Working calibration

dora_ulite6/README.md

@@ -11,6 +11,7 @@ Dora node for controlling a UFactory Lite6 robot via REST API, web UI, and publi
   inputs:
     tick: dora/timer/millis/10
   outputs: [status, joint_pose, tcp_pose]
+  inputs: [command]
   env:
     ROBOT_IP: "192.168.1.192"
     DEFAULT_SPEED: "30"
@@ -90,3 +91,12 @@ curl -X POST http://localhost:8080/api/move_to_pose \
 - `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
+
+## Dora Inputs
+
+- `command` - JSON string: `{id, action, payload}`
+  - `id`: unique command id (required)
+  - `action`: `home`, `move_to`, or `move_to_pose`
+  - `payload`: fields for move (`x`, `y`, `z`, `roll`, `pitch`, `yaw`, `speed`)
+
+`status` will include `command_id` for command responses.