The manifest is the only contract a consumer has, since no source package
is shared between node repositories, and dora validate checks a dataflow
against it without running the node — so CI needs no robot.
request and response are deliberately untyped. They carry request_id, and
dora defines that as the marker for a pattern-correlated port where
several Arrow schemas legitimately flow, one per service; the runtime
skips type checks on those messages, so annotating them would claim a
contract neither side keeps.
examples/ carries its own manifest because dora resolves a node's
manifest by walking up from its path, and a manifest applies only when
<manifest dir>/<entrypoint> names the same file as the dataflow's path.
Without it the example caller would be matched against the arm node's
manifest and strict validation would fail on the entrypoint mismatch.
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.
Migrates the ulite6 Python dora node from dora_littlehand into a
self-contained repository following the dora-zed structure. Adds
command lifecycle state ("started"/"done"/"failed") and type
("command"/"error") to the status output so coordinator nodes can
reliably sequence robot actions without polling.
cristhian
cristhian aguilera