http://localhost:8080/docs`
+
+| Method | Endpoint | Description |
+|--------|----------|-------------|
+| GET | `/` | Web control interface |
+| GET | `/api/status` | Robot status (connected, errors) |
+| GET | `/api/pose` | Current TCP pose |
+| GET | `/api/joints` | Current joint angles |
+| GET | `/api/config` | API configuration |
+| POST | `/api/home` | Go to home position |
+| POST | `/api/reset` | Clear errors and reset state |
+| POST | `/api/move_to` | Move to position |
+| POST | `/api/move_to_pose` | Move to full pose |
+| POST | `/api/disconnect` | Disconnect from robot |
+
+### Vacuum Gripper (when `VACUUM_ENABLED=true`)
+
+| Method | Endpoint | Description |
+|--------|----------|-------------|
+| GET | `/api/vacuum` | Get vacuum status |
+| POST | `/api/vacuum/on` | Turn vacuum on |
+| POST | `/api/vacuum/off` | Turn vacuum off |
+
+## CLI Examples
+
+```bash
+# Get pose
+curl http://localhost:8080/api/pose
+
+# Go home
+curl -X POST http://localhost:8080/api/home
+
+# Move to position
+curl -X POST http://localhost:8080/api/move_to \
+  -H "Content-Type: application/json" \
+  -d '{"x": 200, "y": 0, "z": 300}'
+
+# Move with orientation
+curl -X POST http://localhost:8080/api/move_to_pose \
+  -H "Content-Type: application/json" \
+  -d '{"x": 200, "y": 0, "z": 300, "roll": 180, "pitch": 0, "yaw": 0}'
+```
+
+## Dora Outputs
+
+- `status` - JSON: `{ok, action, message, timestamp_ns}`
+- `joint_pose` - 6 joint angles in degrees
+- `tcp_pose` - `[x, y, z, roll, pitch, yaw]` in mm/deg