From f4a58380b9ca2a1fbccea785fd6c3ffcd3f64a9c Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Sat, 29 Mar 2025 16:07:15 +0530 Subject: [PATCH 001/135] working version --- node-hub/dora-cotracker/README.md | 40 ++++++ node-hub/dora-cotracker/demo.yml | 39 ++++++ .../dora-cotracker/dora_cotracker/__init__.py | 11 ++ .../dora-cotracker/dora_cotracker/__main__.py | 5 + .../dora-cotracker/dora_cotracker/main.py | 128 ++++++++++++++++++ node-hub/dora-cotracker/pyproject.toml | 26 ++++ .../tests/test_dora_cotracker.py | 9 ++ 7 files changed, 258 insertions(+) create mode 100644 node-hub/dora-cotracker/README.md create mode 100644 node-hub/dora-cotracker/demo.yml create mode 100644 node-hub/dora-cotracker/dora_cotracker/__init__.py create mode 100644 node-hub/dora-cotracker/dora_cotracker/__main__.py create mode 100644 node-hub/dora-cotracker/dora_cotracker/main.py create mode 100644 node-hub/dora-cotracker/pyproject.toml create mode 100644 node-hub/dora-cotracker/tests/test_dora_cotracker.py diff --git a/node-hub/dora-cotracker/README.md b/node-hub/dora-cotracker/README.md new file mode 100644 index 00000000..2d5f1217 --- /dev/null +++ b/node-hub/dora-cotracker/README.md @@ -0,0 +1,40 @@ +# dora-cotracker + +## Getting started + +- Install it with uv: + +```bash +uv venv -p 3.11 --seed +uv pip install -e . +``` + +## Contribution Guide + +- Format with [ruff](https://docs.astral.sh/ruff/): + +```bash +uv pip install ruff +uv run ruff check . --fix +``` + +- Lint with ruff: + +```bash +uv run ruff check . +``` + +- Test with [pytest](https://github.com/pytest-dev/pytest) + +```bash +uv pip install pytest +uv run pytest . # Test +``` + +## YAML Specification + +## Examples + +## License + +dora-cotracker's code are released under the MIT License diff --git a/node-hub/dora-cotracker/demo.yml b/node-hub/dora-cotracker/demo.yml new file mode 100644 index 00000000..102d1e76 --- /dev/null +++ b/node-hub/dora-cotracker/demo.yml @@ -0,0 +1,39 @@ +nodes: + - id: camera + build: pip install opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/100 + outputs: + - image + env: + CAPTURE_PATH: "0" + ENCODING: "rgb8" + IMAGE_WIDTH: "640" + IMAGE_HEIGHT: "480" + + - id: tracker + build: pip install -e . + path: dora-cotracker + inputs: + image: camera/image + # points_to_track: debug/points_to_track + outputs: + - tracked_image + - tracked_points + + - id: plot + build: pip install dora-rerun + path: dora-rerun + inputs: + image: camera/image + tracked_image: tracker/tracked_image + # points: tracker/tracked_points + + - id: debug + build: pip install -e . + path: dora-sgp_debug_node + inputs: + points: tracker/tracked_points + # outputs: + # - points_to_track \ No newline at end of file diff --git a/node-hub/dora-cotracker/dora_cotracker/__init__.py b/node-hub/dora-cotracker/dora_cotracker/__init__.py new file mode 100644 index 00000000..ac3cbef9 --- /dev/null +++ b/node-hub/dora-cotracker/dora_cotracker/__init__.py @@ -0,0 +1,11 @@ +import os + +# Define the path to the README file relative to the package directory +readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md") + +# Read the content of the README file +try: + with open(readme_path, "r", encoding="utf-8") as f: + __doc__ = f.read() +except FileNotFoundError: + __doc__ = "README file not found." diff --git a/node-hub/dora-cotracker/dora_cotracker/__main__.py b/node-hub/dora-cotracker/dora_cotracker/__main__.py new file mode 100644 index 00000000..bcbfde6d --- /dev/null +++ b/node-hub/dora-cotracker/dora_cotracker/__main__.py @@ -0,0 +1,5 @@ +from .main import main + + +if __name__ == "__main__": + main() diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py new file mode 100644 index 00000000..b12d9613 --- /dev/null +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -0,0 +1,128 @@ +import numpy as np +import pyarrow as pa +from dora import Node +import cv2 +import torch +from collections import deque + +class VideoTrackingNode: + def __init__(self): + self.node = Node("video-tracking-node") + + # Initialize CoTracker + self.device = "cuda" if torch.cuda.is_available() else "cpu" + print(f"Using device: {self.device}") + self.model = torch.hub.load("facebookresearch/co-tracker", "cotracker3_online") + self.model = self.model.to(self.device) + + # Initialize tracking variables + self.buffer_size = self.model.step * 2 + self.window_frames = deque(maxlen=self.buffer_size) + self.is_first_step = True + self.grid_size = 10 # Smaller grid for better visualization + self.grid_query_frame = 0 + self.frame_count = 0 + + def process_tracking(self, frame): + """Process frame for tracking""" + if len(self.window_frames) == self.buffer_size: + try: + # Stack frames and convert to tensor + video_chunk = torch.tensor( + np.stack(list(self.window_frames)), + device=self.device + ).float() + + # Normalize pixel values to [0, 1] + video_chunk = video_chunk / 255.0 + + # Reshape to [B,T,C,H,W] + video_chunk = video_chunk.permute(0, 3, 1, 2)[None] + + # Run tracking with grid parameters + pred_tracks, pred_visibility = self.model( + video_chunk, + is_first_step=self.is_first_step, + grid_size=self.grid_size, + grid_query_frame=self.grid_query_frame + ) + self.is_first_step = False + + if pred_tracks is not None and pred_visibility is not None: + # Get the latest tracks and visibility + tracks = pred_tracks[0, -1].cpu().numpy() + visibility = pred_visibility[0, -1].cpu().numpy() + + # Filter high-confidence points + visible_mask = visibility > 0.5 + visible_tracks = tracks[visible_mask] + + # Send tracked points + if len(visible_tracks) > 0: + self.node.send_output( + "tracked_points", + pa.array(visible_tracks.ravel()), + { + "num_points": len(visible_tracks), + "dtype": "float32", + "shape": (len(visible_tracks), 2) + } + ) + + # Visualize tracked points + frame_viz = frame.copy() + for pt, vis in zip(tracks, visibility): + if vis > 0.5: # Only draw high-confidence points + x, y = int(pt[0]), int(pt[1]) + cv2.circle(frame_viz, (x, y), radius=3, + color=(0, 255, 0), thickness=-1) + + return frame, frame_viz + else: + print("Debug - Model returned None values") + + except Exception as e: + print(f"Error in processing: {str(e)}") + import traceback + traceback.print_exc() + + return None, None + + def run(self): + """Main run loop""" + try: + for event in self.node: + if event["type"] == "INPUT" and event["id"] == "image": + metadata = event["metadata"] + frame = event["value"].to_numpy().reshape(( + metadata["height"], + metadata["width"], + 3 + )) + + # Add frame to tracking window + self.window_frames.append(frame) + + # Process tracking + original_frame, tracked_frame = self.process_tracking(frame) + + # Only publish when we have processed frames + if original_frame is not None and tracked_frame is not None: + self.node.send_output("image", + pa.array(original_frame.ravel()), + metadata + ) + self.node.send_output("tracked_image", + pa.array(tracked_frame.ravel()), + metadata + ) + + finally: + pass + +def main(): + tracker = VideoTrackingNode() + tracker.run() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/node-hub/dora-cotracker/pyproject.toml b/node-hub/dora-cotracker/pyproject.toml new file mode 100644 index 00000000..fde7fe1b --- /dev/null +++ b/node-hub/dora-cotracker/pyproject.toml @@ -0,0 +1,26 @@ +[project] +name = "dora-cotracker" +version = "0.0.1" +authors = [{ name = "Your Name", email = "email@email.com" }] +description = "dora-cotracker" +license = { text = "MIT" } +readme = "README.md" +requires-python = ">=3.10" + +dependencies = [ + "dora-rs>=0.3.9", + "gradio>=4.0.0", + "torch>=2.0.0", + "numpy>=1.24.0", + "opencv-python>=4.8.0", + "pyarrow>=14.0.1", + "cotracker @ git+https://github.com/facebookresearch/co-tracker.git", + "imageio>=2.31.0", + "imageio-ffmpeg>=0.4.9", +] + +[dependency-groups] +dev = ["pytest >=8.1.1", "ruff >=0.9.1"] + +[project.scripts] +dora-cotracker = "dora_cotracker.main:main" diff --git a/node-hub/dora-cotracker/tests/test_dora_cotracker.py b/node-hub/dora-cotracker/tests/test_dora_cotracker.py new file mode 100644 index 00000000..50d8eb83 --- /dev/null +++ b/node-hub/dora-cotracker/tests/test_dora_cotracker.py @@ -0,0 +1,9 @@ +import pytest + + +def test_import_main(): + from dora_cotracker.main import main + + # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow. + with pytest.raises(RuntimeError): + main() From f260571c4f145f39758542f148362a450d98c698 Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Sun, 30 Mar 2025 00:42:57 +0530 Subject: [PATCH 002/135] implemented dora-cotracker --- node-hub/dora-cotracker/README.md | 154 ++++++++++++++-- node-hub/dora-cotracker/demo.yml | 15 +- .../dora-cotracker/dora_cotracker/main.py | 169 ++++++++++-------- node-hub/dora-cotracker/pyproject.toml | 20 ++- 4 files changed, 254 insertions(+), 104 deletions(-) diff --git a/node-hub/dora-cotracker/README.md b/node-hub/dora-cotracker/README.md index 2d5f1217..a9094850 100644 --- a/node-hub/dora-cotracker/README.md +++ b/node-hub/dora-cotracker/README.md @@ -1,40 +1,162 @@ # dora-cotracker -## Getting started +A Dora node that implements real-time object tracking using Facebook's CoTracker model. The node supports both interactive point selection via clicking and programmatic point input through Dora's messaging system. -- Install it with uv: +## Features + +- Real-time object tracking using CoTracker +- Support for multiple tracking points +- Interactive point selection via mouse clicks +- Programmatic point input through Dora messages +- Visualization of tracked points with unique identifiers + +## Getting Started + +### Installation + +Install using uv: ```bash uv venv -p 3.11 --seed uv pip install -e . ``` -## Contribution Guide +### Basic Usage -- Format with [ruff](https://docs.astral.sh/ruff/): +1. Create a YAML configuration file (e.g., `demo.yml`): -```bash -uv pip install ruff -uv run ruff check . --fix +```yaml +nodes: + - id: camera + build: pip install opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/100 + outputs: + - image + env: + CAPTURE_PATH: "0" + ENCODING: "rgb8" + IMAGE_WIDTH: "640" + IMAGE_HEIGHT: "480" + + - id: tracker + build: pip install -e . + path: dora-cotracker + inputs: + image: camera/image + points_to_track: input/points_to_track + outputs: + - tracked_image + - tracked_points + + - id: display + build: pip install dora-rerun + path: dora-rerun + inputs: + image: camera/image + tracked_image: tracker/tracked_image ``` -- Lint with ruff: +2. Run the demo: ```bash -uv run ruff check . +dora run demo.yml ``` -- Test with [pytest](https://github.com/pytest-dev/pytest) +## Usage Examples -```bash -uv pip install pytest -uv run pytest . # Test +### 1. Interactive Point Selection +Click points directly in the "Raw Feed" window to start tracking them: +- Left-click to add tracking points +- Points will be tracked automatically across frames +- Each point is assigned a unique identifier (C0, C1, etc. for clicked points and I0, I1, etc for input points) + +### 2. Dynamic Point Integration +The node can receive tracking points from other models or nodes in your pipeline. Common use cases include: + +- Tracking YOLO detection centroids +- Following pose estimation keypoints +- Monitoring segmentation mask centers +- Custom object detection points + +example showing how to send tracking points through Dora messages using a custom input node: + +```python +import numpy as np +import pyarrow as pa +from dora import Node + +class PointInputNode: + def __init__(self): + self.node = Node("point-input") + + def send_points(self, points): + """ + Send points to tracker + Args: + points: Nx2 array of (x,y) coordinates + """ + points = np.array(points, dtype=np.float32) + self.node.send_output( + "points_to_track", + pa.array(points.ravel()), + { + "num_points": len(points), + "dtype": "float32", + "shape": (len(points), 2) + } + ) + + def run(self): + # Example: Track 3 points + points = np.array([ + [320, 240], # Center + [160, 120], # Top-left + [480, 360] # Bottom-right + ]) + self.send_points(points) +``` + +Add to your YAML configuration: +```yaml + - id: input + build: pip install -e . + path: point-input-node + outputs: + - points_to_track ``` -## YAML Specification +## API Reference -## Examples +### Input Topics +- `image`: Input video stream (RGB format) +- `points_to_track`: Points to track + - Format: Flattened array of x,y coordinates + - Metadata: + - `num_points`: Number of points + - `dtype`: "float32" + - `shape`: (N, 2) where N is number of points + +### Output Topics +- `tracked_image`: Visualization with tracked points +- `tracked_points`: Current positions of tracked points + - Same format as input points + +## Development + +Format code with ruff: +```bash +uv pip install ruff +uv run ruff check . --fix +``` + +Run tests: +```bash +uv pip install pytest +uv run pytest +``` ## License -dora-cotracker's code are released under the MIT License +dora-cotracker's code are released under the MIT License \ No newline at end of file diff --git a/node-hub/dora-cotracker/demo.yml b/node-hub/dora-cotracker/demo.yml index 102d1e76..6af1e986 100644 --- a/node-hub/dora-cotracker/demo.yml +++ b/node-hub/dora-cotracker/demo.yml @@ -17,7 +17,7 @@ nodes: path: dora-cotracker inputs: image: camera/image - # points_to_track: debug/points_to_track + points_to_track: input/points_to_track outputs: - tracked_image - tracked_points @@ -28,12 +28,11 @@ nodes: inputs: image: camera/image tracked_image: tracker/tracked_image - # points: tracker/tracked_points - - id: debug + + # replace with your own node that outputs tracking points # optional comment is not needed + - id: input build: pip install -e . - path: dora-sgp_debug_node - inputs: - points: tracker/tracked_points - # outputs: - # - points_to_track \ No newline at end of file + path: point-input-node + outputs: + - points_to_track \ No newline at end of file diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py index b12d9613..5e4c08a4 100644 --- a/node-hub/dora-cotracker/dora_cotracker/main.py +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -8,105 +8,114 @@ from collections import deque class VideoTrackingNode: def __init__(self): self.node = Node("video-tracking-node") - # Initialize CoTracker self.device = "cuda" if torch.cuda.is_available() else "cpu" - print(f"Using device: {self.device}") self.model = torch.hub.load("facebookresearch/co-tracker", "cotracker3_online") self.model = self.model.to(self.device) - - # Initialize tracking variables - self.buffer_size = self.model.step * 2 + self.model.step = 8 + self.buffer_size = self.model.step * 2 self.window_frames = deque(maxlen=self.buffer_size) self.is_first_step = True - self.grid_size = 10 # Smaller grid for better visualization - self.grid_query_frame = 0 - self.frame_count = 0 + self.clicked_points = [] + self.input_points = [] + + def mouse_callback(self, event, x, y, flags, param): + if event == cv2.EVENT_LBUTTONDOWN: + self.clicked_points.append([x, y]) + self.is_first_step = True + # print(f"Clicked point added at: ({x}, {y})") def process_tracking(self, frame): """Process frame for tracking""" if len(self.window_frames) == self.buffer_size: - try: - # Stack frames and convert to tensor - video_chunk = torch.tensor( - np.stack(list(self.window_frames)), - device=self.device - ).float() + all_points = self.input_points + self.clicked_points + + if not all_points: + print("No points to track") + return None, None + + video_chunk = torch.tensor( + np.stack(list(self.window_frames)), + device=self.device + ).float() + video_chunk = video_chunk / 255.0 + # Reshape to [B,T,C,H,W] + video_chunk = video_chunk.permute(0, 3, 1, 2)[None] + query_points = torch.tensor(all_points, device=self.device).float() + time_dim = torch.zeros(len(all_points), 1, device=self.device) + queries = torch.cat([time_dim, query_points], dim=1).unsqueeze(0) + # Track points + pred_tracks, pred_visibility = self.model( + video_chunk, + is_first_step=self.is_first_step, + grid_size=0, + queries=queries, + add_support_grid=False + ) + self.is_first_step = False + + if pred_tracks is not None and pred_visibility is not None: + tracks = pred_tracks[0, -1].cpu().numpy() + visibility = pred_visibility[0, -1].cpu().numpy() + visible_tracks = [] + for pt, vis in zip(tracks, visibility): + if vis > 0.5: + visible_tracks.append([int(pt[0]), int(pt[1])]) + visible_tracks = np.array(visible_tracks, dtype=np.float32) + + frame_viz = frame.copy() + num_input_stream = len(self.input_points) + # Draw input points in red + for i, (pt, vis) in enumerate(zip(tracks[:num_input_stream], visibility[:num_input_stream])): + if vis > 0.5: + x, y = int(pt[0]), int(pt[1]) + cv2.circle(frame_viz, (x, y), radius=3, + color=(0, 255, 0), thickness=-1) + cv2.putText(frame_viz, f"I{i}", (x + 5, y - 5), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 1) - # Normalize pixel values to [0, 1] - video_chunk = video_chunk / 255.0 + # Draw clicked points in red + for i, (pt, vis) in enumerate(zip(tracks[num_input_stream:], visibility[num_input_stream:])): + if vis > 0.5: + x, y = int(pt[0]), int(pt[1]) + cv2.circle(frame_viz, (x, y), radius=3, + color=(0, 0, 255), thickness=-1) + cv2.putText(frame_viz, f"C{i}", (x + 5, y - 5), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1) - # Reshape to [B,T,C,H,W] - video_chunk = video_chunk.permute(0, 3, 1, 2)[None] + # Send tracked points + if len(visible_tracks) > 0: + self.node.send_output( + "tracked_points", + pa.array(visible_tracks.ravel()), + { + "num_points": len(visible_tracks), + "dtype": "float32", + "shape": (len(visible_tracks), 2) + } + ) - # Run tracking with grid parameters - pred_tracks, pred_visibility = self.model( - video_chunk, - is_first_step=self.is_first_step, - grid_size=self.grid_size, - grid_query_frame=self.grid_query_frame - ) - self.is_first_step = False + return frame, frame_viz - if pred_tracks is not None and pred_visibility is not None: - # Get the latest tracks and visibility - tracks = pred_tracks[0, -1].cpu().numpy() - visibility = pred_visibility[0, -1].cpu().numpy() - - # Filter high-confidence points - visible_mask = visibility > 0.5 - visible_tracks = tracks[visible_mask] - - # Send tracked points - if len(visible_tracks) > 0: - self.node.send_output( - "tracked_points", - pa.array(visible_tracks.ravel()), - { - "num_points": len(visible_tracks), - "dtype": "float32", - "shape": (len(visible_tracks), 2) - } - ) - - # Visualize tracked points - frame_viz = frame.copy() - for pt, vis in zip(tracks, visibility): - if vis > 0.5: # Only draw high-confidence points - x, y = int(pt[0]), int(pt[1]) - cv2.circle(frame_viz, (x, y), radius=3, - color=(0, 255, 0), thickness=-1) - - return frame, frame_viz - else: - print("Debug - Model returned None values") - - except Exception as e: - print(f"Error in processing: {str(e)}") - import traceback - traceback.print_exc() - return None, None def run(self): """Main run loop""" - try: - for event in self.node: - if event["type"] == "INPUT" and event["id"] == "image": + cv2.namedWindow("Raw Feed", cv2.WINDOW_NORMAL) + cv2.setMouseCallback("Raw Feed", self.mouse_callback) + + for event in self.node: + if event["type"] == "INPUT": + if event["id"] == "image": metadata = event["metadata"] frame = event["value"].to_numpy().reshape(( metadata["height"], metadata["width"], 3 )) - # Add frame to tracking window self.window_frames.append(frame) - - # Process tracking original_frame, tracked_frame = self.process_tracking(frame) - - # Only publish when we have processed frames if original_frame is not None and tracked_frame is not None: self.node.send_output("image", pa.array(original_frame.ravel()), @@ -117,8 +126,20 @@ class VideoTrackingNode: metadata ) - finally: - pass + display_frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + cv2.imshow("Raw Feed", display_frame) + cv2.waitKey(1) + + if event["id"] == "points_to_track": + # Handle points from input_stream node + metadata = event["metadata"] + points_array = event["value"].to_numpy() + num_points = metadata["num_points"] + self.input_points = points_array.reshape((num_points, 2)).tolist() + self.is_first_step = True + print(f"Received {num_points} points from input_stream") + + def main(): tracker = VideoTrackingNode() diff --git a/node-hub/dora-cotracker/pyproject.toml b/node-hub/dora-cotracker/pyproject.toml index fde7fe1b..3359a888 100644 --- a/node-hub/dora-cotracker/pyproject.toml +++ b/node-hub/dora-cotracker/pyproject.toml @@ -1,22 +1,21 @@ [project] name = "dora-cotracker" -version = "0.0.1" -authors = [{ name = "Your Name", email = "email@email.com" }] -description = "dora-cotracker" +version = "0.1.0" +authors = [ + { name = "Shashwat Patil", email = "shashwatpatil974@gmail.com" } +] +description = "A Dora node implementing real-time object tracking using Facebook's CoTracker model" license = { text = "MIT" } readme = "README.md" requires-python = ">=3.10" dependencies = [ "dora-rs>=0.3.9", - "gradio>=4.0.0", "torch>=2.0.0", "numpy>=1.24.0", "opencv-python>=4.8.0", "pyarrow>=14.0.1", "cotracker @ git+https://github.com/facebookresearch/co-tracker.git", - "imageio>=2.31.0", - "imageio-ffmpeg>=0.4.9", ] [dependency-groups] @@ -24,3 +23,12 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"] [project.scripts] dora-cotracker = "dora_cotracker.main:main" + +[tool.ruff.lint] +extend-select = [ + "PERF", # Performance + "RET", # Return statements + "RSE", # Runtime errors + "NPY", # NumPy + "N", # Naming +] From 173fa25bb2c09ec3121a3bbdb59b9b579706a29d Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Sun, 30 Mar 2025 01:02:14 +0530 Subject: [PATCH 003/135] modified the demo.yml --- node-hub/dora-cotracker/demo.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/node-hub/dora-cotracker/demo.yml b/node-hub/dora-cotracker/demo.yml index 6af1e986..70ff27ad 100644 --- a/node-hub/dora-cotracker/demo.yml +++ b/node-hub/dora-cotracker/demo.yml @@ -17,7 +17,7 @@ nodes: path: dora-cotracker inputs: image: camera/image - points_to_track: input/points_to_track + # points_to_track: input/points_to_track outputs: - tracked_image - tracked_points @@ -30,9 +30,9 @@ nodes: tracked_image: tracker/tracked_image - # replace with your own node that outputs tracking points # optional comment is not needed - - id: input - build: pip install -e . - path: point-input-node - outputs: - - points_to_track \ No newline at end of file + # replace with your own node that outputs tracking points # optional uncomment if input via node + # - id: input + # build: pip install -e . + # path: point-input-node + # outputs: + # - points_to_track \ No newline at end of file From 751c82abbef256dfe6e58c33fd274b223abdadfc Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Sun, 30 Mar 2025 03:41:55 +0530 Subject: [PATCH 004/135] updated readme --- node-hub/dora-cotracker/README.md | 62 +++++++++++++++++++++++++++---- node-hub/dora-cotracker/demo.yml | 17 +++++---- 2 files changed, 65 insertions(+), 14 deletions(-) diff --git a/node-hub/dora-cotracker/README.md b/node-hub/dora-cotracker/README.md index a9094850..b563dfbd 100644 --- a/node-hub/dora-cotracker/README.md +++ b/node-hub/dora-cotracker/README.md @@ -41,7 +41,7 @@ nodes: IMAGE_HEIGHT: "480" - id: tracker - build: pip install -e . + build: pip install -e dora-cotracker path: dora-cotracker inputs: image: camera/image @@ -58,10 +58,12 @@ nodes: tracked_image: tracker/tracked_image ``` +*Note* - this only has the cv2 as an input source. see below to add your nodes workflow and pass points directly. + 2. Run the demo: ```bash -dora run demo.yml +dora run demo.yml --uv ``` ## Usage Examples @@ -118,15 +120,61 @@ class PointInputNode: self.send_points(points) ``` -Add to your YAML configuration: + + +To connect your existing node that outputs tracking points with the CoTracker node, add the following to your YAML configuration: + ```yaml - - id: input - build: pip install -e . - path: point-input-node +nodes: + # Your existing point source node (e.g., YOLO detector, pose estimator, etc.) + - id: point_source + build: pip install your-node # Replace with your node's name + path: your-point-source-node # Replace with your node's path + inputs: + image: camera/image # If your node needs image input outputs: - - points_to_track + - points_to_track # Must output points in required format + + # CoTracker node configuration + - id: tracker + build: pip install dora-cotracker + path: dora-cotracker + inputs: + image: camera/image + points_to_track: point_source/points_to_track # Connect to your point source + outputs: + - tracked_image + - tracked_points + + # Optional visualization + - id: display + build: pip install dora-rerun + path: dora-rerun + inputs: + image: camera/image + tracked_image: tracker/tracked_image ``` +Your point source node must output points in the following format: +- Topic name: `points_to_track` +- Data: Flattened numpy array of x,y coordinates +- Metadata: + ```python + { + "num_points": len(points), # Number of points + "dtype": "float32", # Data type + "shape": (N, 2) # N points, 2 coordinates each + } + ``` + +Example point source implementations: +- YOLO detection centroids +- Pose estimation keypoints +- Face landmark detectors +- Custom object detectors + +For dynamic updates, send new points whenever your source node processes a new frame. The tracker will maintain temporal consistency between updates. +** ## API Reference ### Input Topics diff --git a/node-hub/dora-cotracker/demo.yml b/node-hub/dora-cotracker/demo.yml index 70ff27ad..6bb36707 100644 --- a/node-hub/dora-cotracker/demo.yml +++ b/node-hub/dora-cotracker/demo.yml @@ -13,11 +13,11 @@ nodes: IMAGE_HEIGHT: "480" - id: tracker - build: pip install -e . + build: pip install dora-cotracker path: dora-cotracker inputs: image: camera/image - # points_to_track: input/points_to_track + # points_to_track: input/points_to_track # uncomment this if using input node outputs: - tracked_image - tracked_points @@ -30,9 +30,12 @@ nodes: tracked_image: tracker/tracked_image - # replace with your own node that outputs tracking points # optional uncomment if input via node - # - id: input - # build: pip install -e . - # path: point-input-node + # replace with your own node that outputs tracking points # uncomment if input via node + # (e.g., YOLO detector, pose estimator, etc.) + # - id: point_source + # build: pip install your-node # Replace with your node's name + # path: your-point-source-node # Replace with your node's path + # inputs: + # image: camera/image # If your node needs image input # outputs: - # - points_to_track \ No newline at end of file + # - points_to_track # Must output points in required format \ No newline at end of file From 8bf0e57600c2950f7f9ac710f499ff66ab4bdc97 Mon Sep 17 00:00:00 2001 From: Nagesh Mandal <106006006+NageshMandal@users.noreply.github.com> Date: Tue, 1 Apr 2025 15:41:04 +0530 Subject: [PATCH 005/135] Enhance Zenoh Integration Documentation Improve the documentation for Zenoh integration by adding detailed setup instructions, configuration examples. --- README.md | 112 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 112 insertions(+) diff --git a/README.md b/README.md index 289bccec..b89f5fd2 100644 --- a/README.md +++ b/README.md @@ -311,6 +311,109 @@ turtle_twist_writer.publish(message) > You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15 + +## Zenoh Integration for Distributed Dataflow (Experimental) + +Zenoh is a high-performance pub/sub and query protocol that unifies data in motion and at rest. In **dora-rs**, Zenoh is used for remote communication between nodes running on different machines, enabling distributed dataflow across networks. + +### What is Zenoh? + +- **Definition:** + [Zenoh](https://zenoh.io) is an open-source communication middleware offering pub/sub and query capabilities. +- **Benefits in DORA:** + - Simplifies communication between distributed nodes. + - Handles NAT traversal and inter-network communication. + - Integrates with DORA to manage remote data exchange while local communication still uses efficient shared memory. + +### Enabling Zenoh Support + +1. **Run a Zenoh Router (`zenohd`):** + Launch a Zenoh daemon to mediate communication. For example, using Docker: + + ```bash + docker run -p 7447:7447 -p 8000:8000 --name zenoh-router eclipse/zenohd:latest + + +```markdown +## Create a Zenoh Configuration File πŸŽ›οΈ + +Create a file (e.g., `zenoh.json5`) with the router endpoint details: + +```json5 +{ + "connect": { + "endpoints": [ "tcp/203.0.113.10:7447" ] + } +} +``` + +--- + +## Launch DORA Daemons with Zenoh Enabled πŸš€ + +On each machine, export the configuration and start the daemon: + +```bash +export ZENOH_CONFIG=/path/to/zenoh.json5 +dora daemon --coordinator-addr --machine-id +``` + +--- + +## Deploy Distributed Nodes via YAML πŸ“„ + +Mark nodes for remote deployment using the `_unstable_deploy` key: + +```yaml +nodes: + - id: camera_node + outputs: [image] + + - id: processing_node + _unstable_deploy: + machine: robot1 + path: /home/robot/dora-nodes/processing_node + inputs: + image: camera_node/image + outputs: [result] +``` + +--- + +## Start the Coordinator and Dataflow 🏁 + +Run the coordinator on a designated machine and start the dataflow: + +```bash +dora coordinator +dora start dataflow.yml +``` + +--- + +## YAML Example for Distributed Dataflow πŸ“˜ + +```yaml +communication: + zenoh: + prefix: /my_dora_network + +nodes: + - id: camera_node + custom: + run: ./camera_driver.py + outputs: + - image + + - id: processing_node + _unstable_deploy: + machine: robot1 + path: /home/robot/dora-nodes/processing_node + inputs: + image: camera_node/image + outputs: + - result +``` ## Contributing We are passionate about supporting contributors of all levels of experience and would love to see @@ -331,3 +434,12 @@ We also have [a contributing guide](CONTRIBUTING.md). ## License This project is licensed under Apache-2.0. Check out [NOTICE.md](NOTICE.md) for more information. + +--- + +## Further Resources πŸ“š + +- [Zenoh Documentation](https://zenoh.io/docs/) +- [DORA Zenoh Discussion (GitHub Issue #512)](https://github.com/dora-rs/dora/issues/512) +- [Dora Autoware Localization Demo](https://github.com/dora-rs/dora-autoware-localization-demo) +``` From fff76729486f7aebd5ed6cd3dde997c3fade96cb Mon Sep 17 00:00:00 2001 From: Nagesh Mandal <106006006+NageshMandal@users.noreply.github.com> Date: Tue, 1 Apr 2025 19:01:48 +0530 Subject: [PATCH 006/135] Update the suggestion changes --- README.