nodes:
  - id: piper
    path: dummy_inference_2.py
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate_left
      - jointstate_right
      - mobile_base

  - id: rerun
    build: |
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/base_link.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link1.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link2.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link3.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link4.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link5.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link6.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link7.STL
      proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link8.STL
      pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git
      pip install -e ../../node-hub/dora-rerun
    path: dora-rerun
    inputs:
      jointstate_piper_left: piper_left/jointstate
      jointstate_piper_right: piper_right/jointstate
      jointstate_piper_left_pred: piper/jointstate_left
      jointstate_piper_right_pred: piper/jointstate_right
      series_piper_left: piper_left/jointstate
      series_piper_right: piper_right/jointstate
      series_piper_left_pred: piper/jointstate_left
      series_piper_right_pred: piper/jointstate_right
    env:
      piper_left_urdf: piper_left.urdf # Make sure to download meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
      piper_right_urdf: piper_right.urdf # Make sure to download meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
      piper_left_transform: 0 0.2 0
      piper_right_transform: 0 -0.2 0
      piper_left_pred_urdf: assets/piper_left_pred.urdf
      piper_right_pred_urdf: assets/piper_right_pred.urdf
      piper_left_pred_transform: 0 0.2 0
      piper_right_pred_transform: 0 -0.2 0

  - id: piper_left
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/500
      action: piper/jointstate_left
    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/1000
      action: piper/jointstate_right
    outputs:
      - jointstate
    env:
      CAN_BUS: can_right
