nodes:
  - id: plot
    build: pip install -e ../../node-hub/dora-rerun
    path: dora-rerun
    inputs:
      jointstate_panda: pytorch_kinematics/cmd_vel
      camera/image: dora-vggt/image
      camera/depth: dora-vggt/depth
    env:
      panda_urdf: "panda_description"
      panda_transform: .5 -0. -0.1 1. 0. 0. 0.
      CAMERA_PITCH: 1.5708

  - id: gamepad
    build: pip install -e ../../node-hub/gamepad
    path: gamepad
    outputs:
      - cmd_vel
      - raw_control
    inputs:
      tick: dora/timer/millis/10
    env:
      MAX_LINEAR_SPEED: 0.01
      MAX_ANGULAR_SPEED: 0.05

  - id: pytorch_kinematics
    build: pip install -e ../../node-hub/dora-pytorch-kinematics
    path: dora-pytorch-kinematics
    inputs:
      cmd_vel: gamepad/cmd_vel
    outputs:
      - cmd_vel
    env:
      MODEL_NAME: "panda_description"
      END_EFFECTOR_LINK: "panda_link8"
      TRANSFORM: .5 -0. -0.1 1. 0. 0. 0.
      POSITION_TOLERANCE: 0.001
      ROTATION_TOLERANCE: 0.001

  - id: camera
    build: pip install -e ../../../node-hub/opencv-video-capture
    path: opencv-video-capture
    inputs:
      tick: dora/timer/millis/100
    outputs:
      - image
    env:
      CAPTURE_PATH: 4

  - id: camera2
    build: pip install -e ../../../node-hub/opencv-video-capture
    path: opencv-video-capture
    inputs:
      tick: dora/timer/millis/100
    outputs:
      - image
    env:
      CAPTURE_PATH: 6

  - id: dora-vggt
    build: pip install -e ../../../node-hub/dora-vggt
    path: dora-vggt
    inputs:
      image: camera/image
      image2: camera2/image
    outputs:
      - depth
      - image
    env:
      SCALE_FACTOR: 0.9