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/README.md b/README.md index b89f5fd2..cb55f27a 100644 --- a/README.md +++ b/README.md @@ -394,9 +394,6 @@ dora start dataflow.yml ## YAML Example for Distributed Dataflow πŸ“˜ ```yaml -communication: - zenoh: - prefix: /my_dora_network nodes: - id: camera_node From 7caa0bddbf75814b42b059b0f7a7b58fd5cacde5 Mon Sep 17 00:00:00 2001 From: Nagesh Mandal <106006006+NageshMandal@users.noreply.github.com> Date: Tue, 1 Apr 2025 19:07:12 +0530 Subject: [PATCH 007/135] Update README.md --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index cb55f27a..faa760b2 100644 --- a/README.md +++ b/README.md @@ -390,10 +390,11 @@ dora start dataflow.yml ``` --- - ## YAML Example for Distributed Dataflow πŸ“˜ ```yaml +communication: + zenoh: {} nodes: - id: camera_node @@ -410,6 +411,7 @@ nodes: image: camera_node/image outputs: - result + ``` ## Contributing From a82c2a451b1c429a7fd283cdfe89be8087f5e8c5 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 26 Mar 2025 21:34:21 +0100 Subject: [PATCH 008/135] Initial support for dav1d and rav1e --- Cargo.lock | 275 +++++++++++++++++++++++++- Cargo.toml | 2 + node-hub/dora-av1-encoder/Cargo.toml | 15 ++ node-hub/dora-av1-encoder/example.py | 22 +++ node-hub/dora-av1-encoder/src/main.rs | 217 ++++++++++++++++++++ node-hub/dora-dav1d/Cargo.toml | 13 ++ node-hub/dora-dav1d/dataflow.yml | 53 +++++ node-hub/dora-dav1d/src/main.rs | 189 ++++++++++++++++++ 8 files changed, 784 insertions(+), 2 deletions(-) create mode 100644 node-hub/dora-av1-encoder/Cargo.toml create mode 100644 node-hub/dora-av1-encoder/example.py create mode 100644 node-hub/dora-av1-encoder/src/main.rs create mode 100644 node-hub/dora-dav1d/Cargo.toml create mode 100644 node-hub/dora-dav1d/dataflow.yml create mode 100644 node-hub/dora-dav1d/src/main.rs diff --git a/Cargo.lock b/Cargo.lock index 957cd526..9482a998 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -273,6 +273,15 @@ dependencies = [ "rgb", ] +[[package]] +name = "ansi_term" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2" +dependencies = [ + "winapi 0.3.9", +] + [[package]] name = "anstream" version = "0.6.18" @@ -1297,6 +1306,36 @@ dependencies = [ "num-traits", ] +[[package]] +name = "av-metrics" +version = "0.9.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "996ce95bbdb0203e5b91d4a0c9b81c0d67d11c80f884482a0c1ea19e732e3530" +dependencies = [ + "crossbeam", + "itertools 0.10.5", + "lab", + "num-traits", + "rayon", + "thiserror 1.0.66", + "v_frame", +] + +[[package]] +name = "av1-grain" +version = "0.2.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6678909d8c5d46a42abcf571271e15fdbc0a225e3646cf23762cd415046c78bf" +dependencies = [ + "anyhow", + "arrayvec", + "log", + "nom", + "num-rational", + "serde", + "v_frame", +] + [[package]] name = "axum" version = "0.7.9" @@ -1605,6 +1644,15 @@ dependencies = [ "sysinfo 0.33.1", ] +[[package]] +name = "built" +version = "0.7.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c6a6c0b39c38fd754ac338b00a88066436389c0f029da5d37d1e01091d9b7c17" +dependencies = [ + "git2", +] + [[package]] name = "bumpalo" version = "3.17.0" @@ -1905,6 +1953,16 @@ dependencies = [ "uuid 1.16.0", ] +[[package]] +name = "cfg-expr" +version = "0.15.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d067ad48b8650848b989a59a86c6c36a995d02d2bf778d45c3c5d57bc2718f02" +dependencies = [ + "smallvec", + "target-lexicon", +] + [[package]] name = "cfg-if" version = "0.1.10" @@ -1986,6 +2044,21 @@ dependencies = [ "thiserror 1.0.69", ] +[[package]] +name = "clap" +version = "2.34.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c" +dependencies = [ + "ansi_term", + "atty", + "bitflags 1.3.2", + "strsim 0.8.0", + "textwrap 0.11.0", + "unicode-width", + "vec_map", +] + [[package]] name = "clap" version = "3.2.25" @@ -2000,7 +2073,7 @@ dependencies = [ "once_cell", "strsim 0.10.0", "termcolor", - "textwrap", + "textwrap 0.16.1", ] [[package]] @@ -2026,6 +2099,15 @@ dependencies = [ "terminal_size", ] +[[package]] +name = "clap_complete" +version = "4.5.47" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c06f5378ea264ad4f82bbc826628b5aad714a75abf6ece087e923010eb937fb6" +dependencies = [ + "clap 4.5.20", +] + [[package]] name = "clap_derive" version = "3.2.25" @@ -2937,6 +3019,15 @@ dependencies = [ "num", ] +[[package]] +name = "dora-av1-encoder" +version = "0.3.10" +dependencies = [ + "dora-node-api", + "eyre", + "rav1e", +] + [[package]] name = "dora-cli" version = "0.3.10" @@ -3049,6 +3140,18 @@ dependencies = [ "zenoh 1.3.0", ] +[[package]] +name = "dora-dav1d" +version = "0.0.0" +dependencies = [ + "bitstream-io", + "dav1d", + "dora-node-api", + "eyre", + "log", + "structopt", +] + [[package]] name = "dora-download" version = "0.3.10" @@ -4086,6 +4189,15 @@ dependencies = [ "simd-adler32", ] +[[package]] +name = "fern" +version = "0.6.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9f0c14694cbd524c8720dd69b0e3179344f04ebb5f90f2e4a440c6ea3b2f1ee" +dependencies = [ + "log", +] + [[package]] name = "ffmpeg-sidecar" version = "2.0.5" @@ -6044,6 +6156,12 @@ dependencies = [ "log", ] +[[package]] +name = "lab" +version = "0.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bf36173d4167ed999940f804952e6b08197cae5ad5d572eb4db150ce8ad5d58f" + [[package]] name = "lazy_static" version = "1.5.0" @@ -6135,6 +6253,16 @@ version = "0.2.171" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c19937216e9d3aa9956d9bb8dfc0b0c8beb6058fc4f7a4dc4d850edf86a237d6" +[[package]] +name = "libfuzzer-sys" +version = "0.4.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cf78f52d400cf2d84a3a973a78a592b4adc535739e0a5597a0da6f0c357adc75" +dependencies = [ + "arbitrary", + "cc", +] + [[package]] name = "libgit2-sys" version = "0.16.2+1.7.2" @@ -6407,6 +6535,16 @@ dependencies = [ "rawpointer", ] +[[package]] +name = "maybe-rayon" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ea1f30cedd69f0a2954655f7188c6a834246d2bcf1e315e2ac40c4b24dc9519" +dependencies = [ + "cfg-if 1.0.0", + "rayon", +] + [[package]] name = "md5" version = "0.7.0" @@ -6918,6 +7056,15 @@ dependencies = [ "getrandom 0.2.15", ] +[[package]] +name = "nasm-rs" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fe4d98d0065f4b1daf164b3eafb11974c94662e5e2396cf03f32d0bb5c17da51" +dependencies = [ + "rayon", +] + [[package]] name = "nasm-rs" version = "0.3.0" @@ -7042,6 +7189,12 @@ version = "0.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c96aba5aa877601bb3f6dd6a63a969e1f82e60646e81e71b14496995e9853c91" +[[package]] +name = "new_debug_unreachable" +version = "1.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "650eef8c711430f1a879fdd01d4745a7deea475becfb90269c06775983bbf086" + [[package]] name = "newline-converter" version = "0.2.2" @@ -9092,6 +9245,55 @@ dependencies = [ "rand_core 0.9.3", ] +[[package]] +name = "rav1e" +version = "0.7.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd87ce80a7665b1cce111f8a16c1f3929f6547ce91ade6addf4ec86a8dda5ce9" +dependencies = [ + "arbitrary", + "arg_enum_proc_macro", + "arrayvec", + "av-metrics", + "av1-grain", + "bitstream-io", + "built", + "cc", + "cfg-if 1.0.0", + "clap 4.5.20", + "clap_complete", + "console", + "fern", + "interpolate_name", + "itertools 0.12.1", + "ivf", + "libc", + "libfuzzer-sys", + "log", + "maybe-rayon", + "nasm-rs 0.2.5", + "new_debug_unreachable", + "nom", + "noop_proc_macro", + "num-derive", + "num-traits", + "once_cell", + "paste", + "profiling", + "rand", + "rand_chacha", + "scan_fmt", + "serde", + "serde-big-array", + "signal-hook", + "simd_helpers", + "system-deps", + "thiserror 1.0.66", + "toml", + "v_frame", + "y4m", +] + [[package]] name = "raw-cpuid" version = "10.7.0" @@ -9829,7 +10031,7 @@ dependencies = [ "cc", "cfg-if 1.0.0", "libc", - "nasm-rs", + "nasm-rs 0.3.0", "parking_lot", "paste", "raw-cpuid 11.5.0", @@ -11591,6 +11793,12 @@ dependencies = [ "winapi-util", ] +[[package]] +name = "scan_fmt" +version = "0.2.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b53b0a5db882a8e2fdaae0a43f7b39e7e9082389e978398bdf223a55b581248" + [[package]] name = "schannel" version = "0.1.27" @@ -12183,6 +12391,15 @@ version = "0.3.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe" +[[package]] +name = "simd_helpers" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "95890f873bec569a0362c235787f3aca6e1e887302ba4840839bcc6459c42da6" +dependencies = [ + "quote", +] + [[package]] name = "simdutf8" version = "0.1.5" @@ -12548,6 +12765,12 @@ dependencies = [ "float-cmp", ] +[[package]] +name = "strsim" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a" + [[package]] name = "strsim" version = "0.10.0" @@ -12560,6 +12783,30 @@ version = "0.11.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f" +[[package]] +name = "structopt" +version = "0.3.26" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0c6b5c64445ba8094a6ab0c3cd2ad323e07171012d9c98b0b15651daf1787a10" +dependencies = [ + "clap 2.34.0", + "lazy_static", + "structopt-derive", +] + +[[package]] +name = "structopt-derive" +version = "0.4.18" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dcb5ae327f9cc13b68763b5749770cb9e048a99bd9dfdfa58d0cf05d5f64afe0" +dependencies = [ + "heck 0.3.3", + "proc-macro-error", + "proc-macro2", + "quote", + "syn 1.0.109", +] + [[package]] name = "strum" version = "0.26.3" @@ -13897,6 +14144,18 @@ dependencies = [ "syn 2.0.100", ] +[[package]] +name = "v_frame" +version = "0.3.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d6f32aaa24bacd11e488aa9ba66369c7cd514885742c9fe08cfe85884db3e92b" +dependencies = [ + "aligned-vec", + "num-traits", + "serde", + "wasm-bindgen", +] + [[package]] name = "validated_struct" version = "2.1.1" @@ -13968,6 +14227,12 @@ version = "0.8.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191" +[[package]] +name = "version-compare" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "852e951cb7832cb45cb1169900d19760cfa39b82bc0ea9c0e5a14ae88411c98b" + [[package]] name = "version_check" version = "0.9.5" @@ -15404,6 +15669,12 @@ version = "0.8.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "fdd20c5420375476fbd4394763288da7eb0cc0b8c11deed431a91562af7335d3" +[[package]] +name = "y4m" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7a5a4b21e1a62b67a2970e6831bc091d7b87e119e7f9791aef9702e3bef04448" + [[package]] name = "yaml-rust" version = "0.4.5" diff --git a/Cargo.toml b/Cargo.toml index f67b0fcb..50bbee92 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -37,6 +37,8 @@ members = [ "node-hub/dora-kit-car", "node-hub/dora-object-to-pose", "node-hub/dora-mistral-rs", + "node-hub/dora-av1-encoder", + "node-hub/dora-dav1d", "libraries/extensions/ros2-bridge", "libraries/extensions/ros2-bridge/msg-gen", "libraries/extensions/ros2-bridge/python", diff --git a/node-hub/dora-av1-encoder/Cargo.toml b/node-hub/dora-av1-encoder/Cargo.toml new file mode 100644 index 00000000..b0ee3d8a --- /dev/null +++ b/node-hub/dora-av1-encoder/Cargo.toml @@ -0,0 +1,15 @@ +[package] +name = "dora-av1-encoder" +edition = "2021" +version.workspace = true +description.workspace = true +documentation.workspace = true +license.workspace = true +repository.workspace = true + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +rav1e = { version = "0.7.1", features = ["serialize"] } +dora-node-api = { workspace = true, features = ["tracing"] } +eyre = "0.6.8" diff --git a/node-hub/dora-av1-encoder/example.py b/node-hub/dora-av1-encoder/example.py new file mode 100644 index 00000000..80d54b89 --- /dev/null +++ b/node-hub/dora-av1-encoder/example.py @@ -0,0 +1,22 @@ +import av +import cv2 +import numpy as np + +# Open the AV1 video file +container = av.open("video.av1") + +# Get the video stream +stream = next(s for s in container.streams if s.type == "video") + +# Iterate over the video frames +for frame in container.decode(stream): + # Convert the frame to a NumPy array + img = frame.to_ndarray(format="bgr24") + + # Display the frame + cv2.imshow("Frame", img) + if cv2.waitKey(1) & 0xFF == ord("q"): + break + +# Release the resources +cv2.destroyAllWindows() diff --git a/node-hub/dora-av1-encoder/src/main.rs b/node-hub/dora-av1-encoder/src/main.rs new file mode 100644 index 00000000..dbad450e --- /dev/null +++ b/node-hub/dora-av1-encoder/src/main.rs @@ -0,0 +1,217 @@ +// Copyright (c) 2019-2022, The rav1e contributors. All rights reserved +// +// This source code is subject to the terms of the BSD 2 Clause License and +// the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License +// was not distributed with this source code in the LICENSE file, you can +// obtain it at www.aomedia.org/license/software. If the Alliance for Open +// Media Patent License 1.0 was not distributed with this source code in the +// PATENTS file, you can obtain it at www.aomedia.org/license/patent. + +use std::time::Duration; + +use dora_node_api::arrow::array::UInt8Array; +use dora_node_api::dora_core::config::DataId; +use dora_node_api::{DoraNode, Event, IntoArrow, MetadataParameters, Parameter}; +use eyre::{Context as EyreContext, Result}; +// Encode the same tiny blank frame 30 times +use rav1e::config::RateControlConfig; +use rav1e::config::SpeedSettings; + +use rav1e::*; + +fn bgr_to_yuv(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { + let mut y_plane = vec![0; width * height]; + let mut u_plane = vec![0; (width / 2) * (height / 2)]; + let mut v_plane = vec![0; (width / 2) * (height / 2)]; + + for y in 0..height { + for x in 0..width { + let bgr_index = (y * width + x) * 3; + let b = bgr_data[bgr_index] as f32; + let g = bgr_data[bgr_index + 1] as f32; + let r = bgr_data[bgr_index + 2] as f32; + + // Corrected YUV conversion formulas + let y_value = (0.299 * r + 0.587 * g + 0.114 * b).clamp(0.0, 255.0); + let u_value = (-0.14713 * r - 0.28886 * g + 0.436 * b + 128.0).clamp(0.0, 255.0); + let v_value = (0.615 * r - 0.51499 * g - 0.10001 * b + 128.0).clamp(0.0, 255.0); + + let y_index = y * width + x; + y_plane[y_index] = y_value.round() as u8; + + if x % 2 == 0 && y % 2 == 0 { + let uv_index = (y / 2) * (width / 2) + (x / 2); + u_plane[uv_index] = u_value.round() as u8; + v_plane[uv_index] = v_value.round() as u8; + } + } + } + + (y_plane, u_plane, v_plane) +} + +fn get_yuv_planes(buffer: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { + // Calculate sizes of Y, U, and V planes for YUV420 format + let y_size = width * height; // Y has full resolution + let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions + let uv_height = height / 2; // U and V are subsampled by 2 in both dimensions + let uv_size = uv_width * uv_height; // Size for U and V planes + + // Ensure the buffer has the correct size + // if buffer.len() != y_size + 2 * uv_size { + // panic!("Invalid buffer size for the given width and height!"); + // } + + // Extract Y, U, and V planes + let y_plane = buffer[0..y_size].to_vec(); + let u_plane = buffer[y_size..y_size + uv_size].to_vec(); + let v_plane = buffer[y_size + uv_size..].to_vec(); + + (y_plane, u_plane, v_plane) +} + +fn main() -> Result<()> { + let mut height = std::env::var("IMAGE_HEIGHT") + .unwrap_or_else(|_| "480".to_string()) + .parse() + .unwrap(); + let mut width = std::env::var("IMAGE_WIDTH") + .unwrap_or_else(|_| "640".to_string()) + .parse() + .unwrap(); + let enc = EncoderConfig { + width, + height, + speed_settings: SpeedSettings::from_preset(8), + low_latency: true, + ..Default::default() + }; + + let cfg = Config::new() + // .with_rate_control(RateControlConfig::new().with_emit_data(true)) + .with_encoder_config(enc.clone()) + .with_threads(16); + + let mut ctx: Context = cfg.new_context().unwrap(); + + let (mut node, mut events) = + DoraNode::init_from_env().context("Could not initialize dora node")?; + + let mut time = std::time::Instant::now(); + loop { + let buffer = match events.recv() { + Some(Event::Input { id, data, metadata }) => { + if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") { + height = *h as usize; + }; + if let Some(Parameter::Integer(w)) = metadata.parameters.get("width") { + width = *w as usize; + }; + let encoding = if let Some(Parameter::String(encoding)) = + metadata.parameters.get("encoding") + { + encoding + } else { + "bgr8" + }; + + if encoding == "bgr8" { + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: Vec = buffer.values().to_vec(); + buffer + // Transpose values from BGR to RGB + // let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); + + //un + } else if encoding == "yuv420" { + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: Vec = buffer.values().to_vec(); + buffer + } else if encoding == "rgb8" { + unimplemented!("We haven't worked on additional encodings."); + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: &[u8] = buffer.values(); + let mut f = ctx.new_frame(); + + for p in &mut f.planes { + let stride = (enc.width + p.cfg.xdec) >> p.cfg.xdec; + p.copy_from_raw_u8(&buffer, stride, 1); + } + buffer.to_vec() + } else { + unimplemented!("We haven't worked on additional encodings."); + continue; + } + } + Some(Event::Error(e)) => { + continue; + } + _ => break, + }; + //let (y, u, v) = bgr_to_yuv(buffer, 640 as usize, 480 as usize); + + let (y, u, v) = get_yuv_planes(buffer, width, height); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + println!("Unable to append frame to the internal queue"); + panic!("Unable to send frame "); + } + _ => { + panic!("Unable to send frame "); + } + }, + } + println!("Frame sent to encoder"); + for _ in 0..1 { + match ctx.receive_packet() { + Ok(pkt) => { + println!("Time to encode: {:?}", time.elapsed()); + time = std::time::Instant::now(); + let data = pkt.data; + println!("frame compression: {:#?}", width * height * 3 / data.len()); + println!("frame size: {:#?}", data.len()); + let arrow = data.into_arrow(); + node.send_output( + DataId::from("frame".to_owned()), + MetadataParameters::default(), + arrow, + ) + .context("could not send output") + .unwrap(); + + break; + } + Err(e) => match e { + EncoderStatus::LimitReached => { + break; + } + EncoderStatus::Encoded => { + break; + } + EncoderStatus::NeedMoreData => { + break; + } + _ => { + panic!("Unable to receive packet",); + } + }, + } + } + } + + Ok(()) +} diff --git a/node-hub/dora-dav1d/Cargo.toml b/node-hub/dora-dav1d/Cargo.toml new file mode 100644 index 00000000..a0940226 --- /dev/null +++ b/node-hub/dora-dav1d/Cargo.toml @@ -0,0 +1,13 @@ +[package] +name = "dora-dav1d" +edition = "2021" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +dav1d = "0.10" +bitstream-io = "2.0" +log = "0.4" +structopt = "0.3" +dora-node-api = { workspace = true, features = ["tracing"] } +eyre = "0.6.8" diff --git a/node-hub/dora-dav1d/dataflow.yml b/node-hub/dora-dav1d/dataflow.yml new file mode 100644 index 00000000..b4853804 --- /dev/null +++ b/node-hub/dora-dav1d/dataflow.yml @@ -0,0 +1,53 @@ +nodes: + - id: camera + build: pip install ../../node-hub/opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/50 + outputs: + - image + env: + CAPTURE_PATH: 0 + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + ENCODING: yuv420 + + - id: av + path: /home/peter/Documents/work/dora/target/release/dora-av1-encoder + build: cargo build -p dora-av1-encoder --release + inputs: + image: camera/image + outputs: + - frame + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + + - id: dav1d + path: /home/peter/Documents/work/dora/target/release/dora-dav1d + build: cargo build -p dora-dav1d --release + inputs: + image: av/frame + outputs: + - frame + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + + - id: plot + build: pip install -e ../../node-hub/opencv-plot + path: opencv-plot + inputs: + image: dav1d/frame + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + + - id: plot2 + build: pip install -e ../../node-hub/opencv-plot + path: opencv-plot + inputs: + image: camera/image + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs new file mode 100644 index 00000000..0dd758b5 --- /dev/null +++ b/node-hub/dora-dav1d/src/main.rs @@ -0,0 +1,189 @@ +use std::time::Duration; + +use dav1d::Settings; +use dora_node_api::{ + arrow::array::UInt8Array, dora_core::config::DataId, DoraNode, Event, IntoArrow, + MetadataParameters, +}; +use eyre::{Context, Result}; + +fn yuv420_to_bgr( + y_plane: &[u8], + u_plane: &[u8], + v_plane: &[u8], + width: usize, + height: usize, +) -> Vec { + let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer + + for j in 0..height { + for i in 0..width { + let y_idx = j * width + i; // Index in Y plane + let uv_idx = (j / 2) * (width / 2) + (i / 2); // Index in U/V planes + + let y = y_plane[y_idx] as f32; + let u = u_plane[uv_idx] as f32 - 128.0; + let v = v_plane[uv_idx] as f32 - 128.0; + + // Convert YUV to RGB using BT.601 standard formula + let r = (y + 1.402 * v).clamp(0.0, 255.0) as u8; + let g = (y - 0.344136 * u - 0.714136 * v).clamp(0.0, 255.0) as u8; + let b = (y + 1.772 * u).clamp(0.0, 255.0) as u8; + + // Set the RGB values in the output buffer + let rgb_idx = y_idx * 3; + rgb_data[rgb_idx] = b; + rgb_data[rgb_idx + 1] = g; + rgb_data[rgb_idx + 2] = r; + } + } + + rgb_data +} + +fn main() -> Result<()> { + let mut settings = Settings::new(); + settings.set_n_threads(16); + + let height: usize = std::env::var("IMAGE_HEIGHT") + .unwrap_or_else(|_| "480".to_string()) + .parse() + .unwrap(); + let width: usize = std::env::var("IMAGE_WIDTH") + .unwrap_or_else(|_| "640".to_string()) + .parse() + .unwrap(); + + let mut dec = + dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); + + let (tx, rx) = std::sync::mpsc::sync_channel(1); + let (mut node, mut events) = + DoraNode::init_from_env().context("Could not initialize dora node")?; + + let _ = std::thread::spawn(move || { + let mut now = std::time::Instant::now(); + loop { + while let Ok(data) = rx.recv_timeout(Duration::from_millis(100)) { + match dec.send_data(data, None, None, None) { + Err(e) if e.is_again() => { + panic!("Error sending data to the decoder: {}", e); + if let Ok(p) = dec.get_picture() { + let mut y = p.plane(dav1d::PlanarImageComponent::Y).to_vec(); + let mut u = p.plane(dav1d::PlanarImageComponent::U).to_vec(); + let mut v = p.plane(dav1d::PlanarImageComponent::V).to_vec(); + y.append(&mut u); + y.append(&mut v); + // let rgb = yuv420_to_rgb(&y, &u, &v, 100, 100); + let arrow = y.into_arrow(); + let mut metadata = MetadataParameters::default(); + metadata.insert( + "width".to_string(), + dora_node_api::Parameter::Integer(640), + ); + metadata.insert( + "height".to_string(), + dora_node_api::Parameter::Integer(480), + ); + metadata.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("yuv420".to_string()), + ); + node.send_output(DataId::from("frame".to_string()), metadata, arrow) + .unwrap(); + println!("Time to decode: {:?}", now.elapsed()); + now = std::time::Instant::now(); + } + // If the decoder did not consume all data, output all + // pending pictures and send pending data to the decoder + // until it is all used up. + //loop { + // handle_pending_pictures(&mut dec, false, &mut node); + + // match dec.send_pending_data() { + // Err(e) if e.is_again() => continue, + // Err(e) => { + // panic!("Error sending pending data to the decoder: {}", e); + // } + // _ => break, + // } + //} + } + Err(e) => { + panic!("Error sending data to the decoder: {}", e); + } + Ok(()) => { + if let Ok(p) = dec.get_picture() { + let mut y = p.plane(dav1d::PlanarImageComponent::Y).to_vec(); + let mut u = p.plane(dav1d::PlanarImageComponent::U).to_vec(); + let mut v = p.plane(dav1d::PlanarImageComponent::V).to_vec(); + // u.iter_mut().for_each(|e| { + // if *e < 128 { + // *e = *e + 128 + // } + // }); + // v.iter_mut().for_each(|e: &mut u8| { + // if *e < 128 { + // *e = *e + 128 + // } + // }); + + // y.append(&mut u); + // y.append(&mut v); + let y = yuv420_to_bgr(&y, &u, &v, width, height); + + let arrow = y.into_arrow(); + let mut metadata = MetadataParameters::default(); + metadata.insert( + "width".to_string(), + dora_node_api::Parameter::Integer( + width.try_into().unwrap_or_default(), + ), + ); + metadata.insert( + "height".to_string(), + dora_node_api::Parameter::Integer( + height.try_into().unwrap_or_default(), + ), + ); + metadata.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("bgr8".to_string()), + ); + node.send_output(DataId::from("frame".to_string()), metadata, arrow) + .unwrap(); + println!("Time to decode: {:?}", now.elapsed()); + println!("Delay: {:#?}", dec.get_frame_delay()); + + now = std::time::Instant::now(); + } + } + } + } + } + }); + loop { + match events.recv() { + Some(Event::Input { + id: _, + data, + metadata: _, + }) => { + let data = data.as_any().downcast_ref::().unwrap(); + let data = data.values().clone(); + + // Send packet to the decoder + + tx.try_send(data).unwrap_or_default(); + // Handle all pending pictures before sending the next data. + // handle_pending_pictures(&mut dec, false, &mut node); + } + None => break, + Some(_) => break, + } + } + // Handle all pending pictures that were not output yet. + // handle_pending_pictures(&mut dec, true, &mut node); + + Ok(()) +} From 26c40c5aacde2ea6401e0c5ef2121d4e431a77f0 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 27 Mar 2025 12:01:54 +0100 Subject: [PATCH 009/135] av1 --- node-hub/dora-av1-encoder/Cargo.toml | 1 + node-hub/dora-av1-encoder/src/main.rs | 128 ++++++++++++-------------- node-hub/dora-dav1d/src/main.rs | 108 ++++++---------------- 3 files changed, 89 insertions(+), 148 deletions(-) diff --git a/node-hub/dora-av1-encoder/Cargo.toml b/node-hub/dora-av1-encoder/Cargo.toml index b0ee3d8a..188ec001 100644 --- a/node-hub/dora-av1-encoder/Cargo.toml +++ b/node-hub/dora-av1-encoder/Cargo.toml @@ -13,3 +13,4 @@ repository.workspace = true rav1e = { version = "0.7.1", features = ["serialize"] } dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" +log = "0.4" diff --git a/node-hub/dora-av1-encoder/src/main.rs b/node-hub/dora-av1-encoder/src/main.rs index dbad450e..b53a8684 100644 --- a/node-hub/dora-av1-encoder/src/main.rs +++ b/node-hub/dora-av1-encoder/src/main.rs @@ -13,6 +13,7 @@ use dora_node_api::arrow::array::UInt8Array; use dora_node_api::dora_core::config::DataId; use dora_node_api::{DoraNode, Event, IntoArrow, MetadataParameters, Parameter}; use eyre::{Context as EyreContext, Result}; +use log::warn; // Encode the same tiny blank frame 30 times use rav1e::config::RateControlConfig; use rav1e::config::SpeedSettings; @@ -50,7 +51,7 @@ fn bgr_to_yuv(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { +fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], &[u8]) { // Calculate sizes of Y, U, and V planes for YUV420 format let y_size = width * height; // Y has full resolution let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions @@ -63,9 +64,9 @@ fn get_yuv_planes(buffer: Vec, width: usize, height: usize) -> (Vec, Vec // } // Extract Y, U, and V planes - let y_plane = buffer[0..y_size].to_vec(); - let u_plane = buffer[y_size..y_size + uv_size].to_vec(); - let v_plane = buffer[y_size + uv_size..].to_vec(); + let y_plane = &buffer[0..y_size]; //.to_vec(); + let u_plane = &buffer[y_size..y_size + uv_size]; //.to_vec(); + let v_plane = &buffer[y_size + uv_size..]; //.to_vec(); (y_plane, u_plane, v_plane) } @@ -82,7 +83,7 @@ fn main() -> Result<()> { let enc = EncoderConfig { width, height, - speed_settings: SpeedSettings::from_preset(8), + speed_settings: SpeedSettings::from_preset(10), low_latency: true, ..Default::default() }; @@ -91,6 +92,7 @@ fn main() -> Result<()> { // .with_rate_control(RateControlConfig::new().with_emit_data(true)) .with_encoder_config(enc.clone()) .with_threads(16); + cfg.validate()?; let mut ctx: Context = cfg.new_context().unwrap(); @@ -125,8 +127,58 @@ fn main() -> Result<()> { //un } else if encoding == "yuv420" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: Vec = buffer.values().to_vec(); - buffer + let buffer = buffer.values(); //.to_vec(); + + let (y, u, v) = get_yuv_planes(buffer, width, height); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (enc.width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + match ctx.receive_packet() { + Ok(pkt) => { + println!("Time to encode: {:?}", time.elapsed()); + time = std::time::Instant::now(); + let data = pkt.data; + println!("frame compression: {:#?}", width * height * 3 / data.len()); + println!("frame size: {:#?}", data.len()); + let arrow = data.into_arrow(); + node.send_output( + DataId::from("frame".to_owned()), + MetadataParameters::default(), + arrow, + ) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + vec![] } else if encoding == "rgb8" { unimplemented!("We haven't worked on additional encodings."); let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); @@ -149,68 +201,6 @@ fn main() -> Result<()> { _ => break, }; //let (y, u, v) = bgr_to_yuv(buffer, 640 as usize, 480 as usize); - - let (y, u, v) = get_yuv_planes(buffer, width, height); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - println!("Unable to append frame to the internal queue"); - panic!("Unable to send frame "); - } - _ => { - panic!("Unable to send frame "); - } - }, - } - println!("Frame sent to encoder"); - for _ in 0..1 { - match ctx.receive_packet() { - Ok(pkt) => { - println!("Time to encode: {:?}", time.elapsed()); - time = std::time::Instant::now(); - let data = pkt.data; - println!("frame compression: {:#?}", width * height * 3 / data.len()); - println!("frame size: {:#?}", data.len()); - let arrow = data.into_arrow(); - node.send_output( - DataId::from("frame".to_owned()), - MetadataParameters::default(), - arrow, - ) - .context("could not send output") - .unwrap(); - - break; - } - Err(e) => match e { - EncoderStatus::LimitReached => { - break; - } - EncoderStatus::Encoded => { - break; - } - EncoderStatus::NeedMoreData => { - break; - } - _ => { - panic!("Unable to receive packet",); - } - }, - } - } } Ok(()) diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index 0dd758b5..22c160da 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -6,6 +6,7 @@ use dora_node_api::{ MetadataParameters, }; use eyre::{Context, Result}; +use log::warn; fn yuv420_to_bgr( y_plane: &[u8], @@ -44,6 +45,7 @@ fn yuv420_to_bgr( fn main() -> Result<()> { let mut settings = Settings::new(); settings.set_n_threads(16); + settings.set_max_frame_delay(1); let height: usize = std::env::var("IMAGE_HEIGHT") .unwrap_or_else(|_| "480".to_string()) @@ -57,76 +59,41 @@ fn main() -> Result<()> { let mut dec = dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); - let (tx, rx) = std::sync::mpsc::sync_channel(1); let (mut node, mut events) = DoraNode::init_from_env().context("Could not initialize dora node")?; - let _ = std::thread::spawn(move || { - let mut now = std::time::Instant::now(); - loop { - while let Ok(data) = rx.recv_timeout(Duration::from_millis(100)) { + let mut now = std::time::Instant::now(); + loop { + match events.recv() { + Some(Event::Input { + id: _, + data, + metadata: _, + }) => { + let data = data.as_any().downcast_ref::().unwrap(); + let data = data.values().clone(); + + // Send packet to the decoder + match dec.send_data(data, None, None, None) { - Err(e) if e.is_again() => { - panic!("Error sending data to the decoder: {}", e); - if let Ok(p) = dec.get_picture() { - let mut y = p.plane(dav1d::PlanarImageComponent::Y).to_vec(); - let mut u = p.plane(dav1d::PlanarImageComponent::U).to_vec(); - let mut v = p.plane(dav1d::PlanarImageComponent::V).to_vec(); - y.append(&mut u); - y.append(&mut v); - // let rgb = yuv420_to_rgb(&y, &u, &v, 100, 100); - let arrow = y.into_arrow(); - let mut metadata = MetadataParameters::default(); - metadata.insert( - "width".to_string(), - dora_node_api::Parameter::Integer(640), - ); - metadata.insert( - "height".to_string(), - dora_node_api::Parameter::Integer(480), - ); - metadata.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("yuv420".to_string()), - ); - node.send_output(DataId::from("frame".to_string()), metadata, arrow) - .unwrap(); - println!("Time to decode: {:?}", now.elapsed()); - now = std::time::Instant::now(); - } - // If the decoder did not consume all data, output all - // pending pictures and send pending data to the decoder - // until it is all used up. - //loop { - // handle_pending_pictures(&mut dec, false, &mut node); - - // match dec.send_pending_data() { - // Err(e) if e.is_again() => continue, - // Err(e) => { - // panic!("Error sending pending data to the decoder: {}", e); - // } - // _ => break, - // } - //} - } Err(e) => { - panic!("Error sending data to the decoder: {}", e); + warn!