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/enzo2
      EPISODE: 1

  - id: replay-to-lcr
    build: pip install git+https://github.com/Hennzau/pwm-position-control
    path: ../nodes/interpolate_replay_to_lcr.py
    inputs:
      leader_position:
        source: replay-client/position
        queue_size: 1
      follower_position:
        source: lcr-follower/position
        queue_size: 1
    outputs:
      - follower_goal
    env:
      FOLLOWER_CONTROL: ../configs/follower.left.json

  - id: lcr-follower
    build: pip install ../../../node-hub/dynamixel-client
    path: dynamixel-client
    inputs:
      pull_position: dora/timer/millis/33
      write_goal_position: replay-to-lcr/follower_goal
      end: replay-client/end
    outputs:
      - position
    env:
      PORT: /dev/tty.usbmodem575E0031141
      CONFIG: ../configs/follower.left.json