cristhian
e9fa4bf36b
Two problems, both found by the validate job once it could finally run. categories named `teleop` and `input`, neither of which dora defines. The set is fixed — sensor, actuator, robot, transform, filter, ml-inference, llm, speech, communication, recorder, visualization, simulator, debug — and an unknown variant makes the whole manifest unparseable, so every type annotation in it was being ignored. dataflow.yml spanned three repositories through sibling paths, which meant dora could not resolve the other nodes' manifests and reported their typed outputs as unannotated. It also could not be validated in CI, which clones one repo. The house pattern is a self-contained dataflow, and this now follows it: teleop plus a bench stand-in for the arm and the browser, both from this checkout. The real three-node wiring moves to README.md, where a consumer would look for it. The bench answers every service, publishes plausible telemetry, and prints the velocities it is sent, so the node can be driven from a real gamepad with no robot in the room. It is not a simulator and must not become one: it never integrates a velocity or moves a pose.
46 lines
1.2 KiB
YAML
46 lines
1.2 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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# This is **not** the real stack. The bench answers services and publishes
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# telemetry but never moves anything — it exists so the node can be driven from
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# a real gamepad with no arm in the room. README.md carries the three-node
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# wiring a consumer actually uses.
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strict_types: 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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clients: bench/clients
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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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- 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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- 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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- clients
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