nodes:
  - id: replay-client
    build: pip install ../../../node-hub/replay-client
    path: replay-client
    inputs:
      pull_position: dora/timer/millis/33
    outputs:
      - position
      - end
    env:
      PATH: ../../../datasets/enzo1
      EPISODE: 1

  - id: replay-to-so100
    path: ../nodes/interpolate_replay_to_so100.py
    inputs:
      leader_position: replay-client/position
      follower_position: so100-follower/position
    outputs:
      - follower_goal
    env:
      FOLLOWER_CONTROL: ../configs/follower.left.json

  - id: so100-follower
    build: pip install ../../../node-hub/feetech-client
    path: feetech-client
    inputs:
      pull_position: dora/timer/millis/33
      write_goal_position: replay-to-so100/follower_goal
      end: replay-client/end
    outputs:
      - position
    env:
      PORT: /dev/tty.usbmodem585A0077581
      CONFIG: ../configs/follower.left.json