nodes:
  - id: aloha-client
    custom:
      source: cargo
      args: run -p aloha-client --release
      inputs:
        puppet_goal_position: dora-gym/action
        tick: dora/timer/millis/33
      outputs:
        - puppet_position

  - id: plot
    custom:
      source: ../nodes/plot_node.py
      inputs:
        image: cam_left_wrist/image
      envs:
        IMAGE_WIDTH: 640
        IMAGE_HEIGHT: 480

  - id: cam_left_wrist
    custom:
      source: ../nodes/webcam.py
      inputs:
        tick: dora/timer/millis/33
      outputs:
        - image
      envs:
        CAMERA_ID: 2

  - id: dora-gym
    custom:
      source: ../nodes/gym_dora_node.py
      inputs:
        agent_pos: aloha-client/puppet_position
        cam_left_wrist: cam_left_wrist/image
      outputs:
        - action
