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