("Error sending data to the decoder: {}", e); } Ok(()) => { if let Ok(p) = dec.get_picture() { - let mut y = p.plane(dav1d::PlanarImageComponent::Y).to_vec(); - let mut u = p.plane(dav1d::PlanarImageComponent::U).to_vec(); - let mut v = p.plane(dav1d::PlanarImageComponent::V).to_vec(); - // u.iter_mut().for_each(|e| { - // if *e < 128 { - // *e = *e + 128 - // } - // }); - // v.iter_mut().for_each(|e: &mut u8| { - // if *e < 128 { - // *e = *e + 128 - // } - // }); + let mut y = p.plane(dav1d::PlanarImageComponent::Y); //.to_vec(); + let mut u = p.plane(dav1d::PlanarImageComponent::U); //.to_vec(); + let mut v = p.plane(dav1d::PlanarImageComponent::V); //.to_vec(); + // u.iter_mut().for_each(|e| { + // if *e < 128 { + // *e = *e + 128 + // } + // }); + // v.iter_mut().for_each(|e: &mut u8| { + // if *e < 128 { + // *e = *e + 128 + // } + // }); // y.append(&mut u); // y.append(&mut v); @@ -153,28 +120,11 @@ fn main() -> Result<()> { node.send_output(DataId::from("frame".to_string()), metadata, arrow) .unwrap(); println!("Time to decode: {:?}", now.elapsed()); - println!("Delay: {:#?}", dec.get_frame_delay()); now = std::time::Instant::now(); } } } - } - } - }); - loop { - match events.recv() { - Some(Event::Input { - id: _, - data, - metadata: _, - }) => { - let data = data.as_any().downcast_ref::().unwrap(); - let data = data.values().clone(); - - // Send packet to the decoder - - tx.try_send(data).unwrap_or_default(); // Handle all pending pictures before sending the next data. // handle_pending_pictures(&mut dec, false, &mut node); } From f1bc8a7b1eb1465d83a192f0968cca55412eb08a Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 27 Mar 2025 14:02:23 +0100 Subject: [PATCH 010/135] Minor improvement --- node-hub/dora-av1-encoder/src/main.rs | 24 ++++++++---------------- node-hub/dora-dav1d/src/main.rs | 4 +++- 2 files changed, 11 insertions(+), 17 deletions(-) diff --git a/node-hub/dora-av1-encoder/src/main.rs b/node-hub/dora-av1-encoder/src/main.rs index b53a8684..75218ec0 100644 --- a/node-hub/dora-av1-encoder/src/main.rs +++ b/node-hub/dora-av1-encoder/src/main.rs @@ -7,15 +7,12 @@ // Media Patent License 1.0 was not distributed with this source code in the // PATENTS file, you can obtain it at www.aomedia.org/license/patent. -use std::time::Duration; - use dora_node_api::arrow::array::UInt8Array; use dora_node_api::dora_core::config::DataId; use dora_node_api::{DoraNode, Event, IntoArrow, MetadataParameters, Parameter}; use eyre::{Context as EyreContext, Result}; use log::warn; // Encode the same tiny blank frame 30 times -use rav1e::config::RateControlConfig; use rav1e::config::SpeedSettings; use rav1e::*; @@ -90,18 +87,14 @@ fn main() -> Result<()> { let cfg = Config::new() // .with_rate_control(RateControlConfig::new().with_emit_data(true)) - .with_encoder_config(enc.clone()) - .with_threads(16); + .with_encoder_config(enc.clone()); //.with_threads(16); cfg.validate()?; - let mut ctx: Context = cfg.new_context().unwrap(); - let (mut node, mut events) = DoraNode::init_from_env().context("Could not initialize dora node")?; - let mut time = std::time::Instant::now(); loop { - let buffer = match events.recv() { + let _buffer = match events.recv() { Some(Event::Input { id, data, metadata }) => { if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") { height = *h as usize; @@ -130,6 +123,7 @@ fn main() -> Result<()> { let buffer = buffer.values(); //.to_vec(); let (y, u, v) = get_yuv_planes(buffer, width, height); + let mut ctx: Context = cfg.new_context().unwrap(); let mut f = ctx.new_frame(); let xdec = f.planes[0].cfg.xdec; @@ -153,13 +147,12 @@ fn main() -> Result<()> { } }, } + ctx.flush(); match ctx.receive_packet() { Ok(pkt) => { - println!("Time to encode: {:?}", time.elapsed()); - time = std::time::Instant::now(); let data = pkt.data; - println!("frame compression: {:#?}", width * height * 3 / data.len()); - println!("frame size: {:#?}", data.len()); + println!("Packet data: {:?}", data.len()); + println!("Compression: {:?}", height * width * 3 / data.len()); let arrow = data.into_arrow(); node.send_output( DataId::from("frame".to_owned()), @@ -183,6 +176,7 @@ fn main() -> Result<()> { unimplemented!("We haven't worked on additional encodings."); let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer: &[u8] = buffer.values(); + let mut ctx: Context = cfg.new_context().unwrap(); let mut f = ctx.new_frame(); for p in &mut f.planes { @@ -192,15 +186,13 @@ fn main() -> Result<()> { buffer.to_vec() } else { unimplemented!("We haven't worked on additional encodings."); - continue; } } - Some(Event::Error(e)) => { + Some(Event::Error(_e)) => { continue; } _ => break, }; - //let (y, u, v) = bgr_to_yuv(buffer, 640 as usize, 480 as usize); } Ok(()) diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index 22c160da..1486601e 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -64,6 +64,7 @@ fn main() -> Result<()> { let mut now = std::time::Instant::now(); loop { + let time = std::time::Instant::now(); match events.recv() { Some(Event::Input { id: _, @@ -81,6 +82,7 @@ fn main() -> Result<()> { } Ok(()) => { if let Ok(p) = dec.get_picture() { + // println!("Time to decode: {:?}", time.elapsed()); let mut y = p.plane(dav1d::PlanarImageComponent::Y); //.to_vec(); let mut u = p.plane(dav1d::PlanarImageComponent::U); //.to_vec(); let mut v = p.plane(dav1d::PlanarImageComponent::V); //.to_vec(); @@ -119,7 +121,7 @@ fn main() -> Result<()> { ); node.send_output(DataId::from("frame".to_string()), metadata, arrow) .unwrap(); - println!("Time to decode: {:?}", now.elapsed()); + //println!("Time to decode: {:?}", now.elapsed()); now = std::time::Instant::now(); } From fff5597e9aef8d3fde6ad61826061cba181f5dbc Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 27 Mar 2025 19:20:27 +0100 Subject: [PATCH 011/135] minor av1 typo --- node-hub/dora-av1-encoder/src/main.rs | 2 -- 1 file changed, 2 deletions(-) diff --git a/node-hub/dora-av1-encoder/src/main.rs b/node-hub/dora-av1-encoder/src/main.rs index 75218ec0..0a177ad7 100644 --- a/node-hub/dora-av1-encoder/src/main.rs +++ b/node-hub/dora-av1-encoder/src/main.rs @@ -151,8 +151,6 @@ fn main() -> Result<()> { match ctx.receive_packet() { Ok(pkt) => { let data = pkt.data; - println!("Packet data: {:?}", data.len()); - println!("Compression: {:?}", height * width * 3 / data.len()); let arrow = data.into_arrow(); node.send_output( DataId::from("frame".to_owned()), From b1ab8abaf5753ab25d59ae7fc78db4b2bbff3e49 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 28 Mar 2025 18:43:06 +0100 Subject: [PATCH 012/135] Enabling remote av1 communication --- Cargo.lock | 138 +++++++++++++++--- Cargo.toml | 2 +- binaries/daemon/src/lib.rs | 22 ++- node-hub/dora-av1-encoder/example.py | 22 --- node-hub/dora-dav1d/dataflow.yml | 84 +++++++++-- node-hub/dora-dav1d/src/main.rs | 70 ++------- .../Cargo.toml | 2 +- .../src/main.rs | 49 ++++--- 8 files changed, 248 insertions(+), 141 deletions(-) delete mode 100644 node-hub/dora-av1-encoder/example.py rename node-hub/{dora-av1-encoder => dora-rav1e}/Cargo.toml (94%) rename node-hub/{dora-av1-encoder => dora-rav1e}/src/main.rs (84%) diff --git a/Cargo.lock b/Cargo.lock index 9482a998..40d2d356 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -383,6 +383,17 @@ version = "1.7.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "69f7f8c3906b62b754cd5326047894316021dcfe5a194c8ea52bdd94934a3457" +[[package]] +name = "arg_enum_proc_macro" +version = "0.3.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ae92a5119aa49cdbcf6b9f893fe4e1d98b04ccbf82ee0584ad948a44a734dea" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.100", +] + [[package]] name = "array-init" version = "2.1.0" @@ -406,6 +417,9 @@ name = "arrayvec" version = "0.7.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50" +dependencies = [ + "serde", +] [[package]] name = "arrow" @@ -1317,7 +1331,7 @@ dependencies = [ "lab", "num-traits", "rayon", - "thiserror 1.0.66", + "thiserror 1.0.69", "v_frame", ] @@ -1330,7 +1344,7 @@ dependencies = [ "anyhow", "arrayvec", "log", - "nom", + "nom 7.1.3", "num-rational", "serde", "v_frame", @@ -1555,6 +1569,12 @@ dependencies = [ "serde", ] +[[package]] +name = "bitstream-io" +version = "2.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6099cdc01846bc367c4e7dd630dc5966dccf36b652fae7a74e17b640411a91b2" + [[package]] name = "block" version = "0.1.6" @@ -2055,7 +2075,7 @@ dependencies = [ "bitflags 1.3.2", "strsim 0.8.0", "textwrap 0.11.0", - "unicode-width", + "unicode-width 0.1.14", "vec_map", ] @@ -2073,7 +2093,7 @@ dependencies = [ "once_cell", "strsim 0.10.0", "termcolor", - "textwrap 0.16.1", + "textwrap 0.16.2", ] [[package]] @@ -2105,7 +2125,7 @@ version = "4.5.47" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c06f5378ea264ad4f82bbc826628b5aad714a75abf6ece087e923010eb937fb6" dependencies = [ - "clap 4.5.20", + "clap 4.5.32", ] [[package]] @@ -2757,6 +2777,28 @@ version = "0.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "5c297a1c74b71ae29df00c3e22dd9534821d60eb9af5a0192823fa2acea70c2a" +[[package]] +name = "dav1d" +version = "0.10.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0d4b54a40baf633a71c6f0fb49494a7e4ee7bc26f3e727212b6cb915aa1ea1e1" +dependencies = [ + "av-data", + "bitflags 2.9.0", + "dav1d-sys", + "static_assertions", +] + +[[package]] +name = "dav1d-sys" +version = "0.8.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6ecb1c5e8f4dc438eedc1b534a54672fb0e0a56035dae6b50162787bd2c50e95" +dependencies = [ + "libc", + "system-deps", +] + [[package]] name = "defmac" version = "0.1.3" @@ -3019,15 +3061,6 @@ dependencies = [ "num", ] -[[package]] -name = "dora-av1-encoder" -version = "0.3.10" -dependencies = [ - "dora-node-api", - "eyre", - "rav1e", -] - [[package]] name = "dora-cli" version = "0.3.10" @@ -3399,6 +3432,16 @@ dependencies = [ "safer-ffi", ] +[[package]] +name = "dora-rav1e" +version = "0.3.10" +dependencies = [ + "dora-node-api", + "eyre", + "log", + "rav1e", +] + [[package]] name = "dora-record" version = "0.3.10" @@ -5828,6 +5871,17 @@ version = "3.0.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "8bb03732005da905c88227371639bf1ad885cc712789c011c31c5fb3ab3ccf02" +[[package]] +name = "interpolate_name" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c34819042dc3d3971c46c2190835914dfbe0c3c13f61449b2997f4e9722dfa60" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.100", +] + [[package]] name = "interprocess" version = "2.2.3" @@ -5954,6 +6008,15 @@ dependencies = [ "either", ] +[[package]] +name = "itertools" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba291022dbbd398a455acf126c1e341954079855bc60dfdda641363bd6922569" +dependencies = [ + "either", +] + [[package]] name = "itertools" version = "0.13.0" @@ -5978,6 +6041,15 @@ version = "1.0.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c" +[[package]] +name = "ivf" +version = "0.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "552f657140ee72c552b728601179c10abea14cd7d815de2d75d75dea42485eca" +dependencies = [ + "bitstream-io", +] + [[package]] name = "jiff" version = "0.2.4" @@ -7283,6 +7355,12 @@ dependencies = [ "memchr", ] +[[package]] +name = "noop_proc_macro" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0676bb32a98c1a483ce53e500a81ad9c3d5b3f7c920c28c24e9cb0980d0b5bc8" + [[package]] name = "notify" version = "5.2.0" @@ -9260,7 +9338,7 @@ dependencies = [ "built", "cc", "cfg-if 1.0.0", - "clap 4.5.20", + "clap 4.5.32", "clap_complete", "console", "fern", @@ -9273,22 +9351,22 @@ dependencies = [ "maybe-rayon", "nasm-rs 0.2.5", "new_debug_unreachable", - "nom", + "nom 7.1.3", "noop_proc_macro", "num-derive", "num-traits", "once_cell", "paste", "profiling", - "rand", - "rand_chacha", + "rand 0.8.5", + "rand_chacha 0.3.1", "scan_fmt", "serde", "serde-big-array", "signal-hook", "simd_helpers", "system-deps", - "thiserror 1.0.66", + "thiserror 1.0.69", "toml", "v_frame", "y4m", @@ -13028,6 +13106,19 @@ dependencies = [ "libc", ] +[[package]] +name = "system-deps" +version = "6.2.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a3e535eb8dded36d55ec13eddacd30dec501792ff23a0b1682c38601b8cf2349" +dependencies = [ + "cfg-expr", + "heck 0.5.0", + "pkg-config", + "toml", + "version-compare", +] + [[package]] name = "tabwriter" version = "1.4.1" @@ -13118,6 +13209,15 @@ dependencies = [ "libc", ] +[[package]] +name = "textwrap" +version = "0.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060" +dependencies = [ + "unicode-width 0.1.14", +] + [[package]] name = "textwrap" version = "0.16.2" diff --git a/Cargo.toml b/Cargo.toml index 50bbee92..d7a82e78 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -37,7 +37,7 @@ members = [ "node-hub/dora-kit-car", "node-hub/dora-object-to-pose", "node-hub/dora-mistral-rs", - "node-hub/dora-av1-encoder", + "node-hub/dora-rav1e", "node-hub/dora-dav1d", "libraries/extensions/ros2-bridge", "libraries/extensions/ros2-bridge/msg-gen", diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index de531fd0..2e08290f 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -251,11 +251,29 @@ impl Daemon { None => None, }; - let zenoh_config = match std::env::var(zenoh::Config::DEFAULT_CONFIG_PATH_ENV) { + let mut zenoh_config = match std::env::var(zenoh::Config::DEFAULT_CONFIG_PATH_ENV) { Ok(path) => zenoh::Config::from_file(&path) .map_err(|e| eyre!(e)) .wrap_err_with(|| format!("failed to read zenoh config from {path}"))?, - Err(std::env::VarError::NotPresent) => zenoh::Config::default(), + Err(std::env::VarError::NotPresent) => { + let mut zenoh_config = zenoh::Config::default(); + + if let Some(addr) = coordinator_addr { + zenoh_config + .insert_json5( + "connect/endpoints", + &format!(r#"["tcp/{}:5456"]"#, addr.ip()), + ) + .unwrap(); + zenoh_config + .insert_json5( + "listen/endpoints", + r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0", "tcp/[::]:5456"] }"#, + ) + .unwrap(); + }; + zenoh_config + } Err(std::env::VarError::NotUnicode(_)) => eyre::bail!( "{} env variable is not valid unicode", zenoh::Config::DEFAULT_CONFIG_PATH_ENV diff --git a/node-hub/dora-av1-encoder/example.py b/node-hub/dora-av1-encoder/example.py deleted file mode 100644 index 80d54b89..00000000 --- a/node-hub/dora-av1-encoder/example.py +++ /dev/null @@ -1,22 +0,0 @@ -import av -import cv2 -import numpy as np - -# Open the AV1 video file -container = av.open("video.av1") - -# Get the video stream -stream = next(s for s in container.streams if s.type == "video") - -# Iterate over the video frames -for frame in container.decode(stream): - # Convert the frame to a NumPy array - img = frame.to_ndarray(format="bgr24") - - # Display the frame - cv2.imshow("Frame", img) - if cv2.waitKey(1) & 0xFF == ord("q"): - break - -# Release the resources -cv2.destroyAllWindows() diff --git a/node-hub/dora-dav1d/dataflow.yml b/node-hub/dora-dav1d/dataflow.yml index b4853804..ee76b1f3 100644 --- a/node-hub/dora-dav1d/dataflow.yml +++ b/node-hub/dora-dav1d/dataflow.yml @@ -2,6 +2,8 @@ nodes: - id: camera build: pip install ../../node-hub/opencv-video-capture path: opencv-video-capture + _unstable_deploy: + machine: encoder inputs: tick: dora/timer/millis/50 outputs: @@ -11,43 +13,95 @@ nodes: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 ENCODING: yuv420 + - id: camera2 + path: dora-pyrealsense + _unstable_deploy: + machine: encoder + inputs: + tick: dora/timer/millis/10 + outputs: + - image + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + ENCODING: jpeg - - id: av - path: /home/peter/Documents/work/dora/target/release/dora-av1-encoder - build: cargo build -p dora-av1-encoder --release + - id: echo + build: pip install -e ../../node-hub/dora-echo + path: dora-echo + _unstable_deploy: + machine: decoder inputs: - image: camera/image + image: camera2/image + outputs: + - image + + - id: rav1e-local + path: dora-av1-encoder + build: cargo build -p dora-av1-encoder --release + _unstable_deploy: + machine: encoder + #inputs: + # image: camera/image outputs: - frame env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 - - id: dav1d - path: /home/peter/Documents/work/dora/target/release/dora-dav1d + - id: dav1d-remote + path: dora-dav1d build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: decoder inputs: - image: av/frame + image: av-local/frame outputs: - frame env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 - - id: plot - build: pip install -e ../../node-hub/opencv-plot - path: opencv-plot + - id: rav1e-remote + path: dora-av1-encoder + build: cargo build -p dora-av1-encoder --release + _unstable_deploy: + machine: decoder inputs: - image: dav1d/frame + image: dav1d-remote/image + outputs: + - frame env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 - - id: plot2 - build: pip install -e ../../node-hub/opencv-plot - path: opencv-plot + - id: dav1d-local + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: decoder inputs: - image: camera/image + image: rav1e-local/frame + outputs: + - frame env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + _unstable_deploy: + machine: encoder + path: dora-rerun + inputs: + image: dav1d-local/frame + # image: echo/image + #image_2: camera6/image + + - id: plot2 + build: pip install -e ../../node-hub/opencv-plot + _unstable_deploy: + machine: encoder + path: opencv-plot + inputs: + image: echo/image diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index 1486601e..f337dd41 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -1,10 +1,5 @@ -use std::time::Duration; - use dav1d::Settings; -use dora_node_api::{ - arrow::array::UInt8Array, dora_core::config::DataId, DoraNode, Event, IntoArrow, - MetadataParameters, -}; +use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; use eyre::{Context, Result}; use log::warn; @@ -44,38 +39,25 @@ fn yuv420_to_bgr( fn main() -> Result<()> { let mut settings = Settings::new(); - settings.set_n_threads(16); + // settings.set_n_threads(16); settings.set_max_frame_delay(1); - let height: usize = std::env::var("IMAGE_HEIGHT") - .unwrap_or_else(|_| "480".to_string()) - .parse() - .unwrap(); - let width: usize = std::env::var("IMAGE_WIDTH") - .unwrap_or_else(|_| "640".to_string()) - .parse() - .unwrap(); - let mut dec = dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); let (mut node, mut events) = DoraNode::init_from_env().context("Could not initialize dora node")?; - let mut now = std::time::Instant::now(); loop { - let time = std::time::Instant::now(); match events.recv() { Some(Event::Input { - id: _, + id, data, - metadata: _, + mut metadata, }) => { let data = data.as_any().downcast_ref::().unwrap(); let data = data.values().clone(); - // Send packet to the decoder - match dec.send_data(data, None, None, None) { Err(e) => { warn!("Error sending data to the decoder: {}", e); @@ -83,59 +65,25 @@ fn main() -> Result<()> { Ok(()) => { if let Ok(p) = dec.get_picture() { // println!("Time to decode: {:?}", time.elapsed()); - let mut y = p.plane(dav1d::PlanarImageComponent::Y); //.to_vec(); - let mut u = p.plane(dav1d::PlanarImageComponent::U); //.to_vec(); - let mut v = p.plane(dav1d::PlanarImageComponent::V); //.to_vec(); - // u.iter_mut().for_each(|e| { - // if *e < 128 { - // *e = *e + 128 - // } - // }); - // v.iter_mut().for_each(|e: &mut u8| { - // if *e < 128 { - // *e = *e + 128 - // } - // }); - - // y.append(&mut u); - // y.append(&mut v); + let y = p.plane(dav1d::PlanarImageComponent::Y); + let u = p.plane(dav1d::PlanarImageComponent::U); + let v = p.plane(dav1d::PlanarImageComponent::V); let y = yuv420_to_bgr(&y, &u, &v, width, height); let arrow = y.into_arrow(); - let mut metadata = MetadataParameters::default(); - metadata.insert( - "width".to_string(), - dora_node_api::Parameter::Integer( - width.try_into().unwrap_or_default(), - ), - ); - metadata.insert( - "height".to_string(), - dora_node_api::Parameter::Integer( - height.try_into().unwrap_or_default(), - ), - ); - metadata.insert( + metadata.parameters.insert( "encoding".to_string(), dora_node_api::Parameter::String("bgr8".to_string()), ); - node.send_output(DataId::from("frame".to_string()), metadata, arrow) - .unwrap(); - //println!("Time to decode: {:?}", now.elapsed()); - - now = std::time::Instant::now(); + node.send_output(id, metadata.parameters, arrow).unwrap(); } } } - // Handle all pending pictures before sending the next data. - // handle_pending_pictures(&mut dec, false, &mut node); } None => break, Some(_) => break, } } - // Handle all pending pictures that were not output yet. - // handle_pending_pictures(&mut dec, true, &mut node); Ok(()) } diff --git a/node-hub/dora-av1-encoder/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml similarity index 94% rename from node-hub/dora-av1-encoder/Cargo.toml rename to node-hub/dora-rav1e/Cargo.toml index 188ec001..10a6bcda 100644 --- a/node-hub/dora-av1-encoder/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -1,5 +1,5 @@ [package] -name = "dora-av1-encoder" +name = "dora-rav1e" edition = "2021" version.workspace = true description.workspace = true diff --git a/node-hub/dora-av1-encoder/src/main.rs b/node-hub/dora-rav1e/src/main.rs similarity index 84% rename from node-hub/dora-av1-encoder/src/main.rs rename to node-hub/dora-rav1e/src/main.rs index 0a177ad7..2931f3b3 100644 --- a/node-hub/dora-av1-encoder/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -7,9 +7,10 @@ // Media Patent License 1.0 was not distributed with this source code in the // PATENTS file, you can obtain it at www.aomedia.org/license/patent. +use std::env::var; + use dora_node_api::arrow::array::UInt8Array; -use dora_node_api::dora_core::config::DataId; -use dora_node_api::{DoraNode, Event, IntoArrow, MetadataParameters, Parameter}; +use dora_node_api::{DoraNode, Event, IntoArrow, Parameter}; use eyre::{Context as EyreContext, Result}; use log::warn; // Encode the same tiny blank frame 30 times @@ -77,17 +78,15 @@ fn main() -> Result<()> { .unwrap_or_else(|_| "640".to_string()) .parse() .unwrap(); - let enc = EncoderConfig { + let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10); + let mut enc = EncoderConfig { width, height, - speed_settings: SpeedSettings::from_preset(10), + speed_settings: SpeedSettings::from_preset(speed), low_latency: true, ..Default::default() }; - - let cfg = Config::new() - // .with_rate_control(RateControlConfig::new().with_emit_data(true)) - .with_encoder_config(enc.clone()); //.with_threads(16); + let cfg = Config::new().with_encoder_config(enc.clone()); cfg.validate()?; let (mut node, mut events) = @@ -95,7 +94,11 @@ fn main() -> Result<()> { loop { let _buffer = match events.recv() { - Some(Event::Input { id, data, metadata }) => { + Some(Event::Input { + id, + data, + mut metadata, + }) => { if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") { height = *h as usize; }; @@ -109,7 +112,14 @@ fn main() -> Result<()> { } else { "bgr8" }; - + enc = EncoderConfig { + width, + height, + speed_settings: SpeedSettings::from_preset(speed), + low_latency: true, + ..Default::default() + }; + let cfg = Config::new().with_encoder_config(enc.clone()); if encoding == "bgr8" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer: Vec = buffer.values().to_vec(); @@ -127,13 +137,13 @@ fn main() -> Result<()> { let mut f = ctx.new_frame(); let xdec = f.planes[0].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; + let stride = (width + xdec) >> xdec; f.planes[0].copy_from_raw_u8(&y, stride, 1); let xdec = f.planes[1].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; + let stride = (width + xdec) >> xdec; f.planes[1].copy_from_raw_u8(&u, stride, 1); let xdec = f.planes[2].cfg.xdec; - let stride = (enc.width + xdec) >> xdec; + let stride = (width + xdec) >> xdec; f.planes[2].copy_from_raw_u8(&v, stride, 1); match ctx.send_frame(f) { @@ -147,18 +157,17 @@ fn main() -> Result<()> { } }, } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); ctx.flush(); match ctx.receive_packet() { Ok(pkt) => { let data = pkt.data; let arrow = data.into_arrow(); - node.send_output( - DataId::from("frame".to_owned()), - MetadataParameters::default(), - arrow, - ) - .context("could not send output") - .unwrap(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); } Err(e) => match e { EncoderStatus::LimitReached => {} From b4c225f5268e8214bb2dcf2e0246ea7ed8e9c89d Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sat, 29 Mar 2025 17:36:32 +0100 Subject: [PATCH 013/135] Adding support for bgr8 in rav1e --- node-hub/dora-dav1d/src/main.rs | 17 +++++++++-- node-hub/dora-rav1e/src/main.rs | 52 +++++++++++++++++++++++++++++++-- 2 files changed, 64 insertions(+), 5 deletions(-) diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index f337dd41..0dbe2106 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -1,5 +1,5 @@ use dav1d::Settings; -use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; +use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow, Parameter}; use eyre::{Context, Result}; use log::warn; @@ -64,7 +64,20 @@ fn main() -> Result<()> { } Ok(()) => { if let Ok(p) = dec.get_picture() { - // println!("Time to decode: {:?}", time.elapsed()); + let height = if let Some(Parameter::Integer(h)) = + metadata.parameters.get("height") + { + *h as usize + } else { + 640 + }; + let width = if let Some(Parameter::Integer(w)) = + metadata.parameters.get("width") + { + *w as usize + } else { + 480 + }; let y = p.plane(dav1d::PlanarImageComponent::Y); let u = p.plane(dav1d::PlanarImageComponent::U); let v = p.plane(dav1d::PlanarImageComponent::V); diff --git a/node-hub/dora-rav1e/src/main.rs b/node-hub/dora-rav1e/src/main.rs index 2931f3b3..bff6cf33 100644 --- a/node-hub/dora-rav1e/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -18,7 +18,7 @@ use rav1e::config::SpeedSettings; use rav1e::*; -fn bgr_to_yuv(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { +fn bgr8_to_yuv420(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { let mut y_plane = vec![0; width * height]; let mut u_plane = vec![0; (width / 2) * (height / 2)]; let mut v_plane = vec![0; (width / 2) * (height / 2)]; @@ -123,11 +123,57 @@ fn main() -> Result<()> { if encoding == "bgr8" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer: Vec = buffer.values().to_vec(); - buffer + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + // Transpose values from BGR to RGB // let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); - //un + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + vec![] } else if encoding == "yuv420" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer = buffer.values(); //.to_vec(); From 73b9823dba243d1f488ecb2de988d53fc6bd2aa7 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 2 Apr 2025 15:20:28 +0200 Subject: [PATCH 014/135] Enabling mono16 depth frame --- binaries/daemon/src/lib.rs | 48 ++++++++++++++++-------- node-hub/dora-dav1d/Cargo.toml | 1 + node-hub/dora-dav1d/dataflow.yml | 63 +++++++++++++------------------- node-hub/dora-dav1d/src/main.rs | 40 ++++++++++++++------ node-hub/dora-rav1e/src/main.rs | 52 +++++++++++++++++++++++++- 5 files changed, 138 insertions(+), 66 deletions(-) diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index 2e08290f..474e5a29 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -251,10 +251,16 @@ impl Daemon { None => None, }; - let mut zenoh_config = match std::env::var(zenoh::Config::DEFAULT_CONFIG_PATH_ENV) { - Ok(path) => zenoh::Config::from_file(&path) - .map_err(|e| eyre!(e)) - .wrap_err_with(|| format!("failed to read zenoh config from {path}"))?, + let zenoh_session = match std::env::var(zenoh::Config::DEFAULT_CONFIG_PATH_ENV) { + Ok(path) => { + let zenoh_config = zenoh::Config::from_file(&path) + .map_err(|e| eyre!(e)) + .wrap_err_with(|| format!("failed to read zenoh config from {path}"))?; + zenoh::open(zenoh_config) + .await + .map_err(|e| eyre!(e)) + .context("failed to open zenoh session")? + } Err(std::env::VarError::NotPresent) => { let mut zenoh_config = zenoh::Config::default(); @@ -266,24 +272,36 @@ impl Daemon { ) .unwrap(); zenoh_config - .insert_json5( - "listen/endpoints", - r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0", "tcp/[::]:5456"] }"#, - ) - .unwrap(); + .insert_json5( + "listen/endpoints", + r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:5456"] }"#, + ) + .unwrap(); + zenoh_config + .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) + .unwrap(); + if cfg!(not(target_os = "linux")) { + warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); + zenoh_config + .insert_json5("scouting/multicast", r#"{ enabled: false }"#) + .unwrap(); + } }; - zenoh_config + if let Ok(zenoh_session) = zenoh::open(zenoh_config).await { + zenoh_session + } else { + warn!("failed to open zenoh session, retrying with default config"); + zenoh::open(zenoh::Config::default()) + .await + .map_err(|e| eyre!(e)) + .wrap_err("failed to open zenoh session")? + } } Err(std::env::VarError::NotUnicode(_)) => eyre::bail!( "{} env variable is not valid unicode", zenoh::Config::DEFAULT_CONFIG_PATH_ENV ), }; - let zenoh_session = zenoh::open(zenoh_config) - .await - .map_err(|e| eyre!(e)) - .context("failed to open zenoh session")?; - let (dora_events_tx, dora_events_rx) = mpsc::channel(5); let daemon = Self { logger: Logger { diff --git a/node-hub/dora-dav1d/Cargo.toml b/node-hub/dora-dav1d/Cargo.toml index a0940226..af76e7e6 100644 --- a/node-hub/dora-dav1d/Cargo.toml +++ b/node-hub/dora-dav1d/Cargo.toml @@ -11,3 +11,4 @@ log = "0.4" structopt = "0.3" dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" +bytemuck = "1.7.0" diff --git a/node-hub/dora-dav1d/dataflow.yml b/node-hub/dora-dav1d/dataflow.yml index ee76b1f3..068ecd76 100644 --- a/node-hub/dora-dav1d/dataflow.yml +++ b/node-hub/dora-dav1d/dataflow.yml @@ -9,42 +9,29 @@ nodes: outputs: - image env: - CAPTURE_PATH: 0 + CAPTURE_PATH: 1 IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 - ENCODING: yuv420 - - id: camera2 - path: dora-pyrealsense - _unstable_deploy: - machine: encoder - inputs: - tick: dora/timer/millis/10 - outputs: - - image - env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - ENCODING: jpeg - id: echo build: pip install -e ../../node-hub/dora-echo path: dora-echo _unstable_deploy: machine: decoder - inputs: - image: camera2/image + #inputs: + # image: camera/image outputs: - image - id: rav1e-local - path: dora-av1-encoder - build: cargo build -p dora-av1-encoder --release + path: dora-rav1e + build: cargo build -p dora-rav1e --release _unstable_deploy: machine: encoder - #inputs: - # image: camera/image + inputs: + image: camera/image outputs: - - frame + - image env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 @@ -55,22 +42,22 @@ nodes: _unstable_deploy: machine: decoder inputs: - image: av-local/frame + image: rav1e-local/image outputs: - - frame + - image env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 - id: rav1e-remote - path: dora-av1-encoder - build: cargo build -p dora-av1-encoder --release + path: dora-rav1e + build: cargo build -p dora-rav1e --release _unstable_deploy: machine: decoder inputs: image: dav1d-remote/image outputs: - - frame + - image env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 @@ -79,11 +66,11 @@ nodes: path: dora-dav1d build: cargo build -p dora-dav1d --release _unstable_deploy: - machine: decoder + machine: encoder inputs: - image: rav1e-local/frame + image: rav1e-remote/image outputs: - - frame + - image env: IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 @@ -94,14 +81,14 @@ nodes: machine: encoder path: dora-rerun inputs: - image: dav1d-local/frame - # image: echo/image + image_decode: dav1d-local/image + image_echo: echo/image #image_2: camera6/image - - id: plot2 - build: pip install -e ../../node-hub/opencv-plot - _unstable_deploy: - machine: encoder - path: opencv-plot - inputs: - image: echo/image + # - id: plot2 + # build: pip install -e ../../node-hub/opencv-plot + # _unstable_deploy: + # machine: encoder + # path: opencv-plot + # inputs: + # image: echo/image diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index 0dbe2106..44f0f55c 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -41,7 +41,6 @@ fn main() -> Result<()> { let mut settings = Settings::new(); // settings.set_n_threads(16); settings.set_max_frame_delay(1); - let mut dec = dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); @@ -78,17 +77,34 @@ fn main() -> Result<()> { } else { 480 }; - let y = p.plane(dav1d::PlanarImageComponent::Y); - let u = p.plane(dav1d::PlanarImageComponent::U); - let v = p.plane(dav1d::PlanarImageComponent::V); - let y = yuv420_to_bgr(&y, &u, &v, width, height); - - let arrow = y.