cristhian aguilera
8e3d976a17
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.
20 lines
449 B
YAML
20 lines
449 B
YAML
nodes:
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- id: ulite6
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git: ssh://git@gitea.liria.cl:5001/liria/dora_ulite6.git
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git_checkout: v0.1.0
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build: uv pip install -e .
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path: dora_ulite6/main.py
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inputs:
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tick: dora/timer/millis/10
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outputs:
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- status
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- joint_pose
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- tcp_pose
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env:
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ROBOT_IP: "192.168.1.192"
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DEFAULT_SPEED: "30"
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DEFAULT_UNITS: "mm"
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API_HOST: "0.0.0.0"
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API_PORT: "9000"
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VACUUM_ENABLED: "true"
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