add TOOL_TYPE offset to tcp_pose for vacuum and gripper

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.

README.md

@@ -40,6 +40,8 @@ nodes:
 | `API_HOST` | `0.0.0.0` | API server host |
 | `API_PORT` | `8080` | API server port |
 | `VACUUM_ENABLED` | `false` | Enable vacuum gripper controls |
+| `TOOL_TYPE` | `none` | Mounted tool: `none`, `vacuum`, `gripper` |
+| `TOOL_OFFSET_MM` | `0.0` | Additional Z-offset in mm added on top of the tool preset |
 | `INIT_MODE` | `none` | Startup positioning: `home`, `pose`, or `none` |
 | `INIT_X/Y/Z` | `300/0/250` | Initial pose coordinates (mm) |
 | `INIT_ROLL/PITCH/YAW` | `180/0/0` | Initial pose orientation (deg) |
@@ -103,7 +105,7 @@ curl -X POST http://localhost:8080/api/move_to_pose \
 
 - `status` - JSON: `{ok, action, message, timestamp_ns}`
 - `joint_pose` - 6 joint angles in degrees
-- `tcp_pose` - `[x, y, z, roll, pitch, yaw]` in mm/deg
+- `tcp_pose` - `[x, y, z, roll, pitch, yaw]` in mm/deg — reflects tool tip when `TOOL_TYPE` is set
 
 ## Dora Inputs
 

dataflow.yml

@@ -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"

dora_ulite6/main.py

@@ -67,6 +67,20 @@ class ULite6Helper:
             "yaw": pos[5],
         }
 
+    def get_tool_tcp_pose(self, offset_mm: float) -> Dict[str, float]:
+        pos = self.get_current_position()
+        if offset_mm == 0.0:
+            return pos
+        T = self.get_pose_matrix(tcp_offset_mm=offset_mm)
+        return {
+            "x": T[0, 3] * 1000.0,
+            "y": T[1, 3] * 1000.0,
+            "z": T[2, 3] * 1000.0,
+            "roll": pos["roll"],
+            "pitch": pos["pitch"],
+            "yaw": pos["yaw"],
+        }
+
     def get_pose_matrix(self, tcp_offset_mm: float = 0.0) -> np.ndarray:
         pos = self.get_current_position()
         R = Rotation.from_euler(
@@ -154,7 +168,12 @@ class MoveToPoseRequest(BaseModel):
 
 
 def create_api(
-    helper: ULite6Helper, default_speed: float, default_units: str, vacuum_enabled: bool
+    helper: ULite6Helper,
+    default_speed: float,
+    default_units: str,
+    vacuum_enabled: bool,
+    tool_type: str,
+    tool_offset_mm: float,
 ) -> FastAPI:
     """Create FastAPI application with robot control endpoints."""
     app = FastAPI(
@@ -348,7 +367,7 @@ def create_api(
         </div>
 
         <div class="card">
-            <h2>TCP Pose (mm, deg)</h2>
+            <h2 id="tcp-pose-title">TCP Pose (mm, deg)</h2>
             <div class="pose-grid">
                 <div class="pose-item"><div class="label">X</div><div class="value" id="pose-x">--</div></div>
                 <div class="pose-item"><div class="label">Y</div><div class="value" id="pose-y">--</div></div>
@@ -528,6 +547,9 @@ def create_api(
                 updateVacuumStatus();
                 setInterval(updateVacuumStatus, 1000);
             }
+            if (config.tool_type && config.tool_type !== 'none') {
+                $('tcp-pose-title').textContent = 'TCP Pose — ' + config.tool_type + ' (mm, deg)';
+            }
         }
 
         async function updateVacuumStatus() {
@@ -586,9 +608,9 @@ def create_api(
 
     @app.get("/api/pose")
     def get_pose():
-        """Get current TCP pose [x, y, z, roll, pitch, yaw]."""
+        """Get current TCP pose [x, y, z, roll, pitch, yaw] with tool offset applied."""
         try:
-            return helper.get_current_position()
+            return helper.get_tool_tcp_pose(tool_offset_mm)
         except Exception as e:
             raise HTTPException(status_code=500, detail=str(e))
 
@@ -698,7 +720,11 @@ def create_api(
     @app.get("/api/config")
     def get_config():
         """Get API configuration."""
-        return {"vacuum_enabled": vacuum_enabled}
+        return {
+            "vacuum_enabled": vacuum_enabled,
+            "tool_type": tool_type,
+            "tool_offset_mm": tool_offset_mm,
+        }
 
     return app
 
@@ -801,6 +827,10 @@ def main() -> None:
     api_port = int(os.getenv("API_PORT", "8080"))
     vacuum_enabled = os.getenv("VACUUM_ENABLED", "false").lower() in ("true", "1", "yes")
 
+    _TOOL_OFFSET_PRESETS: Dict[str, float] = {"none": 0.0, "vacuum": 61.0, "gripper": 65.0}
+    tool_type = os.getenv("TOOL_TYPE", "none").lower()
+    tool_offset_mm = _TOOL_OFFSET_PRESETS.get(tool_type, 0.0) + float(os.getenv("TOOL_OFFSET_MM", "0.0"))
+
     # Initial position settings
     init_mode = os.getenv("INIT_MODE", "none").lower()  # "home", "pose", or "none"
     init_x = float(os.getenv("INIT_X", "300.0"))
@@ -839,7 +869,7 @@ def main() -> None:
         _log("Skipping initial position (INIT_MODE=none)")
 
     # Create and start FastAPI server in background thread
-    app = create_api(helper, default_speed, default_units, vacuum_enabled)
+    app = create_api(helper, default_speed, default_units, vacuum_enabled, tool_type, tool_offset_mm)
     api_thread = threading.Thread(
         target=run_uvicorn, args=(app, api_host, api_port), daemon=True
     )
@@ -854,7 +884,7 @@ def main() -> None:
         if event["id"] == "tick":
             try:
                 joints = helper.get_joint_angles_deg()
-                tcp_pose = helper.get_current_position()
+                tcp_pose = helper.get_tool_tcp_pose(tool_offset_mm)
                 _send_joint_pose(node, joints)
                 _send_tcp_pose(node, tcp_pose)
             except Exception as exc:

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-ulite6"
-version = "0.1.1"
+version = "0.1.2"
 license = "MIT"
 authors = [
   { name = "Dora" }

uv.lock

@@ -78,7 +78,7 @@ wheels = [
 
 [[package]]
 name = "dora-ulite6"
-version = "0.1.0"
+version = "0.1.1"
 source = { virtual = "." }
 dependencies = [
     { name = "dora-rs" },