nodes:
  - id: mujoco_sim
    build: pip install -e ../../../node-hub/dora-mujoco
    path: dora-mujoco
    inputs:
      tick: dora/timer/millis/2
      control_input: controller/joint_commands
    outputs:
      - joint_positions
      - joint_velocities
      - actuator_controls
      - sensor_data
    env:
      MODEL_NAME: "panda_mj_description"

  - id: controller
    path: nodes/controller_differential_ik.py
    inputs:
      joint_positions: mujoco_sim/joint_positions
      joint_velocities: mujoco_sim/joint_velocities
      target_pose: pose_publisher/target_pose
      fk_result: pytorch_kinematics/fk_request
      jacobian_result: pytorch_kinematics/jacobian_request
    outputs:
      - joint_commands
      - fk_request
      - jacobian_request

  - id: pytorch_kinematics
    build: pip install -e ../../../node-hub/dora-pytorch-kinematics
    path: dora-pytorch-kinematics
    inputs:
      fk_request: controller/fk_request
      jacobian_request: controller/jacobian_request
    outputs:
      - fk_request
      - jacobian_request
    env:
      MODEL_NAME: "panda_description"
      END_EFFECTOR_LINK: "panda_hand"
      TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion

  - id: pose_publisher
    path: nodes/pose_publisher.py
    inputs:
      tick: dora/timer/millis/5000
    outputs:
      - target_pose