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dora/examples/piper/dataflow.yml

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  1. nodes:

  2.   - id: piper_left

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

  4.     _unstable_deploy:

  5.       machine: piper

  6.     inputs:

  7.       tick: dora/timer/millis/20

  8.     outputs:

  9.       - jointstate

  10.     env:

  11.       CAN_BUS: can_left

  12. 

  13.   - id: piper_right

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

  15.     _unstable_deploy:

  16.       machine: piper

  17.     inputs:

  18.       tick: dora/timer/millis/20

  19.     outputs:

  20.       - jointstate

  21.     env:

  22.       CAN_BUS: can_right

  23. 

  24.   - id: rerun

  25.     path: dora-rerun

  26.     inputs:

  27.       jointstate_piper_left: piper_left/jointstate

  28.       jointstate_piper_right: piper_right/jointstate

  29.     env:

  30.       piper_left.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_left.urdf

  31.       piper_right.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_right.urdf

  32.       piper_left.transform: 0 0.2 0

  33.       piper_right.transform: 0 -0.2 0