The axis and button indices in mapping.py are SDL's documented layout rather
than an observed one, and until now the only way to find a pad that numbers
things differently was to watch a real arm move the wrong way.
`dora-teleop-probe` prints the raw axes, the buttons it sees and the velocity
that would be sent, live, with no dataflow and no arm — it cannot move anything.
It goes through the same Gamepad and velocity() the node runs, so what it prints
is what the arm would get; that is the whole reason it is worth having, and the
reason it must not grow its own copy of the mapping.
Every axis is listed, including ones the layout does not use, because an axis
marked unused that moves when a stick is pushed is exactly the finding this is
for. The centred bar makes a worn stick that does not return to zero obvious.
dora-node.yml is the typed contract a consumer wires against, and the only one
they get: no source package is shared between node repositories. The jog,
request and ui ports stay untyped, because dora treats a port carrying
request_id as pattern-correlated and several Arrow schemas legitimately flow
over each — one per service, one per console message.
dataflow.yml runs the whole operator stack from checkouts: this node, the
WebSocket bridge and the arm.
web/ holds a placeholder page, not the real console. It exists so the dataflow
has something to serve and so the node can be checked end to end before the
Control section is ported across from the monolithic repo. It reads telemetry
and can take, release and stop; nothing else.
cristhian