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("bgr8".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); + match p.pixel_layout() { + dav1d::PixelLayout::I420 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let u = p.plane(dav1d::PlanarImageComponent::U); + let v = p.plane(dav1d::PlanarImageComponent::V); + let y = yuv420_to_bgr(&y, &u, &v, width, height); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("bgr8".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + dav1d::PixelLayout::I400 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); + let arrow = vec16.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("mono16".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + _ => { + warn!("Unsupported pixel layout"); + continue; + } + }; } } } diff --git a/node-hub/dora-rav1e/src/main.rs b/node-hub/dora-rav1e/src/main.rs index bff6cf33..38e114b5 100644 --- a/node-hub/dora-rav1e/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -9,7 +9,7 @@ use std::env::var; -use dora_node_api::arrow::array::UInt8Array; +use dora_node_api::arrow::array::{UInt16Array, UInt8Array}; use dora_node_api::{DoraNode, Event, IntoArrow, Parameter}; use eyre::{Context as EyreContext, Result}; use log::warn; @@ -119,6 +119,14 @@ fn main() -> Result<()> { low_latency: true, ..Default::default() }; + match encoding { + "mono16" => { + enc.bit_depth = 12; + enc.chroma_sampling = color::ChromaSampling::Cs400; + } + _ => {} + } + let cfg = Config::new().with_encoder_config(enc.clone()); if encoding == "bgr8" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); @@ -192,6 +200,48 @@ fn main() -> Result<()> { let stride = (width + xdec) >> xdec; f.planes[2].copy_from_raw_u8(&v, stride, 1); + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + vec![] + } else if encoding == "mono16" { + let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); + let buffer: &[u16] = buffer.values(); + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let origin = f.planes[0].data_origin_mut(); + origin.copy_from_slice(buffer); + match ctx.send_frame(f) { Ok(_) => {} Err(e) => match e { From 61fb91eb5305bcadc149e98689a506e6be0ea2ad Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 3 Apr 2025 19:06:13 +0200 Subject: [PATCH 015/135] Fix mono16 encoding --- Cargo.lock | 2 + node-hub/dora-dav1d/src/main.rs | 100 +++++++++----------- node-hub/dora-rav1e/Cargo.toml | 1 + node-hub/dora-rav1e/src/main.rs | 26 ++---- node-hub/dora-rerun/src/lib.rs | 158 +++++++++++++++++++++----------- 5 files changed, 165 insertions(+), 122 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 40d2d356..dbb2f973 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3178,6 +3178,7 @@ name = "dora-dav1d" version = "0.0.0" dependencies = [ "bitstream-io", + "bytemuck", "dav1d", "dora-node-api", "eyre", @@ -3436,6 +3437,7 @@ dependencies = [ name = "dora-rav1e" version = "0.3.10" dependencies = [ + "bytemuck", "dora-node-api", "eyre", "log", diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index 44f0f55c..a31b48ed 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -1,5 +1,5 @@ use dav1d::Settings; -use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow, Parameter}; +use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; use eyre::{Context, Result}; use log::warn; @@ -7,9 +7,11 @@ fn yuv420_to_bgr( y_plane: &[u8], u_plane: &[u8], v_plane: &[u8], - width: usize, - height: usize, + width: u32, + height: u32, ) -> Vec { + let width = width as usize; + let height = height as usize; let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer for j in 0..height { @@ -54,65 +56,53 @@ fn main() -> Result<()> { data, mut metadata, }) => { - let data = data.as_any().downcast_ref::().unwrap(); - let data = data.values().clone(); - - match dec.send_data(data, None, None, None) { - Err(e) => { - warn!("Error sending data to the decoder: {}", e); - } - Ok(()) => { - if let Ok(p) = dec.get_picture() { - let height = if let Some(Parameter::Integer(h)) = - metadata.parameters.get("height") - { - *h as usize - } else { - 640 - }; - let width = if let Some(Parameter::Integer(w)) = - metadata.parameters.get("width") - { - *w as usize - } else { - 480 - }; - match p.pixel_layout() { - dav1d::PixelLayout::I420 => { - let y = p.plane(dav1d::PlanarImageComponent::Y); - let u = p.plane(dav1d::PlanarImageComponent::U); - let v = p.plane(dav1d::PlanarImageComponent::V); - let y = yuv420_to_bgr(&y, &u, &v, width, height); - let arrow = y.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("bgr8".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); - } - dav1d::PixelLayout::I400 => { - let y = p.plane(dav1d::PlanarImageComponent::Y); - let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); - let arrow = vec16.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("mono16".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); - } - _ => { - warn!("Unsupported pixel layout"); - continue; - } - }; + if let Some(data) = data.as_any().downcast_ref::() { + let data = data.values().clone(); + match dec.send_data(data, None, None, None) { + Err(e) => { + warn!("Error sending data to the decoder: {}", e); + } + Ok(()) => { + if let Ok(p) = dec.get_picture() { + match p.pixel_layout() { + dav1d::PixelLayout::I420 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let u = p.plane(dav1d::PlanarImageComponent::U); + let v = p.plane(dav1d::PlanarImageComponent::V); + let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height()); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("bgr8".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + dav1d::PixelLayout::I400 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); + let arrow = vec16.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("mono16".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + _ => { + warn!("Unsupported pixel layout"); + continue; + } + }; + } } } + } else { + warn!("Unsupported data type {}", data.data_type()); + continue; } } None => break, Some(_) => break, } } - Ok(()) } diff --git a/node-hub/dora-rav1e/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml index 10a6bcda..cdd4249e 100644 --- a/node-hub/dora-rav1e/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -14,3 +14,4 @@ rav1e = { version = "0.7.1", features = ["serialize"] } dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" log = "0.4" +bytemuck = "1.20" diff --git a/node-hub/dora-rav1e/src/main.rs b/node-hub/dora-rav1e/src/main.rs index 38e114b5..91e37973 100644 --- a/node-hub/dora-rav1e/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -93,7 +93,7 @@ fn main() -> Result<()> { DoraNode::init_from_env().context("Could not initialize dora node")?; loop { - let _buffer = match events.recv() { + match events.recv() { Some(Event::Input { id, data, @@ -154,9 +154,11 @@ fn main() -> Result<()> { Err(e) => match e { EncoderStatus::EnoughData => { warn!("Unable to send frame "); + continue; } _ => { warn!("Unable to send frame "); + continue; } }, } @@ -181,7 +183,6 @@ fn main() -> Result<()> { } }, } - vec![] } else if encoding == "yuv420" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer = buffer.values(); //.to_vec(); @@ -232,15 +233,19 @@ fn main() -> Result<()> { } }, } - vec![] } else if encoding == "mono16" { let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); let buffer: &[u16] = buffer.values(); + // let buffer = shift_u16_slice_to_upper_12_bits(buffer); + let bytes: &[u8] = &bytemuck::cast_slice(&buffer); + let mut ctx: Context = cfg.new_context().unwrap(); let mut f = ctx.new_frame(); - let origin = f.planes[0].data_origin_mut(); - origin.copy_from_slice(buffer); + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit. + f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2); match ctx.send_frame(f) { Ok(_) => {} @@ -274,19 +279,8 @@ fn main() -> Result<()> { } }, } - vec![] } else if encoding == "rgb8" { unimplemented!("We haven't worked on additional encodings."); - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: &[u8] = buffer.values(); - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - for p in &mut f.planes { - let stride = (enc.width + p.cfg.xdec) >> p.cfg.xdec; - p.copy_from_raw_u8(&buffer, stride, 1); - } - buffer.to_vec() } else { unimplemented!("We haven't worked on additional encodings."); } diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index c79d39c8..fa0b9520 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -3,10 +3,8 @@ use std::{collections::HashMap, env::VarError, path::Path}; use dora_node_api::{ - arrow::{ - array::{Array, AsArray, Float32Array, Float64Array, StringArray, UInt8Array}, - datatypes::Float32Type, - }, + arrow::array::{Array, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array}, + arrow::{array::AsArray, datatypes::Float32Type}, dora_core::config::DataId, DoraNode, Event, Parameter, }; @@ -181,54 +179,112 @@ pub fn lib_main() -> Result<()> { } else { vec![640, 480] }; - let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); - let points_3d = buffer.iter().enumerate().map(|(i, z)| { - let u = i as f32 % *width as f32; // Calculate x-coordinate (u) - let v = i as f32 / *width as f32; // Calculate y-coordinate (v) - let z = z.unwrap_or_default() as f32; + match data.data_type() { + dora_node_api::arrow::datatypes::DataType::Float64 => { + let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); - ( - (u - resolution[0] as f32) * z / focal_length[0] as f32, - (v - resolution[1] as f32) * z / focal_length[1] as f32, - z, - ) - }); - let points_3d = Points3D::new(points_3d); - if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { - let colors = if let Some(mask) = mask_cache.get(&id.replace("depth", "mask")) { - let mask_length = color_buffer.len() / 3; - let number_masks = mask.len() / mask_length; - color_buffer - .chunks(3) - .enumerate() - .map(|(e, x)| { - for i in 0..number_masks { - if mask[i * mask_length + e] && (e % 3 == 0) { - if i == 0 { - return rerun::Color::from_rgb(255, x[1], x[2]); - } else if i == 1 { - return rerun::Color::from_rgb(x[0], 255, x[2]); - } else if i == 2 { - return rerun::Color::from_rgb(x[0], x[1], 255); - } else { - return rerun::Color::from_rgb(x[0], 255, x[2]); + let points_3d = buffer.iter().enumerate().map(|(i, z)| { + let u = i as f32 % *width as f32; // Calculate x-coordinate (u) + let v = i as f32 / *width as f32; // Calculate y-coordinate (v) + let z = z.unwrap_or_default() as f32; + + ( + (u - resolution[0] as f32) * z / focal_length[0] as f32, + (v - resolution[1] as f32) * z / focal_length[1] as f32, + z, + ) + }); + let points_3d = Points3D::new(points_3d); + if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { + let colors = if let Some(mask) = + mask_cache.get(&id.replace("depth", "masks")) + { + let mask_length = color_buffer.len() / 3; + let number_masks = mask.len() / mask_length; + color_buffer + .chunks(3) + .enumerate() + .map(|(e, x)| { + for i in 0..number_masks { + if mask[i * mask_length + e] && (e % 3 == 0) { + if i == 0 { + return rerun::Color::from_rgb(255, x[1], x[2]); + } else if i == 1 { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } else if i == 2 { + return rerun::Color::from_rgb(x[0], x[1], 255); + } else { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } + } } - } - } - rerun::Color::from_rgb(x[0], x[1], x[2]) - }) - .collect::>() - } else { - color_buffer - .chunks(3) - .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) - .collect::>() - }; - rec.log(id.as_str(), &points_3d.with_colors(colors)) - .context("could not log points")?; - } else { - rec.log(id.as_str(), &points_3d) - .context("could not log points")?; + rerun::Color::from_rgb(x[0], x[1], x[2]) + }) + .collect::>() + } else { + color_buffer + .chunks(3) + .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) + .collect::>() + }; + rec.log(id.as_str(), &points_3d.with_colors(colors)) + .context("could not log points")?; + } + } + dora_node_api::arrow::datatypes::DataType::UInt16 => { + let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); + + let points_3d = buffer.iter().enumerate().map(|(i, z)| { + let u = i as f32 % *width as f32; // Calculate x-coordinate (u) + let v = i as f32 / *width as f32; // Calculate y-coordinate (v) + let z = z.unwrap_or_default() as f32 / 1_000.; + + ( + (u - resolution[0] as f32) * z / focal_length[0] as f32, + (v - resolution[1] as f32) * z / focal_length[1] as f32, + z, + ) + }); + let points_3d = Points3D::new(points_3d); + if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { + let colors = if let Some(mask) = + mask_cache.get(&id.replace("depth", "masks")) + { + let mask_length = color_buffer.len() / 3; + let number_masks = mask.len() / mask_length; + color_buffer + .chunks(3) + .enumerate() + .map(|(e, x)| { + for i in 0..number_masks { + if mask[i * mask_length + e] && (e % 3 == 0) { + if i == 0 { + return rerun::Color::from_rgb(255, x[1], x[2]); + } else if i == 1 { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } else if i == 2 { + return rerun::Color::from_rgb(x[0], x[1], 255); + } else { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } + } + } + rerun::Color::from_rgb(x[0], x[1], x[2]) + }) + .collect::>() + } else { + color_buffer + .chunks(3) + .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) + .collect::>() + }; + rec.log(id.as_str(), &points_3d.with_colors(colors)) + .context("could not log points")?; + } + } + _ => { + return Err(eyre!("Unsupported depth data type {}", data.data_type())); + } } } else if id.as_str().contains("text") { let buffer: StringArray = data.to_data().into(); @@ -242,7 +298,7 @@ pub fn lib_main() -> Result<()> { })?; } else if id.as_str().contains("boxes2d") { boxes2d::update_boxes2d(&rec, id, data, metadata).context("update boxes 2d")?; - } else if id.as_str().contains("mask") { + } else if id.as_str().contains("masks") { let masks = if let Some(data) = data.as_primitive_opt::() { let data = data .iter() From 548d884b9485ce9dde9552c87cbf2573bbe86037 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 4 Apr 2025 11:10:33 +0200 Subject: [PATCH 016/135] Add cosinus sinus correction of depth frame --- node-hub/dora-rerun/src/lib.rs | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index fa0b9520..ecf7da6c 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -94,6 +94,13 @@ pub fn lib_main() -> Result<()> { } Err(VarError::NotPresent) => (), }; + let camera_pitch = std::env::var("CAMERA_PITCH") + .unwrap_or("2.47".to_string()) + .parse::() + .unwrap(); + let cos_theta = camera_pitch.cos(); // np.cos(np.deg2rad(180-38)) + let sin_theta = camera_pitch.sin(); // np.sin(np.deg2rad(180-38)) + // (0.32489833, -0.25068134, 0.4761387) while let Some(event) = events.recv() { if let Event::Input { id, data, metadata } = event { @@ -238,12 +245,13 @@ pub fn lib_main() -> Result<()> { let u = i as f32 % *width as f32; // Calculate x-coordinate (u) let v = i as f32 / *width as f32; // Calculate y-coordinate (v) let z = z.unwrap_or_default() as f32 / 1_000.; + let y = (u - resolution[0] as f32) * z / focal_length[0] as f32; + let x = (v - resolution[1] as f32) * z / focal_length[1] as f32; + let new_x = sin_theta * z + cos_theta * x; + let new_y = -y; + let new_z = cos_theta * z - sin_theta * x; - ( - (u - resolution[0] as f32) * z / focal_length[0] as f32, - (v - resolution[1] as f32) * z / focal_length[1] as f32, - z, - ) + (new_x, new_y, new_z) }); let points_3d = Points3D::new(points_3d); if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { From 8a57b9c79d7209c7ba503d1df5203f3a203b0611 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 4 Apr 2025 14:18:09 +0200 Subject: [PATCH 017/135] Adding documentation and better support for pointcloud in dora-rerun --- binaries/daemon/src/lib.rs | 2 + .../videostream-encoding}/dataflow.yml | 31 +-------- .../videostream-encoding/dataflow_reachy.yml | 68 +++++++++++++++++++ node-hub/dora-rerun/src/lib.rs | 60 ++++++++++------ 4 files changed, 114 insertions(+), 47 deletions(-) rename {node-hub/dora-dav1d => examples/videostream-encoding}/dataflow.yml (70%) create mode 100644 examples/videostream-encoding/dataflow_reachy.yml diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index 474e5a29..8fe90294 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -277,6 +277,8 @@ impl Daemon { r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:5456"] }"#, ) .unwrap(); + + // Linkstate make it possible to connect two daemons on different network through a public daemon zenoh_config .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) .unwrap(); diff --git a/node-hub/dora-dav1d/dataflow.yml b/examples/videostream-encoding/dataflow.yml similarity index 70% rename from node-hub/dora-dav1d/dataflow.yml rename to examples/videostream-encoding/dataflow.yml index 068ecd76..131da27a 100644 --- a/node-hub/dora-dav1d/dataflow.yml +++ b/examples/videostream-encoding/dataflow.yml @@ -9,19 +9,9 @@ nodes: outputs: - image env: - CAPTURE_PATH: 1 - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - - - id: echo - build: pip install -e ../../node-hub/dora-echo - path: dora-echo - _unstable_deploy: - machine: decoder - #inputs: - # image: camera/image - outputs: - - image + CAPTURE_PATH: 0 + IMAGE_WIDTH: 1280 + IMAGE_HEIGHT: 720 - id: rav1e-local path: dora-rav1e @@ -32,9 +22,6 @@ nodes: image: camera/image outputs: - image - env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - id: dav1d-remote path: dora-dav1d @@ -45,9 +32,6 @@ nodes: image: rav1e-local/image outputs: - image - env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - id: rav1e-remote path: dora-rav1e @@ -83,12 +67,3 @@ nodes: inputs: image_decode: dav1d-local/image image_echo: echo/image - #image_2: camera6/image - - # - id: plot2 - # build: pip install -e ../../node-hub/opencv-plot - # _unstable_deploy: - # machine: encoder - # path: opencv-plot - # inputs: - # image: echo/image diff --git a/examples/videostream-encoding/dataflow_reachy.yml b/examples/videostream-encoding/dataflow_reachy.yml new file mode 100644 index 00000000..0fc7f3ac --- /dev/null +++ b/examples/videostream-encoding/dataflow_reachy.yml @@ -0,0 +1,68 @@ +nodes: + - id: camera + path: dora-reachy2-camera + _unstable_deploy: + machine: encoder + inputs: + tick: dora/timer/millis/50 + outputs: + - image_right + - image_left + - image_depth + - depth + env: + CAPTURE_PATH: 0 + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + ROBOT_IP: 127.0.0.1 + + - id: rav1e-local + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: encoder + inputs: + depth: camera/depth + outputs: + - depth + env: + RAV1E_SPEED: 7 + + - id: rav1e-local-image + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: encoder + inputs: + image_depth: camera/image_depth + image_left: camera/image_left + outputs: + - image_left + - image_depth + - depth + env: + RAV1E_SPEED: 10 + + - id: dav1d-remote + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: plot + inputs: + image_depth: rav1e-local-image/image_depth + image_left: rav1e-local-image/image_left + depth: rav1e-local/depth + outputs: + - image_left + - image_depth + - depth + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + _unstable_deploy: + machine: plot + path: dora-rerun + inputs: + image: dav1d-remote/image_depth + depth: dav1d-remote/depth + image_left: dav1d-remote/image_left diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index ecf7da6c..1d06fe77 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -190,18 +190,30 @@ pub fn lib_main() -> Result<()> { dora_node_api::arrow::datatypes::DataType::Float64 => { let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); - let points_3d = buffer.iter().enumerate().map(|(i, z)| { + let mut points = vec![]; + buffer.iter().enumerate().for_each(|(i, z)| { let u = i as f32 % *width as f32; // Calculate x-coordinate (u) let v = i as f32 / *width as f32; // Calculate y-coordinate (v) - let z = z.unwrap_or_default() as f32; - ( - (u - resolution[0] as f32) * z / focal_length[0] as f32, - (v - resolution[1] as f32) * z / focal_length[1] as f32, - z, - ) + if let Some(z) = z { + let z = z as f32; + // Skip points that have empty depth or is too far away + if z == 0. || z > 8.0 { + points.push((0., 0., 0.)); + return; + } + let y = (u - resolution[0] as f32) * z / focal_length[0] as f32; + let x = (v - resolution[1] as f32) * z / focal_length[1] as f32; + let new_x = sin_theta * z + cos_theta * x; + let new_y = -y; + let new_z = cos_theta * z - sin_theta * x; + + points.push((new_x, new_y, new_z)); + } else { + points.push((0., 0., 0.)); + } }); - let points_3d = Points3D::new(points_3d); + let points_3d = Points3D::new(points); if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { let colors = if let Some(mask) = mask_cache.get(&id.replace("depth", "masks")) @@ -240,20 +252,30 @@ pub fn lib_main() -> Result<()> { } dora_node_api::arrow::datatypes::DataType::UInt16 => { let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); - - let points_3d = buffer.iter().enumerate().map(|(i, z)| { + let mut points = vec![]; + buffer.iter().enumerate().for_each(|(i, z)| { let u = i as f32 % *width as f32; // Calculate x-coordinate (u) let v = i as f32 / *width as f32; // Calculate y-coordinate (v) - let z = z.unwrap_or_default() as f32 / 1_000.; - let y = (u - resolution[0] as f32) * z / focal_length[0] as f32; - let x = (v - resolution[1] as f32) * z / focal_length[1] as f32; - let new_x = sin_theta * z + cos_theta * x; - let new_y = -y; - let new_z = cos_theta * z - sin_theta * x; - - (new_x, new_y, new_z) + + if let Some(z) = z { + let z = z as f32; + // Skip points that have empty depth or is too far away + if z == 0. || z > 8.0 { + points.push((0., 0., 0.)); + return; + } + let y = (u - resolution[0] as f32) * z / focal_length[0] as f32; + let x = (v - resolution[1] as f32) * z / focal_length[1] as f32; + let new_x = sin_theta * z + cos_theta * x; + let new_y = -y; + let new_z = cos_theta * z - sin_theta * x; + + points.push((new_x, new_y, new_z)); + } else { + points.push((0., 0., 0.)); + } }); - let points_3d = Points3D::new(points_3d); + let points_3d = Points3D::new(points); if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { let colors = if let Some(mask) = mask_cache.get(&id.replace("depth", "masks")) From d824c6a15a5f281c94ea2a91d997e8321d74d609 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 4 Apr 2025 14:33:24 +0200 Subject: [PATCH 018/135] Refactor support for masks --- node-hub/dora-rerun/src/lib.rs | 109 +++++++++++---------------------- 1 file changed, 36 insertions(+), 73 deletions(-) diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index 1d06fe77..46ce4fd1 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -186,7 +186,7 @@ pub fn lib_main() -> Result<()> { } else { vec![640, 480] }; - match data.data_type() { + let points = match data.data_type() { dora_node_api::arrow::datatypes::DataType::Float64 => { let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); @@ -213,42 +213,7 @@ pub fn lib_main() -> Result<()> { points.push((0., 0., 0.)); } }); - let points_3d = Points3D::new(points); - if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { - let colors = if let Some(mask) = - mask_cache.get(&id.replace("depth", "masks")) - { - let mask_length = color_buffer.len() / 3; - let number_masks = mask.len() / mask_length; - color_buffer - .chunks(3) - .enumerate() - .map(|(e, x)| { - for i in 0..number_masks { - if mask[i * mask_length + e] && (e % 3 == 0) { - if i == 0 { - return rerun::Color::from_rgb(255, x[1], x[2]); - } else if i == 1 { - return rerun::Color::from_rgb(x[0], 255, x[2]); - } else if i == 2 { - return rerun::Color::from_rgb(x[0], x[1], 255); - } else { - return rerun::Color::from_rgb(x[0], 255, x[2]); - } - } - } - rerun::Color::from_rgb(x[0], x[1], x[2]) - }) - .collect::>() - } else { - color_buffer - .chunks(3) - .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) - .collect::>() - }; - rec.log(id.as_str(), &points_3d.with_colors(colors)) - .context("could not log points")?; - } + Points3D::new(points) } dora_node_api::arrow::datatypes::DataType::UInt16 => { let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); @@ -275,46 +240,44 @@ pub fn lib_main() -> Result<()> { points.push((0., 0., 0.)); } }); - let points_3d = Points3D::new(points); - if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { - let colors = if let Some(mask) = - mask_cache.get(&id.replace("depth", "masks")) - { - let mask_length = color_buffer.len() / 3; - let number_masks = mask.len() / mask_length; - color_buffer - .chunks(3) - .enumerate() - .map(|(e, x)| { - for i in 0..number_masks { - if mask[i * mask_length + e] && (e % 3 == 0) { - if i == 0 { - return rerun::Color::from_rgb(255, x[1], x[2]); - } else if i == 1 { - return rerun::Color::from_rgb(x[0], 255, x[2]); - } else if i == 2 { - return rerun::Color::from_rgb(x[0], x[1], 255); - } else { - return rerun::Color::from_rgb(x[0], 255, x[2]); - } - } - } - rerun::Color::from_rgb(x[0], x[1], x[2]) - }) - .collect::>() - } else { - color_buffer - .chunks(3) - .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) - .collect::>() - }; - rec.log(id.as_str(), &points_3d.with_colors(colors)) - .context("could not log points")?; - } + Points3D::new(points) } _ => { return Err(eyre!("Unsupported depth data type {}", data.data_type())); } + }; + if let Some(color_buffer) = image_cache.get(&id.replace("depth", "image")) { + let colors = if let Some(mask) = mask_cache.get(&id.replace("depth", "masks")) { + let mask_length = color_buffer.len() / 3; + let number_masks = mask.len() / mask_length; + color_buffer + .chunks(3) + .enumerate() + .map(|(e, x)| { + for i in 0..number_masks { + if mask[i * mask_length + e] && (e % 3 == 0) { + if i == 0 { + return rerun::Color::from_rgb(255, x[1], x[2]); + } else if i == 1 { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } else if i == 2 { + return rerun::Color::from_rgb(x[0], x[1], 255); + } else { + return rerun::Color::from_rgb(x[0], 255, x[2]); + } + } + } + rerun::Color::from_rgb(x[0], x[1], x[2]) + }) + .collect::>() + } else { + color_buffer + .chunks(3) + .map(|x| rerun::Color::from_rgb(x[0], x[1], x[2])) + .collect::>() + }; + rec.log(id.as_str(), &points.with_colors(colors)) + .context("could not log points")?; } } else if id.as_str().contains("text") { let buffer: StringArray = data.to_data().into(); From 82c5ee21078059025eb76b14704fbb90ce01c345 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 4 Apr 2025 15:19:16 +0200 Subject: [PATCH 019/135] Make camera pitch parametrisation easier --- .../dora-ios-lidar/dora_ios_lidar/main.py | 101 +++++++++++------- node-hub/dora-rerun/src/lib.rs | 18 ++-- 2 files changed, 73 insertions(+), 46 deletions(-) diff --git a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py index af6c9382..2615e61b 100644 --- a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py +++ b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py @@ -7,6 +7,7 @@ import numpy as np import pyarrow as pa from dora import Node from record3d import Record3DStream +from scipy.spatial.transform import Rotation class DemoApp: @@ -54,6 +55,21 @@ class DemoApp: [[coeffs.fx, 0, coeffs.tx], [0, coeffs.fy, coeffs.ty], [0, 0, 1]], ) + def get_camera_pose(self): + """Get Camera Pose.""" + pose = self.session.get_camera_pose() + rot = Rotation.from_quat([pose.qx, pose.qy, pose.qz, pose.qw]) + euler = rot.as_euler("xyz", degrees=False) + + return [ + pose.tx, + pose.ty, + pose.tz, + pose.qx, + euler[1], + euler[2], + ] + def start_processing_stream(self): """TODO: Add docstring.""" node = Node() @@ -61,47 +77,52 @@ class DemoApp: for event in node: if self.stop: break + if event["type"] == "INPUT": - if event["id"] == "TICK": - self.event.wait() # Wait for new frame to arrive - - # Copy the newly arrived RGBD frame - depth = self.session.get_depth_frame() - rgb = self.session.get_rgb_frame() - intrinsic_mat = self.get_intrinsic_mat_from_coeffs( - self.session.get_intrinsic_mat(), - ) - - if depth.shape != rgb.shape: - rgb = cv2.resize(rgb, (depth.shape[1], depth.shape[0])) - - node.send_output( - "image", - pa.array(rgb.ravel()), - metadata={ - "encoding": "rgb8", - "width": rgb.shape[1], - "height": rgb.shape[0], - }, - ) - - node.send_output( - "depth", - pa.array(depth.ravel().astype(np.float64())), - metadata={ - "width": depth.shape[1], - "height": depth.shape[0], - "encoding": "CV_64F", - "focal": [ - int(intrinsic_mat[0, 0]), - int(intrinsic_mat[1, 1]), - ], - "resolution": [ - int(intrinsic_mat[0, 2]), - int(intrinsic_mat[1, 2]), - ], - }, - ) + self.event.wait() # Wait for new frame to arrive + + # Copy the newly arrived RGBD frame + depth = self.session.get_depth_frame() + rgb = self.session.get_rgb_frame() + intrinsic_mat = self.get_intrinsic_mat_from_coeffs( + self.session.get_intrinsic_mat(), + ) + pose = self.get_camera_pose() + + if depth.shape != rgb.shape: + rgb = cv2.resize(rgb, (depth.shape[1], depth.shape[0])) + node.send_output( + "image", + pa.array(rgb.ravel()), + metadata={ + "encoding": "rgb8", + "width": rgb.shape[1], + "height": rgb.shape[0], + }, + ) + + depth = (np.array(depth) * 1_000).astype(np.uint16) + + node.send_output( + "depth", + pa.array(depth.ravel()), + metadata={ + "width": depth.shape[1], + "height": depth.shape[0], + "encoding": "mono16", + "focal": [ + int(intrinsic_mat[0, 0]), + int(intrinsic_mat[1, 1]), + ], + "resolution": [ + int(intrinsic_mat[0, 2]), + int(intrinsic_mat[1, 2]), + ], + "roll": pose[3], + "pitch": pose[4], + "yaw": pose[5], + }, + ) self.event.clear() diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index 46ce4fd1..c482e718 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -95,12 +95,9 @@ pub fn lib_main() -> Result<()> { Err(VarError::NotPresent) => (), }; let camera_pitch = std::env::var("CAMERA_PITCH") - .unwrap_or("2.47".to_string()) + .unwrap_or("0.0".to_string()) .parse::() .unwrap(); - let cos_theta = camera_pitch.cos(); // np.cos(np.deg2rad(180-38)) - let sin_theta = camera_pitch.sin(); // np.sin(np.deg2rad(180-38)) - // (0.32489833, -0.25068134, 0.4761387) while let Some(event) = events.recv() { if let Event::Input { id, data, metadata } = event { @@ -186,6 +183,15 @@ pub fn lib_main() -> Result<()> { } else { vec![640, 480] }; + let pitch = if let Some(Parameter::Float(pitch)) = metadata.parameters.get("pitch") + { + *pitch as f32 + } else { + camera_pitch + }; + let cos_theta = pitch.cos(); // np.cos(np.deg2rad(180-38)) + let sin_theta = pitch.sin(); // np.sin(np.deg2rad(180-38)) + let points = match data.data_type() { dora_node_api::arrow::datatypes::DataType::Float64 => { let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); @@ -223,8 +229,8 @@ pub fn lib_main() -> Result<()> { let v = i as f32 / *width as f32; // Calculate y-coordinate (v) if let Some(z) = z { - let z = z as f32; - // Skip points that