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fix AGENTS.md line-length lint errors

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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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cristhian aguilera
2026-04-09 08:52:13 -04:00
co-authored by Claude Sonnet 4.6
parent 1c7654e429
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AGENTS.md
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@@ -4,7 +4,11 @@ This file provides guidance to AI coding assistants when working with code in th
## What this is
A dora-rs Python node that interfaces with a UFactory Lite6 robot arm. On each tick it reads joint angles and TCP pose from the robot and publishes them as dora outputs. It also accepts JSON commands (home, move_to, move_to_pose, vacuum_on/off) via a `command` input. A FastAPI REST server with a web UI runs in a background thread for manual control. The robot control wrapper lives in `dora_ulite6/main.py` as the `ULite6Helper` class, and the dora event loop is the `main()` function in the same file.
A dora-rs Python node that interfaces with a UFactory Lite6 robot arm. On each tick it reads joint angles
and TCP pose from the robot and publishes them as dora outputs. It also accepts JSON commands
(home, move_to, move_to_pose, vacuum_on/off) via a `command` input. A FastAPI REST server with a web UI
runs in a background thread for manual control. The robot control wrapper lives in `dora_ulite6/main.py`
as the `ULite6Helper` class, and the dora event loop is the `main()` function in the same file.
## Build
@@ -21,15 +25,18 @@ dora up
dora start dataflow.yml
```
Robot behavior is configured through environment variables (see README.md for the full list: ROBOT_IP, DEFAULT_SPEED, DEFAULT_UNITS, API_HOST, API_PORT, VACUUM_ENABLED, INIT_MODE, etc.).
Robot behavior is configured through environment variables (see README.md for the full list:
ROBOT_IP, DEFAULT_SPEED, DEFAULT_UNITS, API_HOST, API_PORT, VACUUM_ENABLED, INIT_MODE, etc.).
## Architecture
- **`dora_ulite6/main.py`** -- Single-file implementation containing:
- `ULite6Helper`: Wraps the xArm Python SDK for motion control (go_home, move_to_pose, get_current_position, get_joint_angles_deg, get_pose_matrix, vacuum gripper, status, reset).
- `ULite6Helper`: Wraps the xArm Python SDK for motion control (go_home, move_to_pose,
get_current_position, get_joint_angles_deg, get_pose_matrix, vacuum gripper, status, reset).
- `MoveToRequest` / `MoveToPoseRequest`: Pydantic models for API validation.
- `create_api()`: FastAPI app factory with REST endpoints and embedded HTML/JS web UI for manual control.
- `main()`: Dora event loop. Starts FastAPI in a daemon thread, then processes `tick` (publishes joint_pose and tcp_pose) and `command` (executes robot actions and publishes status) inputs.
- `main()`: Dora event loop. Starts FastAPI in a daemon thread, then processes `tick` (publishes
joint_pose and tcp_pose) and `command` (executes robot actions and publishes status) inputs.
- **`dora_ulite6/__init__.py`** -- Package marker.
- **`pyproject.toml`** -- Package metadata, dependencies, and entry point.
- **`dataflow.yml`** -- Example dora dataflow using the git: source format.
@@ -37,12 +44,14 @@ Robot behavior is configured through environment variables (see README.md for th
## Key APIs
- **dora Python API** (`dora`): `Node()`, `node.send_output()`, event iteration via `for event in node`.
- **xArm SDK** (`xarm.wrapper.XArmAPI`): `connect()`, `motion_enable()`, `set_mode()`, `set_state()`, `set_position()`, `move_gohome()`, `get_position()`, `get_servo_angle()`, `set_vacuum_gripper()`.
- **xArm SDK** (`xarm.wrapper.XArmAPI`): `connect()`, `motion_enable()`, `set_mode()`, `set_state()`,
`set_position()`, `move_gohome()`, `get_position()`, `get_servo_angle()`, `set_vacuum_gripper()`.
- Output data is sent as PyArrow arrays with metadata dicts.
## Tools
- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage issues, pull requests, and other repository operations.
- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage issues,
pull requests, and other repository operations.
## Rules