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dora/examples/piper/replay.yml

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  1. nodes:

  2.   - id: piper

  3.     path: replay.py

  4.     inputs:

  5.       tick: dora/timer/millis/20

  6.     outputs:

  7.       - jointstate_left

  8.       - jointstate_right

  9.       - mobile_base

  10. 

  11.   - id: rerun

  12.     build: wget

  13.     path: dora-rerun

  14.     inputs:

  15.       jointstate_piper_left: piper_left/jointstate

  16.       jointstate_piper_right: piper_right/jointstate

  17.       jointstate_piper_left_pred: piper/jointstate_left

  18.       jointstate_piper_right_pred: piper/jointstate_right

  19.       series_piper_left: piper_left/jointstate

  20.       series_piper_right: piper_right/jointstate

  21.       series_piper_left_pred: piper/jointstate_left

  22.       series_piper_right_pred: piper/jointstate_right

  23.     env:

  24.       piper_left_urdf: piper_left.urdf

  25.       piper_right_urdf: piper_right.urdf

  26.       piper_left_transform: 0 0.2 0

  27.       piper_right_transform: 0 -0.2 0

  28.       piper_left_pred_urdf: piper_left_pred.urdf

  29.       piper_right_pred_urdf: piper_right_pred.urdf

  30.       piper_left_pred_transform: 0 0.2 0

  31.       piper_right_pred_transform: 0 -0.2 0

  32. 

  33.   - id: piper_left

  34.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  35.     _unstable_deploy:

  36.       machine: piper

  37.     inputs:

  38.       tick: dora/timer/millis/500

  39.       action: piper/jointstate_left

  40.     outputs:

  41.       - jointstate

  42.     env:

  43.       CAN_BUS: can_left

  44. 

  45.   - id: piper_right

  46.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  47.     _unstable_deploy:

  48.       machine: piper

  49.     inputs:

  50.       tick: dora/timer/millis/1000

  51.       action: piper/jointstate_right

  52.     outputs:

  53.       - jointstate

  54.     env:

  55.       CAN_BUS: can_right