have empty depth or is too far away + let z = z as f32 / 1000.0; // Convert to meters + // Skip points that have empty depth or is too far away if z == 0. || z > 8.0 { points.push((0., 0., 0.)); return; From 0672748b8390c821e7bcef9208eed449ad40de13 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 4 Apr 2025 15:43:10 +0200 Subject: [PATCH 020/135] Fix CI/CD by escaping dav1d when possible --- .github/workflows/ci.yml | 22 +++++++++++----------- .github/workflows/node-hub-ci-cd.yml | 2 ++ 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 928b81f6..d12e463d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -52,7 +52,7 @@ jobs: - name: Free disk Space (Windows) if: runner.os == 'Windows' run: | - docker system prune --all -f + docker system prune --all --exclude dora-dav1d -f Remove-Item "C:\Android" -Force -Recurse - uses: Swatinem/rust-cache@v2 with: @@ -63,11 +63,11 @@ jobs: cache-directories: ${{ env.CARGO_TARGET_DIR }} - name: "Check" - run: cargo check --all + run: cargo check --all --exclude dora-dav1d - name: "Build (Without Python dep as it is build with maturin)" - run: cargo build --all --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + run: cargo build --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python - name: "Test" - run: cargo test --all --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + run: cargo test --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python # Run examples as separate job because otherwise we will exhaust the disk # space of the GitHub action runners. @@ -102,7 +102,7 @@ jobs: - name: Free disk Space (Windows) if: runner.os == 'Windows' run: | - docker system prune --all -f + docker system prune --all --exclude dora-dav1d -f Remove-Item "C:\Android" -Force -Recurse - uses: Swatinem/rust-cache@v2 with: @@ -307,7 +307,7 @@ jobs: # Test Rust template Project dora new test_rust_project --internal-create-with-path-dependencies cd test_rust_project - cargo build --all + cargo build --all --exclude dora-dav1d dora up dora list dora start dataflow.yml --name ci-rust-test --detach @@ -447,12 +447,12 @@ jobs: - run: cargo --version --verbose - name: "Clippy" - run: cargo clippy --all + run: cargo clippy --all --exclude dora-dav1d - name: "Clippy (tracing feature)" - run: cargo clippy --all --features tracing + run: cargo clippy --all --exclude dora-dav1d --features tracing if: false # only the dora-runtime has this feature, but it is currently commented out - name: "Clippy (metrics feature)" - run: cargo clippy --all --features metrics + run: cargo clippy --all --exclude dora-dav1d --features metrics if: false # only the dora-runtime has this feature, but it is currently commented out rustfmt: @@ -462,7 +462,7 @@ jobs: - uses: actions/checkout@v3 - uses: r7kamura/rust-problem-matchers@v1.1.0 - name: "rustfmt" - run: cargo fmt --all -- --check + run: cargo fmt --all --exclude dora-dav1d -- --check check-license: name: "License Checks" @@ -532,4 +532,4 @@ jobs: with: use-cross: true command: check - args: --target ${{ matrix.platform.target }} --all --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + args: --target ${{ matrix.platform.target }} --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 39f901ec..1248c36d 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -53,6 +53,7 @@ jobs: if: runner.os == 'Linux' run: | sudo apt-get install portaudio19-dev + sudo apt-get install libdav1d-dev # Install mingw-w64 cross-compilers sudo apt install g++-mingw-w64-x86-64 gcc-mingw-w64-x86-64 @@ -60,6 +61,7 @@ jobs: if: runner.os == 'MacOS' && (github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/'))) run: | brew install portaudio + brew install dav1d - name: Set up Python if: runner.os == 'Linux' || github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/')) From d3ddc94a11e90e6e9dd09ce6adf1afa0cc452f03 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 4 Apr 2025 15:49:55 +0200 Subject: [PATCH 021/135] Escape rav1e and install nasm dependencies --- .github/workflows/ci.yml | 22 +++++++++++----------- .github/workflows/node-hub-ci-cd.yml | 4 ++-- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d12e463d..85323d69 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -52,7 +52,7 @@ jobs: - name: Free disk Space (Windows) if: runner.os == 'Windows' run: | - docker system prune --all --exclude dora-dav1d -f + docker system prune --all -f Remove-Item "C:\Android" -Force -Recurse - uses: Swatinem/rust-cache@v2 with: @@ -63,11 +63,11 @@ jobs: cache-directories: ${{ env.CARGO_TARGET_DIR }} - name: "Check" - run: cargo check --all --exclude dora-dav1d + run: cargo check --all --exclude dora-dav1d --exclude dora-rav1e - name: "Build (Without Python dep as it is build with maturin)" - run: cargo build --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + run: cargo build --all --exclude dora-dav1d --exclude dora-rav1e --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python - name: "Test" - run: cargo test --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + run: cargo test --all --exclude dora-dav1d --exclude dora-rav1e --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python # Run examples as separate job because otherwise we will exhaust the disk # space of the GitHub action runners. @@ -102,7 +102,7 @@ jobs: - name: Free disk Space (Windows) if: runner.os == 'Windows' run: | - docker system prune --all --exclude dora-dav1d -f + docker system prune --all -f Remove-Item "C:\Android" -Force -Recurse - uses: Swatinem/rust-cache@v2 with: @@ -307,7 +307,7 @@ jobs: # Test Rust template Project dora new test_rust_project --internal-create-with-path-dependencies cd test_rust_project - cargo build --all --exclude dora-dav1d + cargo build --all --exclude dora-dav1d --exclude dora-rav1e dora up dora list dora start dataflow.yml --name ci-rust-test --detach @@ -447,12 +447,12 @@ jobs: - run: cargo --version --verbose - name: "Clippy" - run: cargo clippy --all --exclude dora-dav1d + run: cargo clippy --all --exclude dora-dav1d --exclude dora-rav1e - name: "Clippy (tracing feature)" - run: cargo clippy --all --exclude dora-dav1d --features tracing + run: cargo clippy --all --exclude dora-dav1d --exclude dora-rav1e --features tracing if: false # only the dora-runtime has this feature, but it is currently commented out - name: "Clippy (metrics feature)" - run: cargo clippy --all --exclude dora-dav1d --features metrics + run: cargo clippy --all --exclude dora-dav1d --exclude dora-rav1e --features metrics if: false # only the dora-runtime has this feature, but it is currently commented out rustfmt: @@ -462,7 +462,7 @@ jobs: - uses: actions/checkout@v3 - uses: r7kamura/rust-problem-matchers@v1.1.0 - name: "rustfmt" - run: cargo fmt --all --exclude dora-dav1d -- --check + run: cargo fmt --all --exclude dora-dav1d --exclude dora-rav1e -- --check check-license: name: "License Checks" @@ -532,4 +532,4 @@ jobs: with: use-cross: true command: check - args: --target ${{ matrix.platform.target }} --all --exclude dora-dav1d --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python + args: --target ${{ matrix.platform.target }} --all --exclude dora-dav1d --exclude dora-rav1e --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 1248c36d..68b141ab 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -53,7 +53,7 @@ jobs: if: runner.os == 'Linux' run: | sudo apt-get install portaudio19-dev - sudo apt-get install libdav1d-dev + sudo apt-get install libdav1d-dev nasm # Install mingw-w64 cross-compilers sudo apt install g++-mingw-w64-x86-64 gcc-mingw-w64-x86-64 @@ -61,7 +61,7 @@ jobs: if: runner.os == 'MacOS' && (github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/'))) run: | brew install portaudio - brew install dav1d + brew install dav1d nasm - name: Set up Python if: runner.os == 'Linux' || github.event_name == 'workflow_dispatch' || (github.event_name == 'release' && startsWith(github.ref, 'refs/tags/')) From 29eb9200ceb4aed3d7a85a589b26d659b515f15a Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Sat, 5 Apr 2025 01:17:11 +0530 Subject: [PATCH 022/135] added video demo link --- node-hub/dora-cotracker/README.md | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/node-hub/dora-cotracker/README.md b/node-hub/dora-cotracker/README.md index b563dfbd..b3a3dc7f 100644 --- a/node-hub/dora-cotracker/README.md +++ b/node-hub/dora-cotracker/README.md @@ -21,6 +21,17 @@ uv venv -p 3.11 --seed uv pip install -e . ``` +## Demo Video + +Watch a demonstration of the dora-cotracker node in action: + +[![Dora CoTracker Demo](https://img.youtube.com/vi/1VmC1BNq6J0/0.jpg)](https://youtu.be/1VmC1BNq6J0) + +The video shows: +- Setting up the node +- Interactive point selection +- Real-time tracking performance + ### Basic Usage 1. Create a YAML configuration file (e.g., `demo.yml`): From dbac146c9b0709e209001d1aa4da2b9624267e79 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 14:50:39 +0200 Subject: [PATCH 023/135] Fix CI/CD --- .github/workflows/ci.yml | 2 +- binaries/daemon/src/lib.rs | 27 ++++++++++++++++----------- 2 files changed, 17 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 85323d69..d80f04d7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -462,7 +462,7 @@ jobs: - uses: actions/checkout@v3 - uses: r7kamura/rust-problem-matchers@v1.1.0 - name: "rustfmt" - run: cargo fmt --all --exclude dora-dav1d --exclude dora-rav1e -- --check + run: cargo fmt --all -- --check check-license: name: "License Checks" diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index 8fe90294..d71fe152 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -265,12 +265,6 @@ impl Daemon { let mut zenoh_config = zenoh::Config::default(); if let Some(addr) = coordinator_addr { - zenoh_config - .insert_json5( - "connect/endpoints", - &format!(r#"["tcp/{}:5456"]"#, addr.ip()), - ) - .unwrap(); zenoh_config .insert_json5( "listen/endpoints", @@ -282,11 +276,22 @@ impl Daemon { zenoh_config .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) .unwrap(); - if cfg!(not(target_os = "linux")) { - warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); - zenoh_config - .insert_json5("scouting/multicast", r#"{ enabled: false }"#) - .unwrap(); + zenoh_config + .insert_json5( + "connect/endpoints", + &format!( + r#"{{ router: ["tcp/[::]:7447"], peer: ["tcp/{}:5456"] }}"#, + addr.ip() + ), + ) + .unwrap(); + if !addr.ip().is_loopback() { + if cfg!(not(target_os = "linux")) { + warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); + zenoh_config + .insert_json5("scouting/multicast", r#"{ enabled: false }"#) + .unwrap(); + } } }; if let Ok(zenoh_session) = zenoh::open(zenoh_config).await { From e3de2f9d27a44fd329f2b4532153e9d16dd76219 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 14:50:48 +0200 Subject: [PATCH 024/135] Add support for rgb8 --- node-hub/dora-rav1e/src/main.rs | 56 ++++++++++++++++++++++++++++++++- 1 file changed, 55 insertions(+), 1 deletion(-) diff --git a/node-hub/dora-rav1e/src/main.rs b/node-hub/dora-rav1e/src/main.rs index 91e37973..076bee23 100644 --- a/node-hub/dora-rav1e/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -280,7 +280,61 @@ fn main() -> Result<()> { }, } } else if encoding == "rgb8" { - unimplemented!("We haven't worked on additional encodings."); + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: Vec = buffer.values().to_vec(); + let buffer: Vec = + buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + + // Transpose values from BGR to RGB + + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + continue; + } + _ => { + warn!("Unable to send frame "); + continue; + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } } else { unimplemented!("We haven't worked on additional encodings."); } From a6fe69cbed3eec81b4980e7f2522d8638442f6c3 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 16:39:15 +0200 Subject: [PATCH 025/135] fix ci/cd and improve examples --- Cargo.lock | 4 +- .../dataflow.yml | 0 .../dataflow_reachy.yml | 0 examples/av1-encoding/ios-dev.yaml | 73 +++++++++++++++++++ examples/depth_camera/ios-dev.yaml | 3 + .../dora-ios-lidar/dora_ios_lidar/main.py | 35 ++++++--- node-hub/dora-ios-lidar/pyproject.toml | 4 +- node-hub/dora-rerun/src/lib.rs | 4 +- 8 files changed, 108 insertions(+), 15 deletions(-) rename examples/{videostream-encoding => av1-encoding}/dataflow.yml (100%) rename examples/{videostream-encoding => av1-encoding}/dataflow_reachy.yml (100%) create mode 100644 examples/av1-encoding/ios-dev.yaml diff --git a/Cargo.lock b/Cargo.lock index dbb2f973..f932199a 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2779,9 +2779,9 @@ checksum = "5c297a1c74b71ae29df00c3e22dd9534821d60eb9af5a0192823fa2acea70c2a" [[package]] name = "dav1d" -version = "0.10.3" +version = "0.10.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0d4b54a40baf633a71c6f0fb49494a7e4ee7bc26f3e727212b6cb915aa1ea1e1" +checksum = "80c3f80814db85397819d464bb553268992c393b4b3b5554b89c1655996d5926" dependencies = [ "av-data", "bitflags 2.9.0", diff --git a/examples/videostream-encoding/dataflow.yml b/examples/av1-encoding/dataflow.yml similarity index 100% rename from examples/videostream-encoding/dataflow.yml rename to examples/av1-encoding/dataflow.yml diff --git a/examples/videostream-encoding/dataflow_reachy.yml b/examples/av1-encoding/dataflow_reachy.yml similarity index 100% rename from examples/videostream-encoding/dataflow_reachy.yml rename to examples/av1-encoding/dataflow_reachy.yml diff --git a/examples/av1-encoding/ios-dev.yaml b/examples/av1-encoding/ios-dev.yaml new file mode 100644 index 00000000..d14fdb36 --- /dev/null +++ b/examples/av1-encoding/ios-dev.yaml @@ -0,0 +1,73 @@ +nodes: + - id: camera + build: pip install -e ../../node-hub/dora-ios-lidar + path: dora-ios-lidar + _unstable_deploy: + machine: encoder-ios + inputs: + tick: dora/timer/millis/20 + outputs: + - image + - depth + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + + - id: rav1e-local + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: encoder-ios + inputs: + image: camera/image + depth: camera/depth + outputs: + - image + - depth + env: + RAV1E_SPEED: 4 + + - id: dav1d-remote + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: decoder + inputs: + image: rav1e-local/image + depth: rav1e-local/depth + outputs: + - image + - depth + + - id: rav1e-remote + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: decoder + inputs: + image: dav1d-remote/image + depth: dav1d-remote/depth + outputs: + - image + - depth + + - id: dav1d-local + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: encoder-ios + inputs: + image: rav1e-remote/image + depth: rav1e-remote/depth + outputs: + - image + - depth + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + _unstable_deploy: + machine: encoder-ios + inputs: + image: dav1d-remote/image + depth: dav1d-remote/depth diff --git a/examples/depth_camera/ios-dev.yaml b/examples/depth_camera/ios-dev.yaml index 076b2463..449e2845 100644 --- a/examples/depth_camera/ios-dev.yaml +++ b/examples/depth_camera/ios-dev.yaml @@ -7,6 +7,9 @@ nodes: outputs: - image - depth + env: + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 - id: plot build: pip install -e ../../node-hub/dora-rerun diff --git a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py index 2615e61b..8c6a0b66 100644 --- a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py +++ b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py @@ -1,5 +1,6 @@ """TODO: Add docstring.""" +import os from threading import Event import cv2 @@ -9,6 +10,9 @@ from dora import Node from record3d import Record3DStream from scipy.spatial.transform import Rotation +image_width = os.getenv("IMAGE_WIDTH") +image_height = os.getenv("IMAGE_HEIGHT") + class DemoApp: """TODO: Add docstring.""" @@ -87,10 +91,23 @@ class DemoApp: intrinsic_mat = self.get_intrinsic_mat_from_coeffs( self.session.get_intrinsic_mat(), ) - pose = self.get_camera_pose() + # pose = self.get_camera_pose() if depth.shape != rgb.shape: rgb = cv2.resize(rgb, (depth.shape[1], depth.shape[0])) + if image_width is not None and image_height is not None: + f_0 = intrinsic_mat[0, 0] * (int(image_height) / rgb.shape[0]) + f_1 = intrinsic_mat[1, 1] * (int(image_width) / rgb.shape[1]) + r_0 = intrinsic_mat[0, 2] * (int(image_height) / rgb.shape[0]) + r_1 = intrinsic_mat[1, 2] * (int(image_width) / rgb.shape[1]) + rgb = cv2.resize(rgb, (int(image_width), int(image_height))) + depth = cv2.resize(depth, (int(image_width), int(image_height))) + else: + f_0 = intrinsic_mat[0, 0] + f_1 = intrinsic_mat[1, 1] + r_0 = intrinsic_mat[0, 2] + r_1 = intrinsic_mat[1, 2] + node.send_output( "image", pa.array(rgb.ravel()), @@ -102,7 +119,7 @@ class DemoApp: ) depth = (np.array(depth) * 1_000).astype(np.uint16) - + depth = np.clip(depth, 0, 4095) # Clip depth to uint12 node.send_output( "depth", pa.array(depth.ravel()), @@ -111,16 +128,16 @@ class DemoApp: "height": depth.shape[0], "encoding": "mono16", "focal": [ - int(intrinsic_mat[0, 0]), - int(intrinsic_mat[1, 1]), + int(f_0), + int(f_1), ], "resolution": [ - int(intrinsic_mat[0, 2]), - int(intrinsic_mat[1, 2]), + int(r_0), + int(r_1), ], - "roll": pose[3], - "pitch": pose[4], - "yaw": pose[5], + # "roll": pose[3], + # "pitch": pose[4], # Adding 90 degrees to pitch + # "yaw": pose[5], }, ) diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index 3fe86c10..fb5a790d 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -5,9 +5,9 @@ authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-ios-lidar" license = { text = "MIT" } readme = "README.md" -requires-python = ">=3.8" +requires-python = "==3.8" -dependencies = ["dora-rs >= 0.3.9", "opencv-python>=4.11.0.86", "record3d>=1.4"] +dependencies = ["dora-rs >= 0.3.9", "opencv-python>=4.11.0.86", "record3d>=1.4", "scipy"] [dependency-groups] dev = ["pytest >=8.1.1", "ruff >=0.9.1"] diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index c482e718..c6884630 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -189,8 +189,8 @@ pub fn lib_main() -> Result<()> { } else { camera_pitch }; - let cos_theta = pitch.cos(); // np.cos(np.deg2rad(180-38)) - let sin_theta = pitch.sin(); // np.sin(np.deg2rad(180-38)) + let cos_theta = pitch.cos(); + let sin_theta = pitch.sin(); let points = match data.data_type() { dora_node_api::arrow::datatypes::DataType::Float64 => { From 75438baf730f5b760da7c6669ec384f190406212 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 16:42:49 +0200 Subject: [PATCH 026/135] Allow multiple version of python --- node-hub/dora-ios-lidar/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index fb5a790d..0d6ed453 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -5,7 +5,7 @@ authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-ios-lidar" license = { text = "MIT" } readme = "README.md" -requires-python = "==3.8" +requires-python = ">=3.8" dependencies = ["dora-rs >= 0.3.9", "opencv-python>=4.11.0.86", "record3d>=1.4", "scipy"] From 9cc73848b5ac37558ad867a2fb46013b9206fffb Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 17:02:53 +0200 Subject: [PATCH 027/135] Update CI Apt version to get latest version of libdav1d --- .github/workflows/node-hub-ci-cd.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 68b141ab..29902b7d 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -52,6 +52,7 @@ jobs: - name: Install system-level dependencies if: runner.os == 'Linux' run: | + sudo apt update sudo apt-get install portaudio19-dev sudo apt-get install libdav1d-dev nasm # Install mingw-w64 cross-compilers From bc51ab5ffa08a4b85fcd9df2e4a0c6cff5250e24 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 17:10:00 +0200 Subject: [PATCH 028/135] Bump node hub ci/cd to ubuntu 24.04 --- .github/workflows/node-hub-ci-cd.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 29902b7d..e1c40de1 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -34,7 +34,7 @@ jobs: strategy: fail-fast: ${{ github.event_name != 'workflow_dispatch' && !(github.event_name == 'release' && startsWith(github.ref, 'refs/tags/')) }} matrix: - platform: [ubuntu-22.04, macos-14] + platform: [ubuntu-24.04, macos-14] folder: ${{ fromJson(needs.find-jobs.outputs.folders )}} steps: - name: Checkout repository From b143fd8eb3721051bb2bb1b80545d12a823429cd Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 17:20:19 +0200 Subject: [PATCH 029/135] Adding sacremoses into opus --- node-hub/dora-opus/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index 344df864..30252328 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -15,11 +15,11 @@ requires-python = ">=3.8" dependencies = [ "dora-rs >= 0.3.9", "numpy < 2.0.0", - "transformers >= 4.45", "modelscope >= 1.18.1", "sentencepiece >= 0.1.99", "torch >= 2.2.0", + "sacremoses>=0.1.1", ] [dependency-groups] From 471327b29add8f70adf30d9c9f63ffa72c96f06d Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 17:54:26 +0200 Subject: [PATCH 030/135] Fix error when zenoh port is already taken --- binaries/daemon/src/lib.rs | 62 +++++++++++++++++++++++++++----------- 1 file changed, 45 insertions(+), 17 deletions(-) diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index d71fe152..64115001 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -265,17 +265,11 @@ impl Daemon { let mut zenoh_config = zenoh::Config::default(); if let Some(addr) = coordinator_addr { - zenoh_config - .insert_json5( - "listen/endpoints", - r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:5456"] }"#, - ) - .unwrap(); - // Linkstate make it possible to connect two daemons on different network through a public daemon zenoh_config .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) .unwrap(); + zenoh_config .insert_json5( "connect/endpoints", @@ -285,7 +279,40 @@ impl Daemon { ), ) .unwrap(); - if !addr.ip().is_loopback() { + zenoh_config + .insert_json5( + "listen/endpoints", + r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:5456"] }"#, + ) + .unwrap(); + if cfg!(not(target_os = "linux")) { + warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); + zenoh_config + .insert_json5("scouting/multicast", r#"{ enabled: false }"#) + .unwrap(); + } + }; + if let Ok(zenoh_session) = zenoh::open(zenoh_config).await { + zenoh_session + } else { + warn!( + "failed to open zenoh session, retrying with default config + coordinator" + ); + let mut zenoh_config = zenoh::Config::default(); + zenoh_config + .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) + .unwrap(); + + if let Some(addr) = coordinator_addr { + zenoh_config + .insert_json5( + "connect/endpoints", + &format!( + r#"{{ router: ["tcp/[::]:7447"], peer: ["tcp/{}:5456"] }}"#, + addr.ip() + ), + ) + .unwrap(); if cfg!(not(target_os = "linux")) { warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); zenoh_config @@ -293,15 +320,16 @@ impl Daemon { .unwrap(); } } - }; - if let Ok(zenoh_session) = zenoh::open(zenoh_config).await { - zenoh_session - } else { - warn!("failed to open zenoh session, retrying with default config"); - zenoh::open(zenoh::Config::default()) - .await - .map_err(|e| eyre!(e)) - .wrap_err("failed to open zenoh session")? + if let Ok(zenoh_session) = zenoh::open(zenoh_config).await { + zenoh_session + } else { + warn!("failed to open zenoh session, retrying with default config"); + let zenoh_config = zenoh::Config::default(); + zenoh::open(zenoh_config) + .await + .map_err(|e| eyre!(e)) + .context("failed to open zenoh session")? + } } } Err(std::env::VarError::NotUnicode(_)) => eyre::bail!( From 714459f6a608ed0f193864eafd7f13803bd8c185 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 18:08:25 +0200 Subject: [PATCH 031/135] Remove test for opus in favor of dora-phi4 --- node-hub/dora-opus/tests/test_translate.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/node-hub/dora-opus/tests/test_translate.py b/node-hub/dora-opus/tests/test_translate.py index 34db2f82..f03028d0 100644 --- a/node-hub/dora-opus/tests/test_translate.py +++ b/node-hub/dora-opus/tests/test_translate.py @@ -1,12 +1,11 @@ """TODO: Add docstring.""" -import pytest - def test_import_main(): """TODO: Add docstring.""" - from dora_opus.main import main + pass # OPUS is no longer maintained in favor of dora-phi4 + # from dora_opus.main import main # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow. - with pytest.raises(RuntimeError): - main() + # nwith pytest.raises(RuntimeError): + # nmain() From b2b849c21ab35d68f39ebf5fc7b3ba07823b931c Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 18:32:55 +0200 Subject: [PATCH 032/135] Depreciated outetts for dora-kokorotts --- node-hub/dora-outtetts/README.md | 2 ++ .../dora_outtetts/tests/test_main.py | 18 ++++-------------- 2 files changed, 6 insertions(+), 14 deletions(-) diff --git a/node-hub/dora-outtetts/README.md b/node-hub/dora-outtetts/README.md index 6c015b4f..8e0058a4 100644 --- a/node-hub/dora-outtetts/README.md +++ b/node-hub/dora-outtetts/README.md @@ -1,5 +1,7 @@ # dora-outtetts +> dora-outtetts is no longer maintained in favor of dora-kokorotts + ## Getting started - Install it with pip: diff --git a/node-hub/dora-outtetts/dora_outtetts/tests/test_main.py b/node-hub/dora-outtetts/dora_outtetts/tests/test_main.py index ca1c6dd0..943883f0 100644 --- a/node-hub/dora-outtetts/dora_outtetts/tests/test_main.py +++ b/node-hub/dora-outtetts/dora_outtetts/tests/test_main.py @@ -2,26 +2,16 @@ import os -import pytest - -from dora_outtetts.main import load_interface, main - CI = os.getenv("CI", "false") in ["True", "true"] def test_import_main(): """TODO: Add docstring.""" - with pytest.raises(RuntimeError): - main([]) + pass # Outetts is no longer maintained in favor of dora-kokorotts + # with pytest.raises(RuntimeError): + # main([]) def test_load_interface(): """TODO: Add docstring.""" - try: - interface = load_interface() - except RuntimeError: - # Error raised by MPS out of memory. - if CI: - interface = "ok" - - assert interface is not None + pass From 98c2227375a76deb92e21b32ccc2fcc6e15588af Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 18:51:35 +0200 Subject: [PATCH 033/135] Fix windows example that is failing due to linkstate --- binaries/daemon/src/lib.rs | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index 64115001..0a8a13d8 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -266,9 +266,12 @@ impl Daemon { if let Some(addr) = coordinator_addr { // Linkstate make it possible to connect two daemons on different network through a public daemon - zenoh_config - .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) - .unwrap(); + // TODO: There is currently a CI/CD Error in windows linkstate. + if cfg!(not(target_os = "windows")) { + zenoh_config + .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) + .unwrap(); + } zenoh_config .insert_json5( @@ -299,9 +302,13 @@ impl Daemon { "failed to open zenoh session, retrying with default config + coordinator" ); let mut zenoh_config = zenoh::Config::default(); - zenoh_config - .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) - .unwrap(); + // Linkstate make it possible to connect two daemons on different network through a public daemon + // TODO: There is currently a CI/CD Error in windows linkstate. + if cfg!(not(target_os = "windows")) { + zenoh_config + .insert_json5("routing/peer", r#"{ mode: "linkstate" }"#) + .unwrap(); + } if let Some(addr) = coordinator_addr { zenoh_config From 1d5b917c0ff0ccbeb28c6cd27039620ae510f0af Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 19:18:53 +0200 Subject: [PATCH 034/135] try multicast on windows --- binaries/daemon/src/lib.rs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index 0a8a13d8..a204ad02 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -288,8 +288,8 @@ impl Daemon { r#"{ router: ["tcp/[::]:7447"], peer: ["tcp/[::]:5456"] }"#, ) .unwrap(); - if cfg!(not(target_os = "linux")) { - warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); + if cfg!(target_os = "macos") { + warn!("disabling multicast on macos systems. Enable it with the ZENOH_CONFIG env variable or file"); zenoh_config .insert_json5("scouting/multicast", r#"{ enabled: false }"#) .unwrap(); @@ -320,8 +320,8 @@ impl Daemon { ), ) .unwrap(); - if cfg!(not(target_os = "linux")) { - warn!("disabling multicast on non-linux systems. Enable it with the ZENOH_CONFIG env variable or file"); + if cfg!(target_os = "macos") { + warn!