dora/examples/so100-remote/no_torque.yml

nodes:
  - id: so100
    path: dora-rustypot
    build: pip install -e ../../node-hub/dora-rustypot
    inputs:
      tick: dora/timer/millis/33
      #pose: pytorch-kinematics/action
    outputs:
      - pose
    env:
      PORT: /dev/ttyACM0
      IDS: 1 2 3 4 5 6

  - id: camera
    build: pip install -e ../../node-hub/dora-pyrealsense
    path: dora-pyrealsense
    inputs:
      tick: dora/timer/millis/33
    outputs:
      - image
      - depth

  - id: pytorch-kinematics
    build: pip install -e ../../node-hub/dora-pytorch-kinematics
    path: dora-pytorch-kinematics
    inputs:
      pose: so100/pose
    outputs:
      - pose
      - action
    env:
      # Link to your installation of so100-urdf.
      # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip
      URDF_PATH: $HOME/Downloads/so100_urdf/so100.urdf
      END_EFFECTOR_LINK: "Moving Jaw"
      TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7

  - id: plot
    build: pip install -e ../../node-hub/dora-rerun
    path: dora-rerun
    inputs:
      jointstate_so100: so100/pose
      camera/image: camera/image
      camera/depth: camera/depth
    env:
      # Link to your installation of so100-urdf.
      # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip
      so100_urdf: $HOME/Downloads/so100_urdf/so100.urdf
      so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
      CAMERA_PITCH: -3.1415