# AGENTS.md

This file provides guidance to AI coding assistants when working with code in this repository.

## 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.

## Build

```bash
uv pip install -e .
```

Requirements: Python >=3.8, uv, and network access to the UFactory Lite6 robot.

## Run

```bash
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.).

## 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).
  - `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.
- **`dora_ulite6/__init__.py`** -- Package marker.
- **`pyproject.toml`** -- Package metadata, dependencies, and entry point.
- **`dataflow.yml`** -- Example dora dataflow using the git: source format.

## 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()`.
- 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.

## Rules

- Do not mention AI tools in commit messages or documentation.
- This controls a real robot. Test changes carefully and preserve safety checks.