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.
43 lines
1.4 KiB
YAML
43 lines
1.4 KiB
YAML
# Manifest for the bench stand-in.
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#
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# dora resolves a node's manifest from its `path:`, so without this file the
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# bench would be validated against the teleop node's own contract and every port
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# would look wrong.
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apiVersion: 1
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name: bench
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namespace: liria
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description: Bench stand-in for the arm and the browser, so teleop can run with neither
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runtime: python
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entrypoint: bench.py
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dora: ">=1.0"
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inputs:
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tick:
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description: Drives the telemetry the arm node would publish.
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type: std/core/v1/UInt64
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jog:
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description: A velocity teleop wants the arm to move at. Printed, then forgotten.
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request:
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description: A service call. Every one is answered ok.
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ui_state:
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description: >-
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The console snapshot teleop publishes. Accepted and dropped: no browser is
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attached to this dataflow.
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outputs:
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response:
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description: One answer per request, under the id it arrived with.
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robot_state:
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description: Reports `ready` once, so teleop stops drawing the arm as disconnected.
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type: std/core/v1/String
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tcp_pose:
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description: A fixed tool-tip pose. Fixed on purpose — nothing here integrates a velocity.
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type: std/core/v1/Float32
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joint_pose:
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description: Fixed joint angles, for the same reason.
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type: std/core/v1/Float32
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clients:
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description: Always zero connected, since the WebSocket bridge is not in this dataflow.
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