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Rewrite as a dora 1.0 service node #2

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cristhian merged 9 commits from refactor/dora-1.0-services into main 2026-09-15 16:37:59 +00:00
Conversation 3 Commits 9 Files Changed 32
+373 -345
4 changed files with 373 additions and 345 deletions
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.gitignore
+1
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@@ -11,3 +11,4 @@ build/
.coverage
.ruff_cache/
out/
.dora/
pyproject.toml
+31 -17
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@@ -1,28 +1,42 @@
[project]
name = "dora-ulite6"
version = "0.1.2"
license = "MIT"
authors = [
{ name = "Dora" }
]
description = "Dora node for controlling the UFactory Lite6 robot"
requires-python = ">=3.12"
version = "0.3.0"
description = "Dora node for a UFactory Lite6 arm: motion and control services, and joint and tool-pose telemetry"
readme = "README.md"
license = { text = "MIT" }
# dora-rs 1.0 requires 3.11; the driver uses zip(strict=) and PEP 604 unions.
requires-python = ">=3.11"
dependencies = [
"dora-rs == 0.5.0",
"numpy < 2.0.0",
"scipy >= 1.14.0",
"dora-rs >= 1.0.1",
"numpy >= 2.0",
"pyarrow >= 17.0",
"scipy >= 1.14",
"xarm-python-sdk >= 1.17.3",
"fastapi >= 0.109.0",
"uvicorn >= 0.27.0",
]
[dependency-groups]
dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
[project.scripts]
dora-ulite6 = "dora_ulite6.main:main"
[tool.setuptools]
[dependency-groups]
dev = ["pytest >= 8.1", "ruff >= 0.9"]
[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"
[tool.hatch.build.targets.wheel]
packages = ["dora_ulite6"]
[tool.ruff]
line-length = 110
[tool.ruff.lint]
extend-select = ["D", "I", "N", "RET", "UP"]
[tool.ruff.lint.pydocstyle]
convention = "numpy"
[tool.ruff.lint.per-file-ignores]
# Test names are the documentation here; a docstring would only repeat them.
"tests/*" = ["D1"]
scripts/install.sh
-21
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@@ -1,21 +0,0 @@
#!/usr/bin/env bash
# Install dependencies for dora-ulite6.
# Requires: Python >=3.8
set -euo pipefail
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
REPO_DIR="${SCRIPT_DIR}/.."
# Install uv if not present
if ! command -v uv &>/dev/null; then
echo ">>> Installing uv..."
curl -LsSf https://astral.sh/uv/install.sh | sh
fi
# Create venv and install
echo ">>> Installing dora-ulite6 in editable mode..."
cd "$REPO_DIR"
uv venv --seed --allow-existing
uv pip install -e ".[dev]"
echo ">>> Done. Activate with: source .venv/bin/activate"
uv.lock
Generated
+341 -307
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@@ -1,48 +1,9 @@
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revision = 3
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name = "dora-ulite6"
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source = { virtual = "." }
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source = { editable = "." }
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