dataflow-gamepad.yml

@@ -1,23 +1,29 @@
-# The same bench, with a real gamepad and a probe.
+# The pad, a real arm and the probe. No bench and no browser.
 #
 # `dataflow.yml` is what CI validates, and it deliberately has no pad in it: the
 # pad is `dora-joy`, another repo, and pulling it in by `git:` would cost that
 # file its one property — that it resolves and runs from this checkout alone.
-# This file is the other half. It needs the network on first build, and a pad.
+# This file is the other half. It needs the network on first build, a pad, and
+# an arm.
 #
-# The bench answers services and publishes telemetry but never moves anything.
-# What this is for is watching the node decide: the lease changing hands, the
-# deadman firing when you let go, and the arm being stopped when the pad — or
-# the node reading it — goes away.
+# It is `dataflow-robot.yml` with the probe attached and the console shut, for
+# the one job the probe exists for: checking that the pad in your hands has the
+# layout `mapping.py` assumes, against the arm that will actually move. Use
+# `dataflow-robot.yml` for ordinary driving.
 #
-# Run it under a coordinator rather than `dora run`, so `dora topic` can read the
-# wire and so the probe has something to attach to:
+#   source .venv/bin/activate    # not --uv; README.md says why
+#   dora build dataflow-gamepad.yml
+#   dora run dataflow-gamepad.yml
 #
-#   dora up
-#   dora start dataflow-gamepad.yml --uv --name teleop-bench
-#   dora-teleop-probe                                   # in another terminal
-#   dora topic echo -d teleop-bench teleop/jog
-#   dora stop --name teleop-bench && dora down
+# `dora run`, not `dora up` + `dora start`: dora 1.0.1 refuses to start a
+# dataflow holding `git:` nodes from a coordinator — "node joy has git source,
+# but no `dora build` was run yet", straight after a build that succeeded. It is
+# the same shape of gap as the `--uv` one above, and it costs this file
+# `dora topic`, which needs a coordinator to read the wire.
+#
+# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
+# 192.168.1.162, with a vacuum tool. Read
+# `The gamepad` in README.md before picking it up — Back is the E-STOP.
 
 strict_types: true
 
@@ -47,10 +53,11 @@ nodes:
         source: joy/joy
         queue_size: 1
         queue_policy: drop_oldest
-      response: bench/response
-      robot_state: bench/robot_state
-      tcp_pose: bench/tcp_pose
-      joint_pose: bench/joint_pose
+      response: ulite6/response
+      motion_state: ulite6/motion_state
+      robot_state: ulite6/robot_state
+      tcp_pose: ulite6/tcp_pose
+      joint_pose: ulite6/joint_pose
     outputs:
       - twist
       - command
@@ -60,8 +67,13 @@ nodes:
     env:
       SPEED_MM_S: "60"
       SPEED_DEG_S: "30"
-      # This one is about the pad, so the console stays shut. Set a port to
-      # bring it up alongside and watch the lease move between the two.
+      # Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
+      # VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
+      # inside it, and a backstop that fires first backs up nothing.
+      JOY_TTL_S: "0.2"
+      JOG_TTL_S: "0.4"
+      # This one is about the pad, so the console stays shut and no port is
+      # opened. `dataflow-robot.yml` is the one that serves it.
       WEB_PORT: "0"
 
   # Declared, not spawned: `dora-teleop-probe` attaches to this id when you run
@@ -71,15 +83,34 @@ nodes:
     inputs:
       joy: joy/joy
 
-  - id: bench
-    path: examples/bench.py
+  - id: ulite6
+    git: https://gitea.liria.cl/liria/dora-ulite6.git
+    tag: v0.3.1
+    build: pip install .
+    path: dora-ulite6
     inputs:
-      tick: dora/timer/millis/200
-      jog: teleop/jog
+      tick: dora/timer/millis/100
       request: teleop/request
-      ui_state: teleop/ui_state
+      jog: teleop/jog
     outputs:
       - response
-      - robot_state
-      - tcp_pose
+      - motion_state
       - joint_pose
+      - tcp_pose
+      - robot_state
+    # dora type-checks before it fetches a `git:` source, so it cannot read the
+    # arm's own manifest from here. These three repeat what `dora-ulite6`
+    # v0.3.1 annotates; `response` and `motion_state` stay untyped there and so
+    # stay untyped here. Re-check them when moving to a new tag.
+    output_types:
+      joint_pose: std/core/v1/Float32
+      tcp_pose: std/core/v1/Float32
+      robot_state: std/core/v1/String
+    env:
+      ROBOT_IP: "192.168.1.162"
+      TOOL_TYPE: "vacuum"
+      # The outermost deadman, enforced by the controller whether or not any of
+      # this is alive. Every timer above must stay below it.
+      VELOCITY_COMMAND_TTL_S: "0.5"
+      # The pad does not home. Nothing moves until somebody pushes a stick.
+      INIT_MODE: "none"

dataflow-robot.yml

@@ -16,8 +16,8 @@
 # then looks for its entrypoint in this dataflow's venv instead. README.md has the
 # detail. `dataflow.yml` has no `git:` nodes and is fine with --uv.
 #
-# Set ROBOT_IP and TOOL_TYPE below to match the arm in front of you. The
-# defaults are `dora-ulite6`'s own: 192.168.1.192 and a vacuum tool.
+# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
+# 192.168.1.162, with a vacuum tool.
 #
 # The web console comes with the node: it serves the page and holds the
 # browsers' sockets itself, so `http://<this machine>:7000` is a second way to
@@ -102,7 +102,7 @@ nodes:
       tcp_pose: std/core/v1/Float32
       robot_state: std/core/v1/String
     env:
-      ROBOT_IP: "192.168.1.192"
+      ROBOT_IP: "192.168.1.162"
       TOOL_TYPE: "vacuum"
       # The outermost deadman, enforced by the controller whether or not any of
       # this is alive. Every timer above must stay below it.

dataflow.yml

@@ -5,8 +5,9 @@
 # manifest from `path:` and CI needs no gamepad, no robot and no sibling clones.
 #
 # There is **no gamepad here**, because the pad is another node and wiring it in
-# by `git:` would cost this file the one property it has. For a real pad on a
-# real bench, use `dataflow-gamepad.yml`.
+# by `git:` would cost this file the one property it has. For a real pad, use
+# `dataflow-robot.yml`, or `dataflow-gamepad.yml` to check the pad with the
+# probe — both of which drive a real arm.
 #
 # This is **not** the real stack. The bench answers services and publishes
 # telemetry but never moves anything. README.md carries the four-node wiring a