diff --git a/.gitignore b/.gitignore
index f09bd9e..5d3dbcf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,3 +13,9 @@
 # limitations under the License.
 
 __pycache__/
+
+# Generated by `dora-openarm-dataset-recorder`.
+dataset/
+
+# Generated by `dora run`.
+out/
diff --git a/pyproject.toml b/pyproject.toml
index 751c18c..322e6ca 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,7 +21,9 @@ license = { text = "Apache-2.0" }
 readme = "README.md"
 requires-python = ">=3.11"
 
-dependencies = []
+dependencies = [
+    "dora-rs-cli>=0.4.1",
+]
 
 [dependency-groups]
 dev = [
diff --git a/tests/dataflow.yaml b/tests/dataflow.yaml
new file mode 100644
index 0000000..add3f41
--- /dev/null
+++ b/tests/dataflow.yaml
@@ -0,0 +1,227 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+nodes:
+  - id: controller
+    build: pip install dora-openarm-inference-controller
+    path: dora-openarm-inference-controller
+    env:
+      # Test settings: keep the dataflow running for a few seconds.
+      # Do NOT use these in production.
+      # SUCCESS_THRESHOLD: "1.1" is intentionally impossible to prevent early exit.
+      SUCCESS_THRESHOLD: "1.1"
+      TIMEOUT: "3"
+    inputs:
+      progress_tick: dora/timer/millis/100
+      arm_right_action: actions-executor/move_position_right
+      arm_right_observation: arm-right/position
+      arm_right_status: arm-right/status
+      camera_wrist_right: camera-wrist-right/image
+      arm_left_action: actions-executor/move_position_left
+      arm_left_observation: arm-left/position
+      arm_left_status: arm-left/status
+      camera_wrist_left: camera-wrist-left/image
+      camera_head: camera-head/image
+      camera_ceiling: camera-ceiling/image
+      observation: quittable-observer/observation
+      phase_classifier_result: phase-classifier/result
+    outputs:
+      - command
+      - arm_right_action
+      - arm_right_observation
+      - camera_wrist_right
+      - arm_left_action
+      - arm_left_observation
+      - camera_wrist_left
+      - camera_head
+      - camera_ceiling
+      - observation
+      - phase_classifier_result
+
+  - id: quittable-tick-arm
+    build: pip install dora-openarm-quitter
+    path: dora-openarm-quitter
+    inputs:
+      command: controller/command
+      # 250Hz
+      tick: dora/timer/millis/4
+    outputs:
+      - tick
+
+  - id: quittable-tick-camera
+    build: pip install dora-openarm-quitter
+    path: dora-openarm-quitter
+    inputs:
+      command: controller/command
+      # tick: dora/timer/millis/200 # 5Hz
+      tick: dora/timer/millis/33 # 30fps
+    outputs:
+      - tick
+
+  - id: quittable-tick-observer
+    build: pip install dora-openarm-quitter
+    path: dora-openarm-quitter
+    inputs:
+      command: controller/command
+      # 30Hz
+      tick: dora/timer/millis/33
+    outputs:
+      - tick
+
+  - id: arm-right
+    # DUMMY
+    build: pip install dora-openarm-dummy
+    path: dora-openarm-dummy
+    inputs:
+      request_position: quittable-tick-arm/tick
+      move_position: actions-executor/move_position_right
+    outputs:
+      - position
+      - status
+
+  - id: camera-wrist-right
+    # DUMMY
+    build: pip install dora-openarm-dummy-camera
+    path: dora-openarm-dummy-camera
+    env:
+      ENCODING: "jpeg"
+      IMAGE_HEIGHT: 600
+      IMAGE_WIDTH: 960
+      JPEG_QUALITY: 90
+    inputs:
+      tick: quittable-tick-camera/tick
+    outputs:
+      - image
+
+  - id: arm-left
+    # DUMMY
+    build: pip install dora-openarm-dummy
+    path: dora-openarm-dummy
+    inputs:
+      request_position: quittable-tick-arm/tick
+      move_position: actions-executor/move_position_left
+    outputs:
+      - position
+      - status
+
+  - id: camera-wrist-left
+    # DUMMY
+    build: pip install dora-openarm-dummy-camera
+    path: dora-openarm-dummy-camera
+    env:
+      ENCODING: "jpeg"
+      IMAGE_HEIGHT: 600
+      IMAGE_WIDTH: 960
+      JPEG_QUALITY: 90
+    inputs:
+      tick: quittable-tick-camera/tick
+    outputs:
+      - image
+
+  - id: camera-head
+    # DUMMY
+    build: pip install dora-openarm-dummy-camera
+    path: dora-openarm-dummy-camera
+    env:
+      ENCODING: "jpeg"
+      IMAGE_HEIGHT: 600
+      IMAGE_WIDTH: 960
+      JPEG_QUALITY: 90
+    inputs:
+      tick: quittable-tick-camera/tick
+    outputs:
+      - image
+
+  - id: camera-ceiling
+    # DUMMY
+    build: pip install dora-openarm-dummy-camera
+    path: dora-openarm-dummy-camera
+    env:
+      ENCODING: "jpeg"
+      IMAGE_HEIGHT: 600
+      IMAGE_WIDTH: 960
+      JPEG_QUALITY: 90
+    inputs:
+      tick: quittable-tick-camera/tick
+    outputs:
+      - image
+
+  - id: observer
+    build: pip install dora-openarm-observer
+    path: dora-openarm-observer
+    inputs:
+      tick: quittable-tick-observer/tick
+      command: controller/command
+      arm_right: arm-right/position
+      camera_wrist_right: camera-wrist-right/image
+      arm_left: arm-left/position
+      camera_wrist_left: camera-wrist-left/image
+      camera_head: camera-head/image
+      camera_ceiling: camera-ceiling/image
+      phase_classifier_result: phase-classifier/result
+    outputs:
+      - observation
+
+  - id: quittable-observer
+    build: pip install dora-openarm-quitter
+    path: dora-openarm-quitter
+    inputs:
+      command: controller/command
+      observation: observer/observation
+    outputs:
+      - observation
+
+  - id: policy-server
+    # DUMMY
+    build: pip install dora-openarm-dummy-policy-server
+    path: dora-openarm-dummy-policy-server
+    inputs:
+      observation: quittable-observer/observation
+    outputs:
+      - actions
+
+  - id: actions-executor
+    build: pip install dora-openarm-actions-executor
+    path: dora-openarm-actions-executor
+    inputs:
+      actions: policy-server/actions
+    outputs:
+      - move_position_right
+      - move_position_left
+
+  - id: phase-classifier
+    # DUMMY
+    build: pip install dora-openarm-dummy-classifier
+    path: dora-openarm-dummy-classifier
+    inputs:
+      observation: controller/observation
+    outputs:
+      - result
+
+  - id: recorder
+    # Run `dora run tests/dataflow.yaml` to create `tests/dataset/` and `tests/out/`.
+    build: pip install dora-openarm-dataset-recorder
+    path: dora-openarm-dataset-recorder
+    inputs:
+      command:
+        source: controller/command
+        queue_size: 5
+      arm_right_action: controller/arm_right_action
+      arm_right_observation: controller/arm_right_observation
+      camera_wrist_right: controller/camera_wrist_right
+      arm_left_action: controller/arm_left_action
+      arm_left_observation: controller/arm_left_observation
+      camera_wrist_left: controller/camera_wrist_left
+      camera_head: controller/camera_head
+      camera_ceiling: controller/camera_ceiling