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dora/examples/mujoco-sim/basic_simulation/basic.yml

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  1. nodes:

  2.   - id: mujoco_sim

  3.     build: pip install -e ../../../node-hub/dora-mujoco

  4.     path: dora-mujoco

  5.     inputs:

  6.       tick: dora/timer/millis/2 # 500 Hz simulation

  7.     outputs:

  8.       - joint_positions

  9.       - joint_velocities

  10.       - sensor_data

  11.     env:

  12.       MODEL_NAME: "go2_mj_description" # Load GO2