nodes:
  - id: piper_left
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate
    env:
      CAN_BUS: can_left

  - id: piper_right
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate
    env:
      CAN_BUS: can_right

  - id: rerun
    path: dora-rerun
    inputs:
      jointstate_piper_left: piper_left/jointstate
      jointstate_piper_right: piper_right/jointstate
    env:
      piper_left_urdf: /home/peter/Documents/work/dora/examples/piper/assets/piper_left.urdf
      piper_right_urdf: /home/peter/Documents/work/dora/examples/piper/assets/piper_right.urdf
      piper_left_transform: 0 0.3 0
      piper_right_transform: 0 -0.3 0
