nodes:
  - id: teleop
    custom:
      source: cargo
      args: run -p aloha-teleop --release
      outputs:
        - puppet_goal_position

  - id: dora-record
    custom:
      build: cargo install --git https://github.com/dora-rs/dora dora-record
      source: dora-record
      inputs:
        puppet_goal_position: teleop/puppet_goal_position

  - id: plot
    custom:
      source: ../nodes/plot_node.py
      inputs:
        image: webcam/image
        position: teleop/puppet_goal_position
      envs:
        IMAGE_WIDTH: 1280
        IMAGE_HEIGHT: 720
  
  - id: webcam
    custom:
      source: ../nodes/realsense_node.py
      inputs:
        tick: dora/timer/millis/20
      outputs:
        - image