nodes:
  - id: mujoco_sim
    build: pip install -e .
    path: dora-mujoco
    inputs:
      tick: dora/timer/millis/2  # 500 Hz data collection
        # control_input: controller/output
    outputs:
      - joint_positions
      - joint_velocities 
      - actuator_controls
      - sensor_data
    env:
      MODEL_NAME: "go2"  # Load go2 from robot-descriptions

  # - id: controller
  #   # Your control logic node
  #   inputs:
  #     joint_positions: mujoco_sim/joint_positions
  #   outputs:
  #     - output

  # - id: data_collector
  #   # Your data collection node
  #   inputs:
  #     joint_positions: mujoco_sim/joint_positions
  #     joint_velocities: mujoco_sim/joint_velocities
  #     sensor_data: mujoco_sim/sensor_data