nodes:
  - id: gamepad
    build: pip install -e ../../../node-hub/gamepad
    path: gamepad
    outputs:
      - cmd_vel
      - raw_control
    inputs:
      tick: dora/timer/millis/10

  - id: mujoco_sim
    build: pip install -e ../../../node-hub/dora-mujoco
    path: dora-mujoco
    inputs:
      tick: dora/timer/millis/2 # 500 Hz simulation
      control_input: pytorch_kinematics/cmd_vel
    outputs:
      - joint_positions
      - joint_velocities
      - actuator_controls
      - sensor_data
    env:
      MODEL_NAME: "iiwa14_mj_description"

  - id: pytorch_kinematics
    build: pip install -e ../../../node-hub/dora-pytorch-kinematics
    path: dora-pytorch-kinematics
    inputs:
      cmd_vel: gamepad/cmd_vel
      pose: mujoco_sim/joint_positions
    outputs:
      - cmd_vel
      - pose
    env:
      MODEL_NAME: "iiwa14_description"
      END_EFFECTOR_LINK: "iiwa_link_7"
      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."