dora_littlehand/CLAUDE.md

CLAUDE.md

Purpose

Project guidelines for Claude Code working in this repository.

Project Overview

Robotics project using Dora to control a ULite6 robot arm with Spanish voice commands for children.

Building and Running

• Build: dora build <dataflow.yml> --uv
• Start: dora run <dataflow.yml> --uv

Key Packages

• dora_voice_control: Voice processing and robot behavior
• dora_yolo_object_detector: YOLO-based object detection
• dora_ulite6: Robot arm control
• dora_zed_cpp: ZED camera (C++)
• dora_iobridge: WebSocket bridge for external clients

Robot Adapter

Voice control uses a robot adapter pattern to support different robots:

• ROBOT_TYPE=vacuum: Vacuum gripper (grab→vacuum_on, release→vacuum_off)
• ROBOT_TYPE=gripper: Parallel gripper (grab→gripper_close, release→gripper_open)

To add a new robot, create a new adapter in robot/adapter.py.

Guidelines

• Keep the event loop responsive. Run slow operations (LLM) in threads.
• Robot commands are serialized: one command at a time, wait for status before next.
• State is shared via SharedState (thread-safe).
• Handlers process events, tick callbacks run after each event.

Safety

• This controls a real robot. Test changes carefully.
• Workspace bounds are enforced in behaviors.
• Use DRY_RUN=true to test without robot motion.