# The repository's own example: builds and runs the node from this checkout, so
# `dora validate` picks up the typed contract in dora-node.yml next to it.
# A consumer wires the node from a tag instead — see README.md.
#
# Run it with `--uv` so every Python node gets its own managed environment.
#
# `examples/caller.py` shows the whole convention: a non-blocking motion
# answered at once, its progress followed on `motion_state`, and a second motion
# preempting the first.
strict_types: true

nodes:
  - id: ulite6
    path: dora-ulite6
    build: pip install .
    inputs:
      tick: dora/timer/millis/100
      request: caller/request
    outputs:
      - response
      - motion_state
      - joint_pose
      - tcp_pose
      - robot_state
    env:
      ROBOT_IP: "192.168.1.192"
      TOOL_TYPE: "vacuum"
      INIT_MODE: "none"

  - id: caller
    path: examples/caller.py
    inputs:
      tick: dora/timer/millis/500
      response: ulite6/response
      motion_state: ulite6/motion_state
    outputs:
      - request