nodes:
  - id: mujoco_sim
    build: pip install -e ../../../node-hub/dora-mujoco
    path: dora-mujoco
    inputs:
      tick: dora/timer/millis/2 # 500 Hz simulation
    outputs:
      - joint_positions
      - joint_velocities
      - sensor_data
    env:
      MODEL_NAME: "go2_mj_description" # Load GO2