liria/dora-ulite6
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add TOOL_TYPE offset to tcp_pose for vacuum and gripper

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Apply Z-axis tool offset when publishing tcp_pose so the output
reflects the actual tool tip. Adds TOOL_TYPE (none/vacuum/gripper)
and TOOL_OFFSET_MM env vars with standard Lite6 accessory presets.
Bump version to 0.1.2.
This commit is contained in:
cristhian aguilera
2026-04-02 14:07:28 -03:00
parent 4174d566e9
commit b7aa1dd3aa
5 changed files with 44 additions and 10 deletions
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dataflow.yml
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@@ -15,3 +15,5 @@ nodes:
API_HOST: "0.0.0.0"
API_PORT: "9000"
VACUUM_ENABLED: "true"
TOOL_TYPE: "vacuum"
TOOL_OFFSET_MM: "0.0"