# The repo's own example, and what CI validates.
#
# Self-contained on purpose: teleop plus a bench stand-in for the arm and the
# browser, both built from this checkout, so `dora validate` resolves every
# 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`.
#
# 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
# consumer actually uses.

strict_types: true

# Lets `dora topic echo` and `dora topic hz` read what is on the wire, so the
# velocities this node sends can be watched without the bench printing them —
# and without a robot. Costs nothing when nobody is looking.
debug:
  enable_debug_inspection: true

nodes:
  - id: teleop
    path: dora-teleop
    build: pip install .
    inputs:
      tick: dora/timer/millis/50
      clients: bench/clients
      response: bench/response
      robot_state: bench/robot_state
      tcp_pose: bench/tcp_pose
      joint_pose: bench/joint_pose
    outputs:
      - twist
      - command
      - jog
      - request
      - ui_state
    env:
      SPEED_MM_S: "60"
      SPEED_DEG_S: "30"

  - id: bench
    path: examples/bench.py
    inputs:
      tick: dora/timer/millis/200
      jog: teleop/jog
      request: teleop/request
      ui_state: teleop/ui_state
    outputs:
      - response
      - robot_state
      - tcp_pose
      - joint_pose
      - clients