Dora ULite6 Node

Dora node for controlling a UFactory Lite6 robot via REST API, web UI, and publishing joint/TCP state.

Installation

uv pip install -e .

Dataflow

nodes:
  - id: ulite6
    git: ssh://git@gitea.liria.cl:5001/liria/dora-ulite6.git
    git_checkout: v0.1.0
    build: uv pip install -e .
    path: dora_ulite6/main.py
    inputs:
      tick: dora/timer/millis/10
    outputs: [status, joint_pose, tcp_pose]
    inputs: [command]
    env:
      ROBOT_IP: "192.168.1.192"
      DEFAULT_SPEED: "30"
      DEFAULT_UNITS: "mm"
      API_HOST: "0.0.0.0"
      API_PORT: "8080"
      VACUUM_ENABLED: "false"

Configuration

Env Variable	Default	Description
ROBOT_IP	192.168.1.192	Robot IP address
DEFAULT_SPEED	30	Movement speed (mm/s)
DEFAULT_UNITS	mm	Position units (mm or m)
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)
INIT_SPEED	50	Startup movement speed (mm/s)

Web UI

Access at http://localhost:8080/

• Live status, TCP pose, and joint angles
• Home and Reset buttons
• Move to position form
• Vacuum gripper controls (when enabled)

REST API

Interactive docs at http://localhost:8080/docs

Method	Endpoint	Description
GET	/	Web control interface
GET	/api/status	Robot status (connected, errors)
GET	/api/pose	Current TCP pose
GET	/api/joints	Current joint angles
GET	/api/config	API configuration
POST	/api/home	Go to home position
POST	/api/reset	Clear errors and reset state
POST	/api/move_to	Move to position
POST	/api/move_to_pose	Move to full pose
POST	/api/disconnect	Disconnect from robot

Vacuum Gripper (when VACUUM_ENABLED=true)

Method	Endpoint	Description
GET	/api/vacuum	Get vacuum status
POST	/api/vacuum/on	Turn vacuum on
POST	/api/vacuum/off	Turn vacuum off

CLI Examples

# Get pose
curl http://localhost:8080/api/pose

# Go home
curl -X POST http://localhost:8080/api/home

# Move to position
curl -X POST http://localhost:8080/api/move_to \
  -H "Content-Type: application/json" \
  -d '{"x": 200, "y": 0, "z": 300}'

# Move with orientation
curl -X POST http://localhost:8080/api/move_to_pose \
  -H "Content-Type: application/json" \
  -d '{"x": 200, "y": 0, "z": 300, "roll": 180, "pitch": 0, "yaw": 0}'

Dora Outputs

• 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 — reflects tool tip when TOOL_TYPE is set

Dora Inputs

• command - JSON string: {id, action, payload}
  • id: unique command id (required)
  • action: home, move_to, or move_to_pose
  • payload: fields for move (x, y, z, roll, pitch, yaw, speed)

status will include command_id for command responses.