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dora/examples/mujoco-sim/gamepad_control/gamepad_control.yml

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  1. nodes:

  2.   - id: gamepad

  3.     build: pip install -e ../../../node-hub/gamepad

  4.     path: gamepad

  5.     outputs:

  6.       - cmd_vel

  7.       - raw_control

  8.     inputs:

  9.       tick: dora/timer/millis/10

  10. 

  11.   - id: mujoco_sim

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

  13.     path: dora-mujoco

  14.     inputs:

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

  16.       control_input: gamepad_controller/joint_commands

  17.     outputs:

  18.       - joint_positions

  19.       - joint_velocities 

  20.       - actuator_controls

  21.       - sensor_data

  22.     env:

  23.       MODEL_NAME: "kuka_iiwa14"

  24. 

  25.   - id: gamepad_controller

  26.     path: nodes/gamepad_controller.py

  27.     inputs:

  28.       joint_positions: mujoco_sim/joint_positions

  29.       joint_velocities: mujoco_sim/joint_velocities

  30.       raw_control: gamepad/raw_control

  31.       cmd_vel: gamepad/cmd_vel

  32.       fk_result: pytorch_kinematics/fk_request

  33.       jacobian_result: pytorch_kinematics/jacobian_request

  34.     outputs:

  35.       - joint_commands

  36.       - fk_request

  37.       - jacobian_request

  38. 

  39.   - id: pytorch_kinematics

  40.     build: pip install -e ../../../node-hub/dora-pytorch-kinematics

  41.     path: dora-pytorch-kinematics

  42.     inputs:

  43.       fk_request: gamepad_controller/fk_request

  44.       jacobian_request: gamepad_controller/jacobian_request

  45.     outputs:

  46.       - fk_request  

  47.       - jacobian_request  

  48.     env:

  49.       URDF_PATH: "../URDF/kuka_iiwa/model.urdf"

  50.       END_EFFECTOR_LINK: "lbr_iiwa_link_7"  

  51.       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."