cristhian aguilera
b7aa1dd3aa
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.
20 lines
417 B
YAML
20 lines
417 B
YAML
nodes:
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- id: ulite6
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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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TOOL_TYPE: "vacuum"
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TOOL_OFFSET_MM: "0.0"
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