cristhian
eede2e5774
It now runs joy, teleop and dora-ulite6 with the probe declared and the console shut, so a pad can be checked against the arm that will actually move. ROBOT_IP in both arm dataflows points at the bench arm. The run recipe drops dora up + dora start: dora 1.0.1 refuses to start a dataflow holding git: nodes from a coordinator, reporting that no build was run straight after one that succeeded. That costs the file dora topic, which needs a coordinator to read the wire.
60 lines
1.8 KiB
YAML
60 lines
1.8 KiB
YAML
# The repo's own example, and what CI validates.
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#
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# Self-contained on purpose: teleop plus a bench stand-in for the arm and the
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# browser, both built from this checkout, so `dora validate` resolves every
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# manifest from `path:` and CI needs no gamepad, no robot and no sibling clones.
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#
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# There is **no gamepad here**, because the pad is another node and wiring it in
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# by `git:` would cost this file the one property it has. For a real pad, use
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# `dataflow-robot.yml`, or `dataflow-gamepad.yml` to check the pad with the
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# probe — both of which drive a real arm.
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#
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# This is **not** the real stack. The bench answers services and publishes
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# telemetry but never moves anything. README.md carries the four-node wiring a
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# consumer actually uses.
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strict_types: true
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# Lets `dora topic echo` and `dora topic hz` read what is on the wire, so the
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# velocities this node sends can be watched without the bench printing them —
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# and without a robot. Costs nothing when nobody is looking.
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debug:
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enable_debug_inspection: true
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nodes:
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- id: teleop
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path: dora-teleop
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build: pip install .
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inputs:
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tick: dora/timer/millis/50
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response: bench/response
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robot_state: bench/robot_state
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tcp_pose: bench/tcp_pose
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joint_pose: bench/joint_pose
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outputs:
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- twist
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- command
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- jog
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- request
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- ui_state
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env:
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SPEED_MM_S: "60"
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SPEED_DEG_S: "30"
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# The console is served by this node. CI runs this dataflow, so it binds
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# to localhost and stays off any interface a colleague could reach.
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WEB_HOST: "127.0.0.1"
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WEB_PORT: "7000"
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- id: bench
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path: examples/bench.py
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inputs:
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tick: dora/timer/millis/200
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jog: teleop/jog
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request: teleop/request
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ui_state: teleop/ui_state
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outputs:
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- response
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- robot_state
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- tcp_pose
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- joint_pose
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