("disabling multicast on macos systems. Enable it with the ZENOH_CONFIG env variable or file"); zenoh_config .insert_json5("scouting/multicast", r#"{ enabled: false }"#) .unwrap(); From 869aa3bbc4e2df0d77a4ff63dd77ebf400a0c74c Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 17:59:59 +0200 Subject: [PATCH 035/135] Bump dora to 0.3.11-rc1 --- Cargo.lock | 86 +- Cargo.toml | 51 +- node-hub/dora-argotranslate/pyproject.toml | 2 +- node-hub/dora-distil-whisper/pyproject.toml | 2 +- node-hub/dora-echo/pyproject.toml | 2 +- node-hub/dora-internvl/pyproject.toml | 2 +- node-hub/dora-ios-lidar/pyproject.toml | 2 +- node-hub/dora-keyboard/pyproject.toml | 2 +- node-hub/dora-kokoro-tts/pyproject.toml | 2 +- node-hub/dora-microphone/pyproject.toml | 2 +- node-hub/dora-object-to-pose/Cargo.toml | 2 +- node-hub/dora-openai-server/pyproject.toml | 2 +- node-hub/dora-opus/pyproject.toml | 2 +- node-hub/dora-opus/uv.lock | 1175 +++++++++++++++++ node-hub/dora-outtetts/pyproject.toml | 2 +- node-hub/dora-parler/pyproject.toml | 2 +- node-hub/dora-piper/pyproject.toml | 2 +- node-hub/dora-pyaudio/pyproject.toml | 2 +- node-hub/dora-pyorbbecksdk/pyproject.toml | 2 +- node-hub/dora-pyrealsense/pyproject.toml | 2 +- node-hub/dora-qwen/pyproject.toml | 2 +- node-hub/dora-qwen2-5-vl/pyproject.toml | 2 +- node-hub/dora-qwenvl/pyproject.toml | 2 +- node-hub/dora-rdt-1b/pyproject.toml | 2 +- node-hub/dora-reachy2/pyproject.toml | 2 +- node-hub/dora-sam2/pyproject.toml | 2 +- node-hub/dora-ugv/pyproject.toml | 2 +- node-hub/dora-vad/pyproject.toml | 2 +- node-hub/dora-yolo/pyproject.toml | 2 +- .../llama-factory-recorder/pyproject.toml | 2 +- node-hub/opencv-plot/pyproject.toml | 2 +- node-hub/opencv-video-capture/pyproject.toml | 2 +- node-hub/pyarrow-assert/pyproject.toml | 2 +- node-hub/pyarrow-sender/pyproject.toml | 2 +- node-hub/terminal-input/pyproject.toml | 2 +- 35 files changed, 1280 insertions(+), 96 deletions(-) create mode 100644 node-hub/dora-opus/uv.lock diff --git a/Cargo.lock b/Cargo.lock index f932199a..edea5544 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1481,7 +1481,7 @@ dependencies = [ [[package]] name = "benchmark-example-node" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -1494,7 +1494,7 @@ dependencies = [ [[package]] name = "benchmark-example-sink" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -2267,7 +2267,7 @@ dependencies = [ [[package]] name = "communication-layer-pub-sub" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "flume 0.10.14", "zenoh 0.7.0-rc", @@ -2275,7 +2275,7 @@ dependencies = [ [[package]] name = "communication-layer-request-reply" -version = "0.3.10" +version = "0.3.11-rc1" [[package]] name = "concurrent-queue" @@ -3052,7 +3052,7 @@ dependencies = [ [[package]] name = "dora-arrow-convert" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow 54.2.1", "chrono", @@ -3063,7 +3063,7 @@ dependencies = [ [[package]] name = "dora-cli" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "bat", "clap 4.5.32", @@ -3102,7 +3102,7 @@ dependencies = [ [[package]] name = "dora-coordinator" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "ctrlc", "dora-core", @@ -3123,7 +3123,7 @@ dependencies = [ [[package]] name = "dora-core" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-message", "eyre", @@ -3142,7 +3142,7 @@ dependencies = [ [[package]] name = "dora-daemon" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "aligned-vec", "async-trait", @@ -3188,7 +3188,7 @@ dependencies = [ [[package]] name = "dora-download" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "eyre", "reqwest 0.12.15", @@ -3217,7 +3217,7 @@ dependencies = [ [[package]] name = "dora-kit-car" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "dotenv", @@ -3252,7 +3252,7 @@ dependencies = [ [[package]] name = "dora-metrics" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "eyre", "opentelemetry 0.28.0", @@ -3273,7 +3273,7 @@ dependencies = [ [[package]] name = "dora-node-api" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3298,7 +3298,7 @@ dependencies = [ [[package]] name = "dora-node-api-c" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow-array 54.2.1", "dora-node-api", @@ -3308,7 +3308,7 @@ dependencies = [ [[package]] name = "dora-node-api-cxx" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow 54.2.1", "cxx", @@ -3326,7 +3326,7 @@ dependencies = [ [[package]] name = "dora-node-api-python" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow 54.2.1", "dora-daemon", @@ -3346,7 +3346,7 @@ dependencies = [ [[package]] name = "dora-object-to-pose" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -3355,7 +3355,7 @@ dependencies = [ [[package]] name = "dora-openai-proxy-server" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "chrono", "dora-node-api", @@ -3376,7 +3376,7 @@ dependencies = [ [[package]] name = "dora-operator-api" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-arrow-convert", "dora-operator-api-macros", @@ -3385,14 +3385,14 @@ dependencies = [ [[package]] name = "dora-operator-api-c" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-operator-api-types", ] [[package]] name = "dora-operator-api-cxx" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "cxx", "cxx-build", @@ -3401,7 +3401,7 @@ dependencies = [ [[package]] name = "dora-operator-api-macros" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "proc-macro2", "quote", @@ -3410,7 +3410,7 @@ dependencies = [ [[package]] name = "dora-operator-api-python" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3426,7 +3426,7 @@ dependencies = [ [[package]] name = "dora-operator-api-types" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow 54.2.1", "dora-arrow-convert", @@ -3435,7 +3435,7 @@ dependencies = [ [[package]] name = "dora-rav1e" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "bytemuck", "dora-node-api", @@ -3446,7 +3446,7 @@ dependencies = [ [[package]] name = "dora-record" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "chrono", "dora-node-api", @@ -3458,7 +3458,7 @@ dependencies = [ [[package]] name = "dora-rerun" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "bytemuck", "chrono", @@ -3473,7 +3473,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "array-init", "dora-daemon", @@ -3496,7 +3496,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge-msg-gen" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "anyhow", "glob", @@ -3512,7 +3512,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge-python" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "arrow 54.2.1", "dora-ros2-bridge", @@ -3526,7 +3526,7 @@ dependencies = [ [[package]] name = "dora-runtime" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3554,7 +3554,7 @@ dependencies = [ [[package]] name = "dora-tracing" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "eyre", "opentelemetry 0.18.0", @@ -7038,7 +7038,7 @@ dependencies = [ [[package]] name = "multiple-daemons-example-node" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -7049,14 +7049,14 @@ dependencies = [ [[package]] name = "multiple-daemons-example-operator" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-operator-api", ] [[package]] name = "multiple-daemons-example-sink" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -11004,7 +11004,7 @@ checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430" [[package]] name = "receive_data" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "chrono", "dora-node-api", @@ -11473,7 +11473,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-node" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -11484,7 +11484,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-sink" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -11492,7 +11492,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-sink-dynamic" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -11500,7 +11500,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-status-node" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", @@ -11519,7 +11519,7 @@ dependencies = [ [[package]] name = "rust-ros2-dataflow-example-node" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "dora-ros2-bridge", @@ -12343,7 +12343,7 @@ dependencies = [ [[package]] name = "shared-memory-server" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "bincode", "eyre", @@ -13186,7 +13186,7 @@ dependencies = [ [[package]] name = "terminal-print" -version = "0.3.10" +version = "0.3.11-rc1" dependencies = [ "dora-node-api", "eyre", diff --git a/Cargo.toml b/Cargo.toml index d7a82e78..5d649dc5 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -49,33 +49,33 @@ members = [ [workspace.package] edition = "2021" # Make sure to also bump `apis/node/python/__init__.py` version. -version = "0.3.10" +version = "0.3.11-rc1" description = "`dora` goal is to be a low latency, composable, and distributed data flow." documentation = "https://dora.carsmos.ai" license = "Apache-2.0" repository = "https://github.com/dora-rs/dora/" [workspace.dependencies] -dora-node-api = { version = "0.3.10", path = "apis/rust/node", default-features = false } -dora-node-api-python = { version = "0.3.10", path = "apis/python/node", default-features = false } -dora-operator-api = { version = "0.3.10", path = "apis/rust/operator", default-features = false } -dora-operator-api-macros = { version = "0.3.10", path = "apis/rust/operator/macros" } -dora-operator-api-types = { version = "0.3.10", path = "apis/rust/operator/types" } -dora-operator-api-python = { version = "0.3.10", path = "apis/python/operator" } -dora-operator-api-c = { version = "0.3.10", path = "apis/c/operator" } -dora-node-api-c = { version = "0.3.10", path = "apis/c/node" } -dora-core = { version = "0.3.10", path = "libraries/core" } -dora-arrow-convert = { version = "0.3.10", path = "libraries/arrow-convert" } -dora-tracing = { version = "0.3.10", path = "libraries/extensions/telemetry/tracing" } -dora-metrics = { version = "0.3.10", path = "libraries/extensions/telemetry/metrics" } -dora-download = { version = "0.3.10", path = "libraries/extensions/download" } -shared-memory-server = { version = "0.3.10", path = "libraries/shared-memory-server" } -communication-layer-request-reply = { version = "0.3.10", path = "libraries/communication-layer/request-reply" } -dora-runtime = { version = "0.3.10", path = "binaries/runtime" } -dora-daemon = { version = "0.3.10", path = "binaries/daemon" } -dora-coordinator = { version = "0.3.10", path = "binaries/coordinator" } -dora-ros2-bridge = { version = "0.3.10", path = "libraries/extensions/ros2-bridge" } -dora-ros2-bridge-msg-gen = { version = "0.3.10", path = "libraries/extensions/ros2-bridge/msg-gen" } +dora-node-api = { version = "0.3.11-rc1", path = "apis/rust/node", default-features = false } +dora-node-api-python = { version = "0.3.11-rc1", path = "apis/python/node", default-features = false } +dora-operator-api = { version = "0.3.11-rc1", path = "apis/rust/operator", default-features = false } +dora-operator-api-macros = { version = "0.3.11-rc1", path = "apis/rust/operator/macros" } +dora-operator-api-types = { version = "0.3.11-rc1", path = "apis/rust/operator/types" } +dora-operator-api-python = { version = "0.3.11-rc1", path = "apis/python/operator" } +dora-operator-api-c = { version = "0.3.11-rc1", path = "apis/c/operator" } +dora-node-api-c = { version = "0.3.11-rc1", path = "apis/c/node" } +dora-core = { version = "0.3.11-rc1", path = "libraries/core" } +dora-arrow-convert = { version = "0.3.11-rc1", path = "libraries/arrow-convert" } +dora-tracing = { version = "0.3.11-rc1", path = "libraries/extensions/telemetry/tracing" } +dora-metrics = { version = "0.3.11-rc1", path = "libraries/extensions/telemetry/metrics" } +dora-download = { version = "0.3.11-rc1", path = "libraries/extensions/download" } +shared-memory-server = { version = "0.3.11-rc1", path = "libraries/shared-memory-server" } +communication-layer-request-reply = { version = "0.3.11-rc1", path = "libraries/communication-layer/request-reply" } +dora-runtime = { version = "0.3.11-rc1", path = "binaries/runtime" } +dora-daemon = { version = "0.3.11-rc1", path = "binaries/daemon" } +dora-coordinator = { version = "0.3.11-rc1", path = "binaries/coordinator" } +dora-ros2-bridge = { version = "0.3.11-rc1", path = "libraries/extensions/ros2-bridge" } +dora-ros2-bridge-msg-gen = { version = "0.3.11-rc1", path = "libraries/extensions/ros2-bridge/msg-gen" } dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" } # versioned independently from the other dora crates dora-message = { version = "0.4.4", path = "libraries/message" } @@ -91,6 +91,14 @@ pyo3 = { version = "0.23", features = [ ] } pythonize = "0.23" +[workspace.metadata.cross.target.x86_64-unknown-linux-gnu] +pre-build = [ + "dpkg --add-architecture $CROSS_DEB_ARCH", + "apt update", + # for tls + "apt install --assume-yes nasm", +] + [package] name = "dora-examples" version = "0.0.0" @@ -100,6 +108,7 @@ publish = false [features] +# Install libssl-dev:arm64, see # enables examples that depend on a sourced ROS2 installation ros2-examples = [] diff --git a/node-hub/dora-argotranslate/pyproject.toml b/node-hub/dora-argotranslate/pyproject.toml index 407e711f..d94b4692 100644 --- a/node-hub/dora-argotranslate/pyproject.toml +++ b/node-hub/dora-argotranslate/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-argotranslate" -version = "0.3.10" +version = "0.3.11-rc1" description = "Dora Node for Text translating using Argostranslate" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index 7e4d934a..b0138b19 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-distil-whisper" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-echo/pyproject.toml b/node-hub/dora-echo/pyproject.toml index 210f3275..1b68896b 100644 --- a/node-hub/dora-echo/pyproject.toml +++ b/node-hub/dora-echo/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-echo" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-internvl/pyproject.toml b/node-hub/dora-internvl/pyproject.toml index d3db849a..15855a4f 100644 --- a/node-hub/dora-internvl/pyproject.toml +++ b/node-hub/dora-internvl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-internvl" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index 0d6ed453..3985b977 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-ios-lidar" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-ios-lidar" license = { text = "MIT" } diff --git a/node-hub/dora-keyboard/pyproject.toml b/node-hub/dora-keyboard/pyproject.toml index b1bd5abb..98b55763 100644 --- a/node-hub/dora-keyboard/pyproject.toml +++ b/node-hub/dora-keyboard/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-keyboard" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-kokoro-tts/pyproject.toml b/node-hub/dora-kokoro-tts/pyproject.toml index 6d6f415b..d318ef01 100644 --- a/node-hub/dora-kokoro-tts/pyproject.toml +++ b/node-hub/dora-kokoro-tts/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-kokoro-tts" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-kokoro-tts" license = { text = "MIT" } diff --git a/node-hub/dora-microphone/pyproject.toml b/node-hub/dora-microphone/pyproject.toml index 92a23a5e..b773426d 100644 --- a/node-hub/dora-microphone/pyproject.toml +++ b/node-hub/dora-microphone/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-microphone" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-object-to-pose/Cargo.toml b/node-hub/dora-object-to-pose/Cargo.toml index 8ecfd24d..0c48a4ff 100644 --- a/node-hub/dora-object-to-pose/Cargo.toml +++ b/node-hub/dora-object-to-pose/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "dora-object-to-pose" -version = "0.3.10" +version = "0.3.11-rc1" edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html diff --git a/node-hub/dora-openai-server/pyproject.toml b/node-hub/dora-openai-server/pyproject.toml index 0cfd1d5f..1c5b96d2 100644 --- a/node-hub/dora-openai-server/pyproject.toml +++ b/node-hub/dora-openai-server/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-openai-server" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index 30252328..f8eef04f 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-opus" -version = "0.3.10" +version = "0.3.11-rc1" description = "Dora Node for Text translating using Opus" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, diff --git a/node-hub/dora-opus/uv.lock 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b/node-hub/dora-parler/pyproject.toml index bb769187..dea3e9ae 100644 --- a/node-hub/dora-parler/pyproject.toml +++ b/node-hub/dora-parler/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-parler" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-piper/pyproject.toml b/node-hub/dora-piper/pyproject.toml index ba533039..3f94e772 100644 --- a/node-hub/dora-piper/pyproject.toml +++ b/node-hub/dora-piper/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-piper" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for using Agilex piper" license = { text = "MIT" } diff --git a/node-hub/dora-pyaudio/pyproject.toml b/node-hub/dora-pyaudio/pyproject.toml index ee312a6e..7b845f8b 100644 --- a/node-hub/dora-pyaudio/pyproject.toml +++ b/node-hub/dora-pyaudio/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyaudio" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] license = { text = "MIT" } readme = "README.md" diff --git a/node-hub/dora-pyorbbecksdk/pyproject.toml b/node-hub/dora-pyorbbecksdk/pyproject.toml index 93010ea5..1a314a75 100644 --- a/node-hub/dora-pyorbbecksdk/pyproject.toml +++ b/node-hub/dora-pyorbbecksdk/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyorbbecksdk" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Xiang Yang", email = "Ryu-Yang@qq.com" }, diff --git a/node-hub/dora-pyrealsense/pyproject.toml b/node-hub/dora-pyrealsense/pyproject.toml index 03c58ae5..6326f74e 100644 --- a/node-hub/dora-pyrealsense/pyproject.toml +++ b/node-hub/dora-pyrealsense/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyrealsense" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for capturing video with Pyrealsense" license = { text = "MIT" } diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index 4863b21a..5b24b3ff 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwen" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-qwen" license = { text = "MIT" } diff --git a/node-hub/dora-qwen2-5-vl/pyproject.toml b/node-hub/dora-qwen2-5-vl/pyproject.toml index b6f98825..b08998a8 100644 --- a/node-hub/dora-qwen2-5-vl/pyproject.toml +++ b/node-hub/dora-qwen2-5-vl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwen2-5-vl" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml index cbeeebdb..e834c188 100644 --- a/node-hub/dora-qwenvl/pyproject.toml +++ b/node-hub/dora-qwenvl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwenvl" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-rdt-1b/pyproject.toml b/node-hub/dora-rdt-1b/pyproject.toml index b40d37be..6fdddd01 100644 --- a/node-hub/dora-rdt-1b/pyproject.toml +++ b/node-hub/dora-rdt-1b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-rdt-1b" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for RDT 1B" license = { text = "MIT" } diff --git a/node-hub/dora-reachy2/pyproject.toml b/node-hub/dora-reachy2/pyproject.toml index 76f276f1..fe2c9f9a 100644 --- a/node-hub/dora-reachy2/pyproject.toml +++ b/node-hub/dora-reachy2/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-reachy2" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-reachy2" license = { text = "MIT" } diff --git a/node-hub/dora-sam2/pyproject.toml b/node-hub/dora-sam2/pyproject.toml index 864b18de..9cced4d3 100644 --- a/node-hub/dora-sam2/pyproject.toml +++ b/node-hub/dora-sam2/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-sam2" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-sam2" license = { text = "MIT" } diff --git a/node-hub/dora-ugv/pyproject.toml b/node-hub/dora-ugv/pyproject.toml index 72c473ea..316a9377 100644 --- a/node-hub/dora-ugv/pyproject.toml +++ b/node-hub/dora-ugv/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-ugv" -version = "0.3.10" +version = "0.3.11-rc1" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for using Agilex UGV" license = { text = "MIT" } diff --git a/node-hub/dora-vad/pyproject.toml b/node-hub/dora-vad/pyproject.toml index 283d9bc1..02cd83a6 100644 --- a/node-hub/dora-vad/pyproject.toml +++ b/node-hub/dora-vad/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-vad" -version = "0.3.10" +version = "0.3.11-rc1" description = "Dora Node for Text translating using Argostranslate" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] license = { text = "MIT" } diff --git a/node-hub/dora-yolo/pyproject.toml b/node-hub/dora-yolo/pyproject.toml index 1b859787..65e7e879 100644 --- a/node-hub/dora-yolo/pyproject.toml +++ b/node-hub/dora-yolo/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-yolo" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/llama-factory-recorder/pyproject.toml b/node-hub/llama-factory-recorder/pyproject.toml index 8651f518..53a54199 100644 --- a/node-hub/llama-factory-recorder/pyproject.toml +++ b/node-hub/llama-factory-recorder/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "llama-factory-recorder" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index 15c58b01..cc9c73f4 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "opencv-plot" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/opencv-video-capture/pyproject.toml b/node-hub/opencv-video-capture/pyproject.toml index 4f51666c..1c761d94 100644 --- a/node-hub/opencv-video-capture/pyproject.toml +++ b/node-hub/opencv-video-capture/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "opencv-video-capture" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/pyarrow-assert/pyproject.toml b/node-hub/pyarrow-assert/pyproject.toml index 0f3e5f69..1095deb0 100644 --- a/node-hub/pyarrow-assert/pyproject.toml +++ b/node-hub/pyarrow-assert/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyarrow-assert" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/pyarrow-sender/pyproject.toml b/node-hub/pyarrow-sender/pyproject.toml index d1e2c66d..94587c8f 100644 --- a/node-hub/pyarrow-sender/pyproject.toml +++ b/node-hub/pyarrow-sender/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyarrow-sender" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/terminal-input/pyproject.toml b/node-hub/terminal-input/pyproject.toml index b194a124..4c9069de 100644 --- a/node-hub/terminal-input/pyproject.toml +++ b/node-hub/terminal-input/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "terminal-input" -version = "0.3.10" +version = "0.3.11-rc1" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, From 56380d181e71f6cf7a4eef85389eecd97980ebf4 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 18:54:47 +0200 Subject: [PATCH 036/135] Add missing build step --- .github/workflows/node_hub_test.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 58107162..8e558f6b 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -96,6 +96,7 @@ else uv run pytest fi if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then + uv build uv publish --check-url https://pypi.org/simple fi fi From 53d6b61839a2118ff8d7ea9e23ee818e5c5f91e6 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 19:03:29 +0200 Subject: [PATCH 037/135] Push dav1d and rav1e on pypi --- Cargo.lock | 2 + node-hub/dora-dav1d/Cargo.toml | 16 ++ node-hub/dora-dav1d/pyproject.toml | 30 +++ node-hub/dora-dav1d/src/lib.rs | 129 ++++++++++ node-hub/dora-dav1d/src/main.rs | 109 +-------- node-hub/dora-rav1e/Cargo.toml | 17 ++ node-hub/dora-rav1e/pyproject.toml | 30 +++ node-hub/dora-rav1e/src/lib.rs | 371 +++++++++++++++++++++++++++++ node-hub/dora-rav1e/src/main.rs | 351 +-------------------------- 9 files changed, 599 insertions(+), 456 deletions(-) create mode 100644 node-hub/dora-dav1d/pyproject.toml create mode 100644 node-hub/dora-dav1d/src/lib.rs create mode 100644 node-hub/dora-rav1e/pyproject.toml create mode 100644 node-hub/dora-rav1e/src/lib.rs diff --git a/Cargo.lock b/Cargo.lock index edea5544..4001c410 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3183,6 +3183,7 @@ dependencies = [ "dora-node-api", "eyre", "log", + "pyo3", "structopt", ] @@ -3441,6 +3442,7 @@ dependencies = [ "dora-node-api", "eyre", "log", + "pyo3", "rav1e", ] diff --git a/node-hub/dora-dav1d/Cargo.toml b/node-hub/dora-dav1d/Cargo.toml index af76e7e6..a0475f23 100644 --- a/node-hub/dora-dav1d/Cargo.toml +++ b/node-hub/dora-dav1d/Cargo.toml @@ -4,6 +4,10 @@ edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +[features] +default = [] +python = ["pyo3"] + [dependencies] dav1d = "0.10" bitstream-io = "2.0" @@ -12,3 +16,15 @@ structopt = "0.3" dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" bytemuck = "1.7.0" +pyo3 = { workspace = true, features = [ + "extension-module", + "abi3", + "eyre", + "generate-import-lib", +], optional = true } + + +[lib] +name = "dora_dav1d" +path = "src/lib.rs" +crate-type = ["lib", "cdylib"] diff --git a/node-hub/dora-dav1d/pyproject.toml b/node-hub/dora-dav1d/pyproject.toml new file mode 100644 index 00000000..e11909e7 --- /dev/null +++ b/node-hub/dora-dav1d/pyproject.toml @@ -0,0 +1,30 @@ +[build-system] +requires = ["maturin>=0.13.2"] +build-backend = "maturin" + +[project] +name = "dora-dav1d" +dynamic = ["version"] +license = { text = "MIT" } +requires-python = ">=3.8" + +dependencies = [ + "maturin>=1.8.2", +] + +scripts = { "dora-dav1d" = "dora_dav1d:py_main" } + +[tool.maturin] +features = ["python", "pyo3/extension-module"] + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP", # Ruff's UP rule + "PERF", # Ruff's PERF rule + "RET", # Ruff's RET rule + "RSE", # Ruff's RSE rule + "NPY", # Ruff's NPY rule + "N", # Ruff's N rule + "I", # Ruff's I rule +] diff --git a/node-hub/dora-dav1d/src/lib.rs b/node-hub/dora-dav1d/src/lib.rs new file mode 100644 index 00000000..6f019381 --- /dev/null +++ b/node-hub/dora-dav1d/src/lib.rs @@ -0,0 +1,129 @@ +use dav1d::Settings; +use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; +use eyre::{Context, Result}; +use log::warn; + +fn yuv420_to_bgr( + y_plane: &[u8], + u_plane: &[u8], + v_plane: &[u8], + width: u32, + height: u32, +) -> Vec { + let width = width as usize; + let height = height as usize; + let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer + + for j in 0..height { + for i in 0..width { + let y_idx = j * width + i; // Index in Y plane + let uv_idx = (j / 2) * (width / 2) + (i / 2); // Index in U/V planes + + let y = y_plane[y_idx] as f32; + let u = u_plane[uv_idx] as f32 - 128.0; + let v = v_plane[uv_idx] as f32 - 128.0; + + // Convert YUV to RGB using BT.601 standard formula + let r = (y + 1.402 * v).clamp(0.0, 255.0) as u8; + let g = (y - 0.344136 * u - 0.714136 * v).clamp(0.0, 255.0) as u8; + let b = (y + 1.772 * u).clamp(0.0, 255.0) as u8; + + // Set the RGB values in the output buffer + let rgb_idx = y_idx * 3; + rgb_data[rgb_idx] = b; + rgb_data[rgb_idx + 1] = g; + rgb_data[rgb_idx + 2] = r; + } + } + + rgb_data +} + +pub fn lib_main() -> Result<()> { + let mut settings = Settings::new(); + // settings.set_n_threads(16); + settings.set_max_frame_delay(1); + let mut dec = + dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); + + let (mut node, mut events) = + DoraNode::init_from_env().context("Could not initialize dora node")?; + + loop { + match events.recv() { + Some(Event::Input { + id, + data, + mut metadata, + }) => { + if let Some(data) = data.as_any().downcast_ref::() { + let data = data.values().clone(); + match dec.send_data(data, None, None, None) { + Err(e) => { + warn!("Error sending data to the decoder: {}", e); + } + Ok(()) => { + if let Ok(p) = dec.get_picture() { + match p.pixel_layout() { + dav1d::PixelLayout::I420 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let u = p.plane(dav1d::PlanarImageComponent::U); + let v = p.plane(dav1d::PlanarImageComponent::V); + let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height()); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("bgr8".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + dav1d::PixelLayout::I400 => { + let y = p.plane(dav1d::PlanarImageComponent::Y); + let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); + let arrow = vec16.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String("mono16".to_string()), + ); + node.send_output(id, metadata.parameters, arrow).unwrap(); + } + _ => { + warn!("Unsupported pixel layout"); + continue; + } + }; + } + } + } + } else { + warn!("Unsupported data type {}", data.data_type()); + continue; + } + } + None => break, + Some(_) => break, + } + } + Ok(()) +} + +#[cfg(feature = "python")] +use pyo3::{ + pyfunction, pymodule, + types::{PyModule, PyModuleMethods}, + wrap_pyfunction, Bound, PyResult, Python, +}; + +#[cfg(feature = "python")] +#[pyfunction] +fn py_main(_py: Python) -> eyre::Result<()> { + lib_main() +} + +#[cfg(feature = "python")] +#[pymodule] +fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { + m.add_function(wrap_pyfunction!(py_main, &m)?)?; + m.add("__version__", env!("CARGO_PKG_VERSION"))?; + Ok(()) +} diff --git a/node-hub/dora-dav1d/src/main.rs b/node-hub/dora-dav1d/src/main.rs index a31b48ed..ecebf969 100644 --- a/node-hub/dora-dav1d/src/main.rs +++ b/node-hub/dora-dav1d/src/main.rs @@ -1,108 +1,3 @@ -use dav1d::Settings; -use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; -use eyre::{Context, Result}; -use log::warn; - -fn yuv420_to_bgr( - y_plane: &[u8], - u_plane: &[u8], - v_plane: &[u8], - width: u32, - height: u32, -) -> Vec { - let width = width as usize; - let height = height as usize; - let mut rgb_data = vec![0u8; width * height * 3]; // Output RGB data buffer - - for j in 0..height { - for i in 0..width { - let y_idx = j * width + i; // Index in Y plane - let uv_idx = (j / 2) * (width / 2) + (i / 2); // Index in U/V planes - - let y = y_plane[y_idx] as f32; - let u = u_plane[uv_idx] as f32 - 128.0; - let v = v_plane[uv_idx] as f32 - 128.0; - - // Convert YUV to RGB using BT.601 standard formula - let r = (y + 1.402 * v).clamp(0.0, 255.0) as u8; - let g = (y - 0.344136 * u - 0.714136 * v).clamp(0.0, 255.0) as u8; - let b = (y + 1.772 * u).clamp(0.0, 255.0) as u8; - - // Set the RGB values in the output buffer - let rgb_idx = y_idx * 3; - rgb_data[rgb_idx] = b; - rgb_data[rgb_idx + 1] = g; - rgb_data[rgb_idx + 2] = r; - } - } - - rgb_data -} - -fn main() -> Result<()> { - let mut settings = Settings::new(); - // settings.set_n_threads(16); - settings.set_max_frame_delay(1); - let mut dec = - dav1d::Decoder::with_settings(&settings).expect("failed to create decoder instance"); - - let (mut node, mut events) = - DoraNode::init_from_env().context("Could not initialize dora node")?; - - loop { - match events.recv() { - Some(Event::Input { - id, - data, - mut metadata, - }) => { - if let Some(data) = data.as_any().downcast_ref::() { - let data = data.values().clone(); - match dec.send_data(data, None, None, None) { - Err(e) => { - warn!("Error sending data to the decoder: {}", e); - } - Ok(()) => { - if let Ok(p) = dec.get_picture() { - match p.pixel_layout() { - dav1d::PixelLayout::I420 => { - let y = p.plane(dav1d::PlanarImageComponent::Y); - let u = p.plane(dav1d::PlanarImageComponent::U); - let v = p.plane(dav1d::PlanarImageComponent::V); - let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height()); - let arrow = y.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("bgr8".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); - } - dav1d::PixelLayout::I400 => { - let y = p.plane(dav1d::PlanarImageComponent::Y); - let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); - let arrow = vec16.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("mono16".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); - } - _ => { - warn!("Unsupported pixel layout"); - continue; - } - }; - } - } - } - } else { - warn!("Unsupported data type {}", data.data_type()); - continue; - } - } - None => break, - Some(_) => break, - } - } - Ok(()) +fn main() -> eyre::Result<()> { + dora_dav1d::lib_main() } diff --git a/node-hub/dora-rav1e/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml index cdd4249e..20f54934 100644 --- a/node-hub/dora-rav1e/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -9,9 +9,26 @@ repository.workspace = true # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +[features] +default = [] +python = ["pyo3"] + [dependencies] rav1e = { version = "0.7.1", features = ["serialize"] } dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" log = "0.4" bytemuck = "1.20" +pyo3 = { workspace = true, features = [ + "extension-module", + "abi3", + "eyre", + "generate-import-lib", +], optional = true } + + +[lib] +name = "dora_rav1e" +path = "src/lib.rs" +crate-type = ["lib", "cdylib"] + diff --git a/node-hub/dora-rav1e/pyproject.toml b/node-hub/dora-rav1e/pyproject.toml new file mode 100644 index 00000000..d5aed30a --- /dev/null +++ b/node-hub/dora-rav1e/pyproject.toml @@ -0,0 +1,30 @@ +[build-system] +requires = ["maturin>=0.13.2"] +build-backend = "maturin" + +[project] +name = "dora-rav1e" +dynamic = ["version"] +license = { text = "MIT" } +requires-python = ">=3.8" + +dependencies = [ + "maturin>=1.8.2", +] + +scripts = { "dora-rav1e" = "dora_rav1e:py_main" } + +[tool.maturin] +features = ["python", "pyo3/extension-module"] + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP", # Ruff's UP rule + "PERF", # Ruff's PERF rule + "RET", # Ruff's RET rule + "RSE", # Ruff's RSE rule + "NPY", # Ruff's NPY rule + "N", # Ruff's N rule + "I", # Ruff's I rule +] diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs new file mode 100644 index 00000000..149b39f7 --- /dev/null +++ b/node-hub/dora-rav1e/src/lib.rs @@ -0,0 +1,371 @@ +// Copyright (c) 2019-2022, The rav1e contributors. All rights reserved +// +// This source code is subject to the terms of the BSD 2 Clause License and +// the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License +// was not distributed with this source code in the LICENSE file, you can +// obtain it at www.aomedia.org/license/software. If the Alliance for Open +// Media Patent License 1.0 was not distributed with this source code in the +// PATENTS file, you can obtain it at www.aomedia.org/license/patent. + +use std::env::var; + +use dora_node_api::arrow::array::{UInt16Array, UInt8Array}; +use dora_node_api::{DoraNode, Event, IntoArrow, Parameter}; +use eyre::{Context as EyreContext, Result}; +use log::warn; +// Encode the same tiny blank frame 30 times +use rav1e::config::SpeedSettings; + +use rav1e::*; + +fn bgr8_to_yuv420(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { + let mut y_plane = vec![0; width * height]; + let mut u_plane = vec![0; (width / 2) * (height / 2)]; + let mut v_plane = vec![0; (width / 2) * (height / 2)]; + + for y in 0..height { + for x in 0..width { + let bgr_index = (y * width + x) * 3; + let b = bgr_data[bgr_index] as f32; + let g = bgr_data[bgr_index + 1] as f32; + let r = bgr_data[bgr_index + 2] as f32; + + // Corrected YUV conversion formulas + let y_value = (0.299 * r + 0.587 * g + 0.114 * b).clamp(0.0, 255.0); + let u_value = (-0.14713 * r - 0.28886 * g + 0.436 * b + 128.0).clamp(0.0, 255.0); + let v_value = (0.615 * r - 0.51499 * g - 0.10001 * b + 128.0).clamp(0.0, 255.0); + + let y_index = y * width + x; + y_plane[y_index] = y_value.round() as u8; + + if x % 2 == 0 && y % 2 == 0 { + let uv_index = (y / 2) * (width / 2) + (x / 2); + u_plane[uv_index] = u_value.round() as u8; + v_plane[uv_index] = v_value.round() as u8; + } + } + } + + (y_plane, u_plane, v_plane) +} + +fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], &[u8]) { + // Calculate sizes of Y, U, and V planes for YUV420 format + let y_size = width * height; // Y has full resolution + let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions + let uv_height = height / 2; // U and V are subsampled by 2 in both dimensions + let uv_size = uv_width * uv_height; // Size for U and V planes + + // Ensure the buffer has the correct size + // if buffer.len() != y_size + 2 * uv_size { + // panic!("Invalid buffer size for the given width and height!"); + // } + + // Extract Y, U, and V planes + let y_plane = &buffer[0..y_size]; //.to_vec(); + let u_plane = &buffer[y_size..y_size + uv_size]; //.to_vec(); + let v_plane = &buffer[y_size + uv_size..]; //.to_vec(); + + (y_plane, u_plane, v_plane) +} + +pub fn lib_main() -> Result<()> { + let mut height = std::env::var("IMAGE_HEIGHT") + .unwrap_or_else(|_| "480".to_string()) + .parse() + .unwrap(); + let mut width = std::env::var("IMAGE_WIDTH") + .unwrap_or_else(|_| "640".to_string()) + .parse() + .unwrap(); + let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10); + let mut enc = EncoderConfig { + width, + height, + speed_settings: SpeedSettings::from_preset(speed), + low_latency: true, + ..Default::default() + }; + let cfg = Config::new().with_encoder_config(enc.clone()); + cfg.validate()?; + + let (mut node, mut events) = + DoraNode::init_from_env().context("Could not initialize dora node")?; + + loop { + match events.recv() { + Some(Event::Input { + id, + data, + mut metadata, + }) => { + if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") { + height = *h as usize; + }; + if let Some(Parameter::Integer(w)) = metadata.parameters.get("width") { + width = *w as usize; + }; + let encoding = if let Some(Parameter::String(encoding)) = + metadata.parameters.get("encoding") + { + encoding + } else { + "bgr8" + }; + enc = EncoderConfig { + width, + height, + speed_settings: SpeedSettings::from_preset(speed), + low_latency: true, + ..Default::default() + }; + match encoding { + "mono16" => { + enc.bit_depth = 12; + enc.chroma_sampling = color::ChromaSampling::Cs400; + } + _ => {} + } + + let cfg = Config::new().with_encoder_config(enc.clone()); + if encoding == "bgr8" { + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: Vec = buffer.values().to_vec(); + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + + // Transpose values from BGR to RGB + // let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); + + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + continue; + } + _ => { + warn!("Unable to send frame "); + continue; + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + } else if encoding == "yuv420" { + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer = buffer.values(); //.to_vec(); + + let (y, u, v) = get_yuv_planes(buffer, width, height); + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + } else if encoding == "mono16" { + let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); + let buffer: &[u16] = buffer.values(); + // let buffer = shift_u16_slice_to_upper_12_bits(buffer); + let bytes: &[u8] = &bytemuck::cast_slice(&buffer); + + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit. + f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + } else if encoding == "rgb8" { + let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); + let buffer: Vec = buffer.values().to_vec(); + let buffer: Vec = + buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + + // Transpose values from BGR to RGB + + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + continue; + } + _ => { + warn!("Unable to send frame "); + continue; + } + }, + } + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } + } else { + unimplemented!("We haven't worked on additional encodings."); + } + } + Some(Event::Error(_e)) => { + continue; + } + _ => break, + }; + } + + Ok(()) +} + +#[cfg(feature = "python")] +use pyo3::{ + pyfunction, pymodule, + types::{PyModule, PyModuleMethods}, + wrap_pyfunction, Bound, PyResult, Python, +}; + +#[cfg(feature = "python")] +#[pyfunction] +fn py_main(_py: Python) -> eyre::Result<()> { + lib_main() +} + +#[cfg(feature = "python")] +#[pymodule] +fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { + m.add_function(wrap_pyfunction!(py_main, &m)?)?; + m.add("__version__", env!("CARGO_PKG_VERSION"))?; + Ok(()) +} diff --git a/node-hub/dora-rav1e/src/main.rs b/node-hub/dora-rav1e/src/main.rs index 076bee23..2e0f8be9 100644 --- a/node-hub/dora-rav1e/src/main.rs +++ b/node-hub/dora-rav1e/src/main.rs @@ -1,350 +1,3 @@ -// Copyright (c) 2019-2022, The rav1e contributors. All rights reserved -// -// This source code is subject to the terms of the BSD 2 Clause License and -// the Alliance for Open Media Patent License 1.0. If the BSD 2 Clause License -// was not distributed with this source code in the LICENSE file, you can -// obtain it at www.aomedia.org/license/software. If the Alliance for Open -// Media Patent License 1.0 was not distributed with this source code in the -// PATENTS file, you can obtain it at www.aomedia.org/license/patent. - -use std::env::var; - -use dora_node_api::arrow::array::{UInt16Array, UInt8Array}; -use dora_node_api::{DoraNode, Event, IntoArrow, Parameter}; -use eyre::{Context as EyreContext, Result}; -use log::warn; -// Encode the same tiny blank frame 30 times -use rav1e::config::SpeedSettings; - -use rav1e::*; - -fn bgr8_to_yuv420(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { - let mut y_plane = vec![0; width * height]; - let mut u_plane = vec![0; (width / 2) * (height / 2)]; - let mut v_plane = vec![0; (width / 2) * (height / 2)]; - - for y in 0..height { - for x in 0..width { - let bgr_index = (y * width + x) * 3; - let b = bgr_data[bgr_index] as f32; - let g = bgr_data[bgr_index + 1] as f32; - let r = bgr_data[bgr_index + 2] as f32; - - // Corrected YUV conversion formulas - let y_value = (0.299 * r + 0.587 * g + 0.114 * b).clamp(0.0, 255.0); - let u_value = (-0.14713 * r - 0.28886 * g + 0.436 * b + 128.0).clamp(0.0, 255.0); - let v_value = (0.615 * r - 0.51499 * g - 0.10001 * b + 128.0).clamp(0.0, 255.0); - - let y_index = y * width + x; - y_plane[y_index] = y_value.round() as u8; - - if x % 2 == 0 && y % 2 == 0 { - let uv_index = (y / 2) * (width / 2) + (x / 2); - u_plane[uv_index] = u_value.round() as u8; - v_plane[uv_index] = v_value.round() as u8; - } - } - } - - (y_plane, u_plane, v_plane) -} - -fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], &[u8]) { - // Calculate sizes of Y, U, and V planes for YUV420 format - let y_size = width * height; // Y has full resolution - let uv_width = width / 2; // U and V are subsampled by 2 in both dimensions - let uv_height = height / 2; // U and V are subsampled by 2 in both dimensions - let uv_size = uv_width * uv_height; // Size for U and V planes - - // Ensure the buffer has the correct size - // if buffer.len() != y_size + 2 * uv_size { - // panic!("Invalid buffer size for the given width and height!"); - // } - - // Extract Y, U, and V planes - let y_plane = &buffer[0..y_size]; //.to_vec(); - let u_plane = &buffer[y_size..y_size + uv_size]; //.to_vec(); - let v_plane = &buffer[y_size + uv_size..]; //.to_vec(); - - (y_plane, u_plane, v_plane) -} - -fn main() -> Result<()> { - let mut height = std::env::var("IMAGE_HEIGHT") - .unwrap_or_else(|_| "480".to_string()) - .parse() - .unwrap(); - let mut width = std::env::var("IMAGE_WIDTH") - .unwrap_or_else(|_| "640".to_string()) - .parse() - .unwrap(); - let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10); - let mut enc = EncoderConfig { - width, - height, - speed_settings: SpeedSettings::from_preset(speed), - low_latency: true, - ..Default::default() - }; - let cfg = Config::new().with_encoder_config(enc.clone()); - cfg.validate()?; - - let (mut node, mut events) = - DoraNode::init_from_env().context("Could not initialize dora node")?; - - loop { - match events.recv() { - Some(Event::Input { - id, - data, - mut metadata, - }) => { - if let Some(Parameter::Integer(h)) = metadata.parameters.get("height") { - height = *h as usize; - }; - if let Some(Parameter::Integer(w)) = metadata.parameters.get("width") { - width = *w as usize; - }; - let encoding = if let Some(Parameter::String(encoding)) = - metadata.parameters.get("encoding") - { - encoding - } else { - "bgr8" - }; - enc = EncoderConfig { - width, - height, - speed_settings: SpeedSettings::from_preset(speed), - low_latency: true, - ..Default::default() - }; - match encoding { - "mono16" => { - enc.bit_depth = 12; - enc.chroma_sampling = color::ChromaSampling::Cs400; - } - _ => {} - } - - let cfg = Config::new().with_encoder_config(enc.clone()); - if encoding == "bgr8" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: Vec = buffer.values().to_vec(); - let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - - // Transpose values from BGR to RGB - // let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); - - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - continue; - } - _ => { - warn!("Unable to send frame "); - continue; - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } - } else if encoding == "yuv420" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer = buffer.values(); //.to_vec(); - - let (y, u, v) = get_yuv_planes(buffer, width, height); - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - } - _ => { - warn!("Unable to send frame "); - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } - } else if encoding == "mono16" { - let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); - let buffer: &[u16] = buffer.values(); - // let buffer = shift_u16_slice_to_upper_12_bits(buffer); - let bytes: &[u8] = &bytemuck::cast_slice(&buffer); - - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit. - f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - } - _ => { - warn!("Unable to send frame "); - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } - } else if encoding == "rgb8" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: Vec = buffer.values().to_vec(); - let buffer: Vec = - buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); - let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - - // Transpose values from BGR to RGB - - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - continue; - } - _ => { - warn!("Unable to send frame "); - continue; - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } - } else { - unimplemented!("We haven't worked on additional encodings."); - } - } - Some(Event::Error(_e)) => { - continue; - } - _ => break, - }; - } - - Ok(()) +fn main() -> eyre::Result<()> { + dora_rav1e::lib_main() } From 423c618762e5ad358be7d3f5ff982b4a4924623f Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 22:31:46 +0200 Subject: [PATCH 038/135] Bump dora to `0.3.11` --- Cargo.lock | 86 +++++++++---------- Cargo.toml | 51 +++++------ node-hub/dora-argotranslate/pyproject.toml | 2 +- node-hub/dora-distil-whisper/pyproject.toml | 2 +- node-hub/dora-echo/pyproject.toml | 2 +- node-hub/dora-internvl/pyproject.toml | 2 +- node-hub/dora-ios-lidar/pyproject.toml | 2 +- node-hub/dora-keyboard/pyproject.toml | 2 +- node-hub/dora-kokoro-tts/pyproject.toml | 2 +- node-hub/dora-microphone/pyproject.toml | 2 +- node-hub/dora-object-to-pose/Cargo.toml | 2 +- node-hub/dora-openai-server/pyproject.toml | 2 +- node-hub/dora-opus/pyproject.toml | 2 +- node-hub/dora-outtetts/pyproject.toml | 2 +- node-hub/dora-parler/pyproject.toml | 2 +- node-hub/dora-piper/pyproject.toml | 2 +- node-hub/dora-pyaudio/pyproject.toml | 2 +- node-hub/dora-pyorbbecksdk/pyproject.toml | 2 +- node-hub/dora-pyrealsense/pyproject.toml | 2 +- node-hub/dora-qwen/pyproject.toml | 2 +- node-hub/dora-qwen2-5-vl/pyproject.toml | 2 +- node-hub/dora-qwenvl/pyproject.toml | 2 +- node-hub/dora-rdt-1b/pyproject.toml | 2 +- node-hub/dora-reachy2/pyproject.toml | 2 +- node-hub/dora-sam2/pyproject.toml | 2 +- node-hub/dora-ugv/pyproject.toml | 2 +- node-hub/dora-vad/pyproject.toml | 2 +- node-hub/dora-yolo/pyproject.toml | 2 +- .../llama-factory-recorder/pyproject.toml | 2 +- node-hub/opencv-plot/pyproject.toml | 2 +- node-hub/opencv-video-capture/pyproject.toml | 2 +- node-hub/pyarrow-assert/pyproject.toml | 2 +- node-hub/pyarrow-sender/pyproject.toml | 2 +- node-hub/terminal-input/pyproject.toml | 2 +- 34 files changed, 96 insertions(+), 105 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 4001c410..b4355a4d 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1481,7 +1481,7 @@ dependencies = [ [[package]] name = "benchmark-example-node" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -1494,7 +1494,7 @@ dependencies = [ [[package]] name = "benchmark-example-sink" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -2267,7 +2267,7 @@ dependencies = [ [[package]] name = "communication-layer-pub-sub" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "flume 0.10.14", "zenoh 0.7.0-rc", @@ -2275,7 +2275,7 @@ dependencies = [ [[package]] name = "communication-layer-request-reply" -version = "0.3.11-rc1" +version = "0.3.11" [[package]] name = "concurrent-queue" @@ -3052,7 +3052,7 @@ dependencies = [ [[package]] name = "dora-arrow-convert" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow 54.2.1", "chrono", @@ -3063,7 +3063,7 @@ dependencies = [ [[package]] name = "dora-cli" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "bat", "clap 4.5.32", @@ -3102,7 +3102,7 @@ dependencies = [ [[package]] name = "dora-coordinator" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "ctrlc", "dora-core", @@ -3123,7 +3123,7 @@ dependencies = [ [[package]] name = "dora-core" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-message", "eyre", @@ -3142,7 +3142,7 @@ dependencies = [ [[package]] name = "dora-daemon" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "aligned-vec", "async-trait", @@ -3189,7 +3189,7 @@ dependencies = [ [[package]] name = "dora-download" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "eyre", "reqwest 0.12.15", @@ -3218,7 +3218,7 @@ dependencies = [ [[package]] name = "dora-kit-car" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "dotenv", @@ -3253,7 +3253,7 @@ dependencies = [ [[package]] name = "dora-metrics" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "eyre", "opentelemetry 0.28.0", @@ -3274,7 +3274,7 @@ dependencies = [ [[package]] name = "dora-node-api" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3299,7 +3299,7 @@ dependencies = [ [[package]] name = "dora-node-api-c" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow-array 54.2.1", "dora-node-api", @@ -3309,7 +3309,7 @@ dependencies = [ [[package]] name = "dora-node-api-cxx" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow 54.2.1", "cxx", @@ -3327,7 +3327,7 @@ dependencies = [ [[package]] name = "dora-node-api-python" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow 54.2.1", "dora-daemon", @@ -3347,7 +3347,7 @@ dependencies = [ [[package]] name = "dora-object-to-pose" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -3356,7 +3356,7 @@ dependencies = [ [[package]] name = "dora-openai-proxy-server" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "chrono", "dora-node-api", @@ -3377,7 +3377,7 @@ dependencies = [ [[package]] name = "dora-operator-api" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-arrow-convert", "dora-operator-api-macros", @@ -3386,14 +3386,14 @@ dependencies = [ [[package]] name = "dora-operator-api-c" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-operator-api-types", ] [[package]] name = "dora-operator-api-cxx" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "cxx", "cxx-build", @@ -3402,7 +3402,7 @@ dependencies = [ [[package]] name = "dora-operator-api-macros" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "proc-macro2", "quote", @@ -3411,7 +3411,7 @@ dependencies = [ [[package]] name = "dora-operator-api-python" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3427,7 +3427,7 @@ dependencies = [ [[package]] name = "dora-operator-api-types" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow 54.2.1", "dora-arrow-convert", @@ -3436,7 +3436,7 @@ dependencies = [ [[package]] name = "dora-rav1e" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "bytemuck", "dora-node-api", @@ -3448,7 +3448,7 @@ dependencies = [ [[package]] name = "dora-record" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "chrono", "dora-node-api", @@ -3460,7 +3460,7 @@ dependencies = [ [[package]] name = "dora-rerun" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "bytemuck", "chrono", @@ -3475,7 +3475,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "array-init", "dora-daemon", @@ -3498,7 +3498,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge-msg-gen" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "anyhow", "glob", @@ -3514,7 +3514,7 @@ dependencies = [ [[package]] name = "dora-ros2-bridge-python" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "arrow 54.2.1", "dora-ros2-bridge", @@ -3528,7 +3528,7 @@ dependencies = [ [[package]] name = "dora-runtime" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", @@ -3556,7 +3556,7 @@ dependencies = [ [[package]] name = "dora-tracing" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "eyre", "opentelemetry 0.18.0", @@ -7040,7 +7040,7 @@ dependencies = [ [[package]] name = "multiple-daemons-example-node" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -7051,14 +7051,14 @@ dependencies = [ [[package]] name = "multiple-daemons-example-operator" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-operator-api", ] [[package]] name = "multiple-daemons-example-sink" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -11006,7 +11006,7 @@ checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430" [[package]] name = "receive_data" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "chrono", "dora-node-api", @@ -11475,7 +11475,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-node" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -11486,7 +11486,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-sink" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -11494,7 +11494,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-sink-dynamic" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -11502,7 +11502,7 @@ dependencies = [ [[package]] name = "rust-dataflow-example-status-node" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", @@ -11521,7 +11521,7 @@ dependencies = [ [[package]] name = "rust-ros2-dataflow-example-node" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "dora-ros2-bridge", @@ -12345,7 +12345,7 @@ dependencies = [ [[package]] name = "shared-memory-server" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "bincode", "eyre", @@ -13188,7 +13188,7 @@ dependencies = [ [[package]] name = "terminal-print" -version = "0.3.11-rc1" +version = "0.3.11" dependencies = [ "dora-node-api", "eyre", diff --git a/Cargo.toml b/Cargo.toml index 5d649dc5..5e262ca2 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -49,33 +49,33 @@ members = [ [workspace.package] edition = "2021" # Make sure to also bump `apis/node/python/__init__.py` version. -version = "0.3.11-rc1" +version = "0.3.11" description = "`dora` goal is to be a low latency, composable, and distributed data flow." documentation = "https://dora.carsmos.ai" license = "Apache-2.0" repository = "https://github.com/dora-rs/dora/" [workspace.dependencies] -dora-node-api = { version = "0.3.11-rc1", path = "apis/rust/node", default-features = false } -dora-node-api-python = { version = "0.3.11-rc1", path = "apis/python/node", default-features = false } -dora-operator-api = { version = "0.3.11-rc1", path = "apis/rust/operator", default-features = false } -dora-operator-api-macros = { version = "0.3.11-rc1", path = "apis/rust/operator/macros" } -dora-operator-api-types = { version = "0.3.11-rc1", path = "apis/rust/operator/types" } -dora-operator-api-python = { version = "0.3.11-rc1", path = "apis/python/operator" } -dora-operator-api-c = { version = "0.3.11-rc1", path = "apis/c/operator" } -dora-node-api-c = { version = "0.3.11-rc1", path = "apis/c/node" } -dora-core = { version = "0.3.11-rc1", path = "libraries/core" } -dora-arrow-convert = { version = "0.3.11-rc1", path = "libraries/arrow-convert" } -dora-tracing = { version = "0.3.11-rc1", path = "libraries/extensions/telemetry/tracing" } -dora-metrics = { version = "0.3.11-rc1", path = "libraries/extensions/telemetry/metrics" } -dora-download = { version = "0.3.11-rc1", path = "libraries/extensions/download" } -shared-memory-server = { version = "0.3.11-rc1", path = "libraries/shared-memory-server" } -communication-layer-request-reply = { version = "0.3.11-rc1", path = "libraries/communication-layer/request-reply" } -dora-runtime = { version = "0.3.11-rc1", path = "binaries/runtime" } -dora-daemon = { version = "0.3.11-rc1", path = "binaries/daemon" } -dora-coordinator = { version = "0.3.11-rc1", path = "binaries/coordinator" } -dora-ros2-bridge = { version = "0.3.11-rc1", path = "libraries/extensions/ros2-bridge" } -dora-ros2-bridge-msg-gen = { version = "0.3.11-rc1", path = "libraries/extensions/ros2-bridge/msg-gen" } +dora-node-api = { version = "0.3.11", path = "apis/rust/node", default-features = false } +dora-node-api-python = { version = "0.3.11", path = "apis/python/node", default-features = false } +dora-operator-api = { version = "0.3.11", path = "apis/rust/operator", default-features = false } +dora-operator-api-macros = { version = "0.3.11", path = "apis/rust/operator/macros" } +dora-operator-api-types = { version = "0.3.11", path = "apis/rust/operator/types" } +dora-operator-api-python = { version = "0.3.11", path = "apis/python/operator" } +dora-operator-api-c = { version = "0.3.11", path = "apis/c/operator" } +dora-node-api-c = { version = "0.3.11", path = "apis/c/node" } +dora-core = { version = "0.3.11", path = "libraries/core" } +dora-arrow-convert = { version = "0.3.11", path = "libraries/arrow-convert" } +dora-tracing = { version = "0.3.11", path = "libraries/extensions/telemetry/tracing" } +dora-metrics = { version = "0.3.11", path = "libraries/extensions/telemetry/metrics" } +dora-download = { version = "0.3.11", path = "libraries/extensions/download" } +shared-memory-server = { version = "0.3.11", path = "libraries/shared-memory-server" } +communication-layer-request-reply = { version = "0.3.11", path = "libraries/communication-layer/request-reply" } +dora-runtime = { version = "0.3.11", path = "binaries/runtime" } +dora-daemon = { version = "0.3.11", path = "binaries/daemon" } +dora-coordinator = { version = "0.3.11", path = "binaries/coordinator" } +dora-ros2-bridge = { version = "0.3.11", path = "libraries/extensions/ros2-bridge" } +dora-ros2-bridge-msg-gen = { version = "0.3.11", path = "libraries/extensions/ros2-bridge/msg-gen" } dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" } # versioned independently from the other dora crates dora-message = { version = "0.4.4", path = "libraries/message" } @@ -91,14 +91,6 @@ pyo3 = { version = "0.23", features = [ ] } pythonize = "0.23" -[workspace.metadata.cross.target.x86_64-unknown-linux-gnu] -pre-build = [ - "dpkg --add-architecture $CROSS_DEB_ARCH", - "apt update", - # for tls - "apt install --assume-yes nasm", -] - [package] name = "dora-examples" version = "0.0.0" @@ -108,7 +100,6 @@ publish = false [features] -# Install libssl-dev:arm64, see # enables examples that depend on a sourced ROS2 installation ros2-examples = [] diff --git a/node-hub/dora-argotranslate/pyproject.toml b/node-hub/dora-argotranslate/pyproject.toml index d94b4692..a440d567 100644 --- a/node-hub/dora-argotranslate/pyproject.toml +++ b/node-hub/dora-argotranslate/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-argotranslate" -version = "0.3.11-rc1" +version = "0.3.11" description = "Dora Node for Text translating using Argostranslate" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index b0138b19..64e893df 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-distil-whisper" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-echo/pyproject.toml b/node-hub/dora-echo/pyproject.toml index 1b68896b..8db2e285 100644 --- a/node-hub/dora-echo/pyproject.toml +++ b/node-hub/dora-echo/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-echo" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-internvl/pyproject.toml b/node-hub/dora-internvl/pyproject.toml index 15855a4f..74f41b05 100644 --- a/node-hub/dora-internvl/pyproject.toml +++ b/node-hub/dora-internvl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-internvl" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index 3985b977..f09480b8 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-ios-lidar" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-ios-lidar" license = { text = "MIT" } diff --git a/node-hub/dora-keyboard/pyproject.toml b/node-hub/dora-keyboard/pyproject.toml index 98b55763..62f02828 100644 --- a/node-hub/dora-keyboard/pyproject.toml +++ b/node-hub/dora-keyboard/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-keyboard" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-kokoro-tts/pyproject.toml b/node-hub/dora-kokoro-tts/pyproject.toml index d318ef01..712b3188 100644 --- a/node-hub/dora-kokoro-tts/pyproject.toml +++ b/node-hub/dora-kokoro-tts/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-kokoro-tts" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-kokoro-tts" license = { text = "MIT" } diff --git a/node-hub/dora-microphone/pyproject.toml b/node-hub/dora-microphone/pyproject.toml index b773426d..4e3ccae8 100644 --- a/node-hub/dora-microphone/pyproject.toml +++ b/node-hub/dora-microphone/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-microphone" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-object-to-pose/Cargo.toml b/node-hub/dora-object-to-pose/Cargo.toml index 0c48a4ff..aa527514 100644 --- a/node-hub/dora-object-to-pose/Cargo.toml +++ b/node-hub/dora-object-to-pose/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "dora-object-to-pose" -version = "0.3.11-rc1" +version = "0.3.11" edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html diff --git a/node-hub/dora-openai-server/pyproject.toml b/node-hub/dora-openai-server/pyproject.toml index 1c5b96d2..8b29cec9 100644 --- a/node-hub/dora-openai-server/pyproject.toml +++ b/node-hub/dora-openai-server/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-openai-server" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index f8eef04f..696f2f9c 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-opus" -version = "0.3.11-rc1" +version = "0.3.11" description = "Dora Node for Text translating using Opus" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, diff --git a/node-hub/dora-outtetts/pyproject.toml b/node-hub/dora-outtetts/pyproject.toml index 1c2cafa2..32cd9369 100644 --- a/node-hub/dora-outtetts/pyproject.toml +++ b/node-hub/dora-outtetts/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-outtetts" -version = "0.3.11-rc1" +version = "0.3.11" authors = [] description = "dora-outtetts" license = { text = "MIT" } diff --git a/node-hub/dora-parler/pyproject.toml b/node-hub/dora-parler/pyproject.toml index dea3e9ae..1b620808 100644 --- a/node-hub/dora-parler/pyproject.toml +++ b/node-hub/dora-parler/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-parler" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-piper/pyproject.toml b/node-hub/dora-piper/pyproject.toml index 3f94e772..c526a12e 100644 --- a/node-hub/dora-piper/pyproject.toml +++ b/node-hub/dora-piper/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-piper" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for using Agilex piper" license = { text = "MIT" } diff --git a/node-hub/dora-pyaudio/pyproject.toml b/node-hub/dora-pyaudio/pyproject.toml index 7b845f8b..bf3a62d6 100644 --- a/node-hub/dora-pyaudio/pyproject.toml +++ b/node-hub/dora-pyaudio/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyaudio" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] license = { text = "MIT" } readme = "README.md" diff --git a/node-hub/dora-pyorbbecksdk/pyproject.toml b/node-hub/dora-pyorbbecksdk/pyproject.toml index 1a314a75..08d28afd 100644 --- a/node-hub/dora-pyorbbecksdk/pyproject.toml +++ b/node-hub/dora-pyorbbecksdk/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyorbbecksdk" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Xiang Yang", email = "Ryu-Yang@qq.com" }, diff --git a/node-hub/dora-pyrealsense/pyproject.toml b/node-hub/dora-pyrealsense/pyproject.toml index 6326f74e..6465c4b7 100644 --- a/node-hub/dora-pyrealsense/pyproject.toml +++ b/node-hub/dora-pyrealsense/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-pyrealsense" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for capturing video with Pyrealsense" license = { text = "MIT" } diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index 5b24b3ff..c78728e9 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwen" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-qwen" license = { text = "MIT" } diff --git a/node-hub/dora-qwen2-5-vl/pyproject.toml b/node-hub/dora-qwen2-5-vl/pyproject.toml index b08998a8..532e67a1 100644 --- a/node-hub/dora-qwen2-5-vl/pyproject.toml +++ b/node-hub/dora-qwen2-5-vl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwen2-5-vl" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml index e834c188..ddb30948 100644 --- a/node-hub/dora-qwenvl/pyproject.toml +++ b/node-hub/dora-qwenvl/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-qwenvl" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/dora-rdt-1b/pyproject.toml b/node-hub/dora-rdt-1b/pyproject.toml index 6fdddd01..9b2fd878 100644 --- a/node-hub/dora-rdt-1b/pyproject.toml +++ b/node-hub/dora-rdt-1b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-rdt-1b" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for RDT 1B" license = { text = "MIT" } diff --git a/node-hub/dora-reachy2/pyproject.toml b/node-hub/dora-reachy2/pyproject.toml index fe2c9f9a..3b64479f 100644 --- a/node-hub/dora-reachy2/pyproject.toml +++ b/node-hub/dora-reachy2/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-reachy2" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-reachy2" license = { text = "MIT" } diff --git a/node-hub/dora-sam2/pyproject.toml b/node-hub/dora-sam2/pyproject.toml index 9cced4d3..6ad124b8 100644 --- a/node-hub/dora-sam2/pyproject.toml +++ b/node-hub/dora-sam2/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-sam2" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Your Name", email = "email@email.com" }] description = "dora-sam2" license = { text = "MIT" } diff --git a/node-hub/dora-ugv/pyproject.toml b/node-hub/dora-ugv/pyproject.toml index 316a9377..3ae0421f 100644 --- a/node-hub/dora-ugv/pyproject.toml +++ b/node-hub/dora-ugv/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-ugv" -version = "0.3.11-rc1" +version = "0.3.11" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] description = "Dora Node for using Agilex UGV" license = { text = "MIT" } diff --git a/node-hub/dora-vad/pyproject.toml b/node-hub/dora-vad/pyproject.toml index 02cd83a6..d9e91472 100644 --- a/node-hub/dora-vad/pyproject.toml +++ b/node-hub/dora-vad/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-vad" -version = "0.3.11-rc1" +version = "0.3.11" description = "Dora Node for Text translating using Argostranslate" authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] license = { text = "MIT" } diff --git a/node-hub/dora-yolo/pyproject.toml b/node-hub/dora-yolo/pyproject.toml index 65e7e879..4e7047b8 100644 --- a/node-hub/dora-yolo/pyproject.toml +++ b/node-hub/dora-yolo/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-yolo" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/llama-factory-recorder/pyproject.toml b/node-hub/llama-factory-recorder/pyproject.toml index 53a54199..6bbf00f3 100644 --- a/node-hub/llama-factory-recorder/pyproject.toml +++ b/node-hub/llama-factory-recorder/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "llama-factory-recorder" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index cc9c73f4..ac4f8b7d 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "opencv-plot" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/opencv-video-capture/pyproject.toml b/node-hub/opencv-video-capture/pyproject.toml index 1c761d94..9baee6ea 100644 --- a/node-hub/opencv-video-capture/pyproject.toml +++ b/node-hub/opencv-video-capture/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "opencv-video-capture" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/pyarrow-assert/pyproject.toml b/node-hub/pyarrow-assert/pyproject.toml index 1095deb0..8a3ef699 100644 --- a/node-hub/pyarrow-assert/pyproject.toml +++ b/node-hub/pyarrow-assert/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyarrow-assert" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/pyarrow-sender/pyproject.toml b/node-hub/pyarrow-sender/pyproject.toml index 94587c8f..e3d8f9bc 100644 --- a/node-hub/pyarrow-sender/pyproject.toml +++ b/node-hub/pyarrow-sender/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyarrow-sender" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, diff --git a/node-hub/terminal-input/pyproject.toml b/node-hub/terminal-input/pyproject.toml index 4c9069de..78d9503b 100644 --- a/node-hub/terminal-input/pyproject.toml +++ b/node-hub/terminal-input/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "terminal-input" -version = "0.3.11-rc1" +version = "0.3.11" authors = [ { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, From 5c1dabe7be832b1b55720ef7963dfb2a15f51840 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 6 Apr 2025 23:00:02 +0200 Subject: [PATCH 039/135] Fix CI/CD to not automatically use --zig --- .github/workflows/node_hub_test.sh | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 8e558f6b..18ac1b58 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -27,7 +27,7 @@ else cargo test pip install "maturin[zig]" - maturin build --zig + maturin build --release # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel on multiple platforms if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then # Free up ubuntu space @@ -36,7 +36,7 @@ else sudo rm -rf /usr/share/dotnet/ sudo rm -rf /opt/ghc/ - maturin publish --skip-existing --zig + maturin publish --skip-existing # aarch64-unknown-linux-gnu rustup target add aarch64-unknown-linux-gnu maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig @@ -53,21 +53,20 @@ else fi elif [[ -f "Cargo.toml" && -f "pyproject.toml" && "$(uname)" = "Darwin" ]]; then - # x86_64-apple-darwin pip install "maturin[zig]" - rustup target add x86_64-apple-darwin - maturin build --target x86_64-apple-darwin --zig --release + # aarch64-apple-darwin + maturin build --release # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then - maturin publish --target x86_64-apple-darwin --skip-existing --zig + maturin publish --skip-existing fi - - # aarch64-apple-darwin - rustup target add aarch64-apple-darwin - maturin build --target aarch64-apple-darwin --zig --release + + # x86_64-apple-darwin + rustup target add x86_64-apple-darwin + maturin build --target x86_64-apple-darwin --zig --release # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then - maturin publish --target aarch64-apple-darwin --skip-existing --zig + maturin publish --target x86_64-apple-darwin --skip-existing --zig fi else From 7b331d8434b2549f8e024f58e87f4ce1f2be7030 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 7 Apr 2025 13:24:59 +0200 Subject: [PATCH 040/135] Fix installation link --- README.md | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/README.md b/README.md index faa760b2..4be95f22 100644 --- a/README.md +++ b/README.md @@ -172,13 +172,13 @@ cargo install dora-cli ### With Github release for macOS and Linux ```bash -curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash +curl --proto '=https' --tlsv1.2 -LsSf https://github.com/dora-rs/dora/releases/latest/download/dora-cli-installer.sh | sh ``` ### With Github release for Windows ```powershell -powershell -c "irm https://raw.githubusercontent.com/dora-rs/dora/main/install.ps1 | iex" +powershell -ExecutionPolicy ByPass -c "irm https://github.com/dora-rs/dorareleases/latest/download/dora-cli-installer.ps1 | iex" ``` ### With Source @@ -311,7 +311,6 @@ turtle_twist_writer.publish(message) > You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15 - ## Zenoh Integration for Distributed Dataflow (Experimental) Zenoh is a high-performance pub/sub and query protocol that unifies data in motion and at rest. In **dora-rs**, Zenoh is used for remote communication between nodes running on different machines, enabling distributed dataflow across networks. @@ -320,7 +319,7 @@ Zenoh is a high-performance pub/sub and query protocol that unifies data in moti - **Definition:** [Zenoh](https://zenoh.io) is an open-source communication middleware offering pub/sub and query capabilities. -- **Benefits in DORA:** +- **Benefits in DORA:** - Simplifies communication between distributed nodes. - Handles NAT traversal and inter-network communication. - Integrates with DORA to manage remote data exchange while local communication still uses efficient shared memory. @@ -332,20 +331,21 @@ Zenoh is a high-performance pub/sub and query protocol that unifies data in moti ```bash docker run -p 7447:7447 -p 8000:8000 --name zenoh-router eclipse/zenohd:latest + ``` - -```markdown +````markdown ## Create a Zenoh Configuration File πŸŽ›οΈ Create a file (e.g., `zenoh.json5`) with the router endpoint details: ```json5 { - "connect": { - "endpoints": [ "tcp/203.0.113.10:7447" ] - } + connect: { + endpoints: ["tcp/203.0.113.10:7447"], + }, } ``` +```` --- @@ -354,7 +354,7 @@ Create a file (e.g., `zenoh.json5`) with the router endpoint details: On each machine, export the configuration and start the daemon: ```bash -export ZENOH_CONFIG=/path/to/zenoh.json5 +export ZENOH_CONFIG=/path/to/zenoh.json5 dora daemon --coordinator-addr --machine-id ``` @@ -390,6 +390,7 @@ dora start dataflow.yml ``` --- + ## YAML Example for Distributed Dataflow πŸ“˜ ```yaml @@ -411,8 +412,8 @@ nodes: image: camera_node/image outputs: - result - ``` + ## Contributing We are passionate about supporting contributors of all levels of experience and would love to see @@ -441,4 +442,7 @@ This project is licensed under Apache-2.0. Check out [NOTICE.md](NOTICE.md) for - [Zenoh Documentation](https://zenoh.io/docs/) - [DORA Zenoh Discussion (GitHub Issue #512)](https://github.com/dora-rs/dora/issues/512) - [Dora Autoware Localization Demo](https://github.com/dora-rs/dora-autoware-localization-demo) + +``` + ``` From db0a8b254653d91995255e8c6da9909577d90331 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 7 Apr 2025 13:32:49 +0200 Subject: [PATCH 041/135] Fix licenses --- Cargo.toml | 2 +- node-hub/dora-dav1d/Cargo.toml | 1 + node-hub/dora-dav1d/pyproject.toml | 6 ++---- node-hub/dora-dav1d/src/lib.rs | 2 +- node-hub/dora-phi4/pyproject.toml | 2 +- node-hub/dora-rav1e/Cargo.toml | 3 +-- node-hub/dora-rav1e/pyproject.toml | 6 ++---- node-hub/dora-rav1e/src/lib.rs | 2 +- node-hub/llama-factory-recorder/pyproject.toml | 11 ++++++----- node-hub/opencv-plot/pyproject.toml | 5 +++-- 10 files changed, 19 insertions(+), 21 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 5e262ca2..03c997f8 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -51,7 +51,7 @@ edition = "2021" # Make sure to also bump `apis/node/python/__init__.py` version. version = "0.3.11" description = "`dora` goal is to be a low latency, composable, and distributed data flow." -documentation = "https://dora.carsmos.ai" +documentation = "https://dora-rs.ai" license = "Apache-2.0" repository = "https://github.com/dora-rs/dora/" diff --git a/node-hub/dora-dav1d/Cargo.toml b/node-hub/dora-dav1d/Cargo.toml index a0475f23..3c78500d 100644 --- a/node-hub/dora-dav1d/Cargo.toml +++ b/node-hub/dora-dav1d/Cargo.toml @@ -1,6 +1,7 @@ [package] name = "dora-dav1d" edition = "2021" +license = "BSD-2-Clause" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html diff --git a/node-hub/dora-dav1d/pyproject.toml b/node-hub/dora-dav1d/pyproject.toml index e11909e7..845e45f8 100644 --- a/node-hub/dora-dav1d/pyproject.toml +++ b/node-hub/dora-dav1d/pyproject.toml @@ -5,12 +5,10 @@ build-backend = "maturin" [project] name = "dora-dav1d" dynamic = ["version"] -license = { text = "MIT" } +license = { text = "BSD-2-Clause" } requires-python = ">=3.8" -dependencies = [ - "maturin>=1.8.2", -] +dependencies = ["maturin>=1.8.2"] scripts = { "dora-dav1d" = "dora_dav1d:py_main" } diff --git a/node-hub/dora-dav1d/src/lib.rs b/node-hub/dora-dav1d/src/lib.rs index 6f019381..aad95ebe 100644 --- a/node-hub/dora-dav1d/src/lib.rs +++ b/node-hub/dora-dav1d/src/lib.rs @@ -122,7 +122,7 @@ fn py_main(_py: Python) -> eyre::Result<()> { #[cfg(feature = "python")] #[pymodule] -fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { +fn dora_dav1d(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { m.add_function(wrap_pyfunction!(py_main, &m)?)?; m.add("__version__", env!("CARGO_PKG_VERSION"))?; Ok(()) diff --git a/node-hub/dora-phi4/pyproject.toml b/node-hub/dora-phi4/pyproject.toml index 474f11b6..984f781d 100644 --- a/node-hub/dora-phi4/pyproject.toml +++ b/node-hub/dora-phi4/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-phi4" -version = "0.0.0" +version = "0.3.11" authors = [{ name = "Somay", email = "ssomay2002@gmail.com" }] description = "DORA node for Phi-4 multimodal model" license = { text = "MIT" } diff --git a/node-hub/dora-rav1e/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml index 20f54934..217147bc 100644 --- a/node-hub/dora-rav1e/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -4,7 +4,7 @@ edition = "2021" version.workspace = true description.workspace = true documentation.workspace = true -license.workspace = true +license = "BSD-2-Clause" repository.workspace = true # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html @@ -31,4 +31,3 @@ pyo3 = { workspace = true, features = [ name = "dora_rav1e" path = "src/lib.rs" crate-type = ["lib", "cdylib"] - diff --git a/node-hub/dora-rav1e/pyproject.toml b/node-hub/dora-rav1e/pyproject.toml index d5aed30a..3c278629 100644 --- a/node-hub/dora-rav1e/pyproject.toml +++ b/node-hub/dora-rav1e/pyproject.toml @@ -5,12 +5,10 @@ build-backend = "maturin" [project] name = "dora-rav1e" dynamic = ["version"] -license = { text = "MIT" } +license = { text = "BSD-2-Clause" } requires-python = ">=3.8" -dependencies = [ - "maturin>=1.8.2", -] +dependencies = ["maturin>=1.8.2"] scripts = { "dora-rav1e" = "dora_rav1e:py_main" } diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs index 149b39f7..44163f76 100644 --- a/node-hub/dora-rav1e/src/lib.rs +++ b/node-hub/dora-rav1e/src/lib.rs @@ -364,7 +364,7 @@ fn py_main(_py: Python) -> eyre::Result<()> { #[cfg(feature = "python")] #[pymodule] -fn dora_kit_car(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { +fn dora_rav1e(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { m.add_function(wrap_pyfunction!(py_main, &m)?)?; m.add("__version__", env!("CARGO_PKG_VERSION"))?; Ok(()) diff --git a/node-hub/llama-factory-recorder/pyproject.toml b/node-hub/llama-factory-recorder/pyproject.toml index 6bbf00f3..4a894bb2 100644 --- a/node-hub/llama-factory-recorder/pyproject.toml +++ b/node-hub/llama-factory-recorder/pyproject.toml @@ -2,17 +2,18 @@ name = "llama-factory-recorder" version = "0.3.11" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] +license = { file = "MIT" } description = "Dora Node for VLM" requires-python = ">=3.8" dependencies = [ - "dora-rs >= 0.3.9", - "pillow >= 10.4.0", - "opencv-python >= 4.1.1", + "dora-rs >= 0.3.9", + "pillow >= 10.4.0", + "opencv-python >= 4.1.1", ] [dependency-groups] diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index ac4f8b7d..95f253ee 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -1,9 +1,10 @@ [project] name = "opencv-plot" version = "0.3.11" +license = { file = "MIT" } authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] description = "Dora Node for plotting text and bbox on image with OpenCV" From ebe42fa43987bbf1db77544e062cd01ff8fb6e8e Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 7 Apr 2025 13:38:59 +0200 Subject: [PATCH 042/135] Make cargo and uv publish only on linux job --- .github/workflows/node_hub_test.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 18ac1b58..43a809a0 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -69,8 +69,8 @@ else maturin publish --target x86_64-apple-darwin --skip-existing --zig fi - else - if [ -f "$dir/Cargo.toml" ]; then + elif [[ "$(uname)" = "Linux" ]]; + if [ -f "$dirxΒ§/Cargo.toml" ]; then echo "Running build and tests for Rust project in $dir..." cargo check cargo clippy From 49114a1c05fc560ba4dd330e2e081d302961798a Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Mon, 7 Apr 2025 19:17:46 +0200 Subject: [PATCH 043/135] Minor fix and add boxes2d example --- examples/tracker/facebook_cotracker.yml | 51 +++++++ node-hub/dora-cotracker/demo.yml | 9 +- .../dora-cotracker/dora_cotracker/main.py | 142 ++++++++++++------ node-hub/dora-cotracker/pyproject.toml | 16 +- 4 files changed, 156 insertions(+), 62 deletions(-) create mode 100644 examples/tracker/facebook_cotracker.yml diff --git a/examples/tracker/facebook_cotracker.yml b/examples/tracker/facebook_cotracker.yml new file mode 100644 index 00000000..c81e40cb --- /dev/null +++ b/examples/tracker/facebook_cotracker.yml @@ -0,0 +1,51 @@ +nodes: + - id: camera + build: pip install -e ../../node-hub/opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/100 + outputs: + - image + env: + CAPTURE_PATH: "0" + ENCODING: "rgb8" + IMAGE_WIDTH: "640" + IMAGE_HEIGHT: "480" + + - id: object-detection + build: pip install -e ../../node-hub/dora-yolo + path: dora-yolo + inputs: + image: camera/image + outputs: + - bbox + + - id: tracker + build: pip install -e ../../node-hub/dora-cotracker + path: dora-cotracker + inputs: + image: camera/image + boxes2d: object-detection/bbox + # points_to_track: input/points_to_track # uncomment this if using input node + outputs: + - tracked_image + - points + env: + INTERACTIVE_MODE: false + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + inputs: + image: camera/image + tracked_image: tracker/tracked_image + + # replace with your own node that outputs tracking points # uncomment if input via node + # (e.g., YOLO detector, pose estimator, etc.) + # - id: point_source + # build: pip install your-node # Replace with your node's name + # path: your-point-source-node # Replace with your node's path + # inputs: + # image: camera/image # If your node needs image input + # outputs: + # - points_to_track # Must output points in required format diff --git a/node-hub/dora-cotracker/demo.yml b/node-hub/dora-cotracker/demo.yml index 6bb36707..240237f2 100644 --- a/node-hub/dora-cotracker/demo.yml +++ b/node-hub/dora-cotracker/demo.yml @@ -13,14 +13,14 @@ nodes: IMAGE_HEIGHT: "480" - id: tracker - build: pip install dora-cotracker + build: pip install -e . path: dora-cotracker inputs: image: camera/image # points_to_track: input/points_to_track # uncomment this if using input node outputs: - tracked_image - - tracked_points + - points - id: plot build: pip install dora-rerun @@ -29,8 +29,7 @@ nodes: image: camera/image tracked_image: tracker/tracked_image - - # replace with your own node that outputs tracking points # uncomment if input via node + # replace with your own node that outputs tracking points # uncomment if input via node # (e.g., YOLO detector, pose estimator, etc.) # - id: point_source # build: pip install your-node # Replace with your node's name @@ -38,4 +37,4 @@ nodes: # inputs: # image: camera/image # If your node needs image input # outputs: - # - points_to_track # Must output points in required format \ No newline at end of file + # - points_to_track # Must output points in required format diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py index 5e4c08a4..1b354f4e 100644 --- a/node-hub/dora-cotracker/dora_cotracker/main.py +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -1,9 +1,14 @@ +import os +from collections import deque + +import cv2 import numpy as np import pyarrow as pa -from dora import Node -import cv2 import torch -from collections import deque +from dora import Node + +INTERACTIVE_MODE = os.getenv("INTERACTIVE_MODE", "false").lower() == "true" + class VideoTrackingNode: def __init__(self): @@ -12,8 +17,9 @@ class VideoTrackingNode: self.device = "cuda" if torch.cuda.is_available() else "cpu" self.model = torch.hub.load("facebookresearch/co-tracker", "cotracker3_online") self.model = self.model.to(self.device) + self.model.eval() self.model.step = 8 - self.buffer_size = self.model.step * 2 + self.buffer_size = self.model.step * 2 self.window_frames = deque(maxlen=self.buffer_size) self.is_first_step = True self.clicked_points = [] @@ -29,14 +35,12 @@ class VideoTrackingNode: """Process frame for tracking""" if len(self.window_frames) == self.buffer_size: all_points = self.input_points + self.clicked_points - + if not all_points: print("No points to track") return None, None - video_chunk = torch.tensor( - np.stack(list(self.window_frames)), - device=self.device + np.stack(list(self.window_frames)), device=self.device ).float() video_chunk = video_chunk / 255.0 # Reshape to [B,T,C,H,W] @@ -50,7 +54,7 @@ class VideoTrackingNode: is_first_step=self.is_first_step, grid_size=0, queries=queries, - add_support_grid=False + add_support_grid=False, ) self.is_first_step = False @@ -66,84 +70,126 @@ class VideoTrackingNode: frame_viz = frame.copy() num_input_stream = len(self.input_points) # Draw input points in red - for i, (pt, vis) in enumerate(zip(tracks[:num_input_stream], visibility[:num_input_stream])): + for i, (pt, vis) in enumerate( + zip(tracks[:num_input_stream], visibility[:num_input_stream]) + ): if vis > 0.5: x, y = int(pt[0]), int(pt[1]) - cv2.circle(frame_viz, (x, y), radius=3, - color=(0, 255, 0), thickness=-1) - cv2.putText(frame_viz, f"I{i}", (x + 5, y - 5), - cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 1) - + cv2.circle( + frame_viz, (x, y), radius=3, color=(0, 255, 0), thickness=-1 + ) + cv2.putText( + frame_viz, + f"I{i}", + (x + 5, y - 5), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 255, 0), + 1, + ) + # Draw clicked points in red - for i, (pt, vis) in enumerate(zip(tracks[num_input_stream:], visibility[num_input_stream:])): + for i, (pt, vis) in enumerate( + zip(tracks[num_input_stream:], visibility[num_input_stream:]) + ): if vis > 0.5: x, y = int(pt[0]), int(pt[1]) - cv2.circle(frame_viz, (x, y), radius=3, - color=(0, 0, 255), thickness=-1) - cv2.putText(frame_viz, f"C{i}", (x + 5, y - 5), - cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1) - + cv2.circle( + frame_viz, (x, y), radius=3, color=(0, 0, 255), thickness=-1 + ) + cv2.putText( + frame_viz, + f"C{i}", + (x + 5, y - 5), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 0, 255), + 1, + ) + # Send tracked points if len(visible_tracks) > 0: self.node.send_output( - "tracked_points", + "points", pa.array(visible_tracks.ravel()), { "num_points": len(visible_tracks), "dtype": "float32", - "shape": (len(visible_tracks), 2) - } + "shape": (len(visible_tracks), 2), + }, ) - + return frame, frame_viz return None, None def run(self): """Main run loop""" - cv2.namedWindow("Raw Feed", cv2.WINDOW_NORMAL) - cv2.setMouseCallback("Raw Feed", self.mouse_callback) + if INTERACTIVE_MODE: + cv2.namedWindow("Interactive Feed to track point", cv2.WINDOW_NORMAL) + cv2.setMouseCallback("Interactive Feed to track point", self.mouse_callback) for event in self.node: if event["type"] == "INPUT": if event["id"] == "image": metadata = event["metadata"] - frame = event["value"].to_numpy().reshape(( - metadata["height"], - metadata["width"], - 3 - )) + frame = ( + event["value"] + .to_numpy() + .reshape((metadata["height"], metadata["width"], 3)) + ) # Add frame to tracking window self.window_frames.append(frame) original_frame, tracked_frame = self.process_tracking(frame) if original_frame is not None and tracked_frame is not None: - self.node.send_output("image", - pa.array(original_frame.ravel()), - metadata - ) - self.node.send_output("tracked_image", - pa.array(tracked_frame.ravel()), - metadata + self.node.send_output( + "tracked_image", pa.array(tracked_frame.ravel()), metadata ) - display_frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) - cv2.imshow("Raw Feed", display_frame) - cv2.waitKey(1) - - if event["id"] == "points_to_track": + if INTERACTIVE_MODE: + display_frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + cv2.imshow("Interactive Feed to track point", display_frame) + cv2.waitKey(1) + + if event["id"] == "points": # Handle points from input_stream node metadata = event["metadata"] points_array = event["value"].to_numpy() - num_points = metadata["num_points"] - self.input_points = points_array.reshape((num_points, 2)).tolist() + self.input_points = points_array.reshape((-1, 2)).tolist() self.is_first_step = True - print(f"Received {num_points} points from input_stream") + if event["id"] == "boxes2d": + if not self.is_first_step: + continue + # Handle points from input_stream node + metadata = event["metadata"] + if isinstance(event["value"], pa.StructArray): + boxes2d = ( + event["value"][0] + .get("bbox") + .values.to_numpy() + .reshape((-1, 4)) + ) + _labels = ( + event["value"][0] + .get("labels") + .values.to_numpy(zero_copy_only=False) + ) + else: + boxes2d = event["value"].to_numpy().reshape((-1, 4)) + _labels = None + self.input_points = [ + [int((x_min + x_max) / 2), int((y_min + y_max) / 2)] + for x_min, y_min, x_max, y_max in boxes2d + ] + + self.is_first_step = True def main(): tracker = VideoTrackingNode() tracker.run() + if __name__ == "__main__": - main() \ No newline at end of file + main() diff --git a/node-hub/dora-cotracker/pyproject.toml b/node-hub/dora-cotracker/pyproject.toml index 3359a888..a27d21c6 100644 --- a/node-hub/dora-cotracker/pyproject.toml +++ b/node-hub/dora-cotracker/pyproject.toml @@ -1,11 +1,9 @@ [project] name = "dora-cotracker" version = "0.1.0" -authors = [ - { name = "Shashwat Patil", email = "shashwatpatil974@gmail.com" } -] +authors = [{ name = "Shashwat Patil", email = "shashwatpatil974@gmail.com" }] description = "A Dora node implementing real-time object tracking using Facebook's CoTracker model" -license = { text = "MIT" } +license = "CC-BY-1.0" readme = "README.md" requires-python = ">=3.10" @@ -26,9 +24,9 @@ dora-cotracker = "dora_cotracker.main:main" [tool.ruff.lint] extend-select = [ - "PERF", # Performance - "RET", # Return statements - "RSE", # Runtime errors - "NPY", # NumPy - "N", # Naming + "PERF", # Performance + "RET", # Return statements + "RSE", # Runtime errors + "NPY", # NumPy + "N", # Naming ] From b5cf729b4eaa8ff223c4ced169f9694253626106 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Mon, 7 Apr 2025 19:54:32 +0200 Subject: [PATCH 044/135] Make it possible to track multi point and always wait for first pred before allowing new tracked points --- examples/tracker/parse_bbox.py | 63 +++++++++++++++++ examples/tracker/qwenvl_cotracker.yml | 67 +++++++++++++++++++ .../dora-cotracker/dora_cotracker/main.py | 13 +++- 3 files changed, 140 insertions(+), 3 deletions(-) create mode 100644 examples/tracker/parse_bbox.py create mode 100644 examples/tracker/qwenvl_cotracker.yml diff --git a/examples/tracker/parse_bbox.py b/examples/tracker/parse_bbox.py new file mode 100644 index 00000000..056b0af3 --- /dev/null +++ b/examples/tracker/parse_bbox.py @@ -0,0 +1,63 @@ +"""TODO: Add docstring.""" + +import json +import os + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +def extract_bboxes(json_text): + """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array. + + Parameters + ---------- + json_text : str + JSON string containing bounding box data, including ```json markers. + + Returns + ------- + np.ndarray: NumPy array of bounding boxes. + + """ + # Ensure all lines are stripped of whitespace and markers + lines = json_text.strip().splitlines() + + # Filter out lines that are markdown markers + clean_lines = [line for line in lines if not line.strip().startswith("```")] + + # Join the lines back into a single string + clean_text = "\n".join(clean_lines) + # Parse the cleaned JSON text + try: + data = json.loads(clean_text) + + # Extract bounding boxes + bboxes = [item["bbox_2d"] for item in data] + labels = [item["label"] for item in data] + + return np.array(bboxes), np.array(labels) + except Exception as _e: # noqa + pass + return None, None + + +for event in node: + if event["type"] == "INPUT": + text = event["value"][0].as_py() + image_id = event["metadata"]["image_id"] + + bboxes, labels = extract_bboxes(text) + if bboxes is not None and len(bboxes) > 0: + bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO) + + node.send_output( + "bbox", + pa.array(bboxes.ravel()), + metadata={"encoding": "xyxy", "image_id": image_id}, + ) diff --git a/examples/tracker/qwenvl_cotracker.yml b/examples/tracker/qwenvl_cotracker.yml new file mode 100644 index 00000000..b620297d --- /dev/null +++ b/examples/tracker/qwenvl_cotracker.yml @@ -0,0 +1,67 @@ +nodes: + - id: camera + build: pip install -e ../../node-hub/opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/100 + outputs: + - image + env: + CAPTURE_PATH: "0" + ENCODING: "rgb8" + IMAGE_WIDTH: "640" + IMAGE_HEIGHT: "480" + + - id: dora-qwenvl + build: pip install -e ../../node-hub/dora-qwen2-5-vl + path: dora-qwen2-5-vl + inputs: + image: camera/image + text_1: dora/timer/millis/600 + outputs: + - text + env: + DEFAULT_QUESTION: Output the bounding box of the eyes. + IMAGE_RESIZE_RATIO: "0.5" + # ACTIVATION_WORDS: grab pick give output take catch grabs picks gives output takes catches have + #SYSTEM_PROMPT: You're a robot. + + - id: parse_bbox + path: parse_bbox.py + inputs: + text: dora-qwenvl/text + outputs: + - bbox + env: + IMAGE_RESIZE_RATIO: "0.5" + + - id: tracker + build: pip install -e ../../node-hub/dora-cotracker + path: dora-cotracker + inputs: + image: camera/image + boxes2d: parse_bbox/bbox + # points_to_track: input/points_to_track # uncomment this if using input node + outputs: + - tracked_image + - points + env: + INTERACTIVE_MODE: false + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + inputs: + image: camera/image + boxes2d: parse_bbox/bbox + tracked_image: tracker/tracked_image + + # replace with your own node that outputs tracking points # uncomment if input via node + # (e.g., YOLO detector, pose estimator, etc.) + # - id: point_source + # build: pip install your-node # Replace with your node's name + # path: your-point-source-node # Replace with your node's path + # inputs: + # image: camera/image # If your node needs image input + # outputs: + # - points_to_track # Must output points in required format diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py index 1b354f4e..dcfaeb54 100644 --- a/node-hub/dora-cotracker/dora_cotracker/main.py +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -22,6 +22,7 @@ class VideoTrackingNode: self.buffer_size = self.model.step * 2 self.window_frames = deque(maxlen=self.buffer_size) self.is_first_step = True + self.accept_new_points = True self.clicked_points = [] self.input_points = [] @@ -59,6 +60,7 @@ class VideoTrackingNode: self.is_first_step = False if pred_tracks is not None and pred_visibility is not None: + self.accept_new_points = True tracks = pred_tracks[0, -1].cpu().numpy() visibility = pred_visibility[0, -1].cpu().numpy() visible_tracks = [] @@ -152,25 +154,29 @@ class VideoTrackingNode: cv2.waitKey(1) if event["id"] == "points": + if not self.accept_new_points: + continue # Handle points from input_stream node metadata = event["metadata"] points_array = event["value"].to_numpy() self.input_points = points_array.reshape((-1, 2)).tolist() + self.accept_new_points = False self.is_first_step = True if event["id"] == "boxes2d": - if not self.is_first_step: + if not self.accept_new_points: continue + # Handle points from input_stream node metadata = event["metadata"] if isinstance(event["value"], pa.StructArray): boxes2d = ( - event["value"][0] + event["value"] .get("bbox") .values.to_numpy() .reshape((-1, 4)) ) _labels = ( - event["value"][0] + event["value"] .get("labels") .values.to_numpy(zero_copy_only=False) ) @@ -184,6 +190,7 @@ class VideoTrackingNode: ] self.is_first_step = True + self.accept_new_points = False def main(): From dc0c2284a7deb9356dbb14108298ad56e5e279db Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Mon, 7 Apr 2025 21:37:48 +0000 Subject: [PATCH 045/135] Update Rust crate tokio to v1.44.2 [SECURITY] --- Cargo.lock | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index b4355a4d..fe96796c 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -5405,7 +5405,7 @@ dependencies = [ "httpdate", "itoa", "pin-project-lite", - "socket2 0.5.8", + "socket2 0.4.10", "tokio", "tower-service", "tracing", @@ -6368,7 +6368,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "fc2f4eb4bc735547cfed7c0a4922cbd04a4655978c09b54f1f7b228750664c34" dependencies = [ "cfg-if 1.0.0", - "windows-targets 0.52.6", + "windows-targets 0.48.5", ] [[package]] @@ -13519,9 +13519,9 @@ dependencies = [ [[package]] name = "tokio" -version = "1.44.1" +version = "1.44.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f382da615b842244d4b8738c82ed1275e6c5dd90c459a30941cd07080b06c91a" +checksum = "e6b88822cbe49de4185e3a4cbf8321dd487cf5fe0c5c65695fef6346371e9c48" dependencies = [ "backtrace", "bytes", @@ -13923,7 +13923,7 @@ version = "1.6.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675" dependencies = [ - "cfg-if 1.0.0", + "cfg-if 0.1.10", "static_assertions", ] From e2c0ed4948a7451ed650c04c5f53df5e7a08317a Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 8 Apr 2025 15:16:41 +0200 Subject: [PATCH 046/135] Update README and changelog --- Changelog.md | 73 ++++++++++++++++++++++++++++++++++++++++++++++++++++ README.md | 27 +++++++++++-------- 2 files changed, 89 insertions(+), 11 deletions(-) diff --git a/Changelog.md b/Changelog.md index 5ca62b33..88fe1117 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,78 @@ # Changelog +## v0.3.11 (2025-04-07) + +## What's Changed + +- Post dora 0.3.10 release fix by @haixuanTao in https://github.com/dora-rs/dora/pull/804 +- Add windows release for rust nodes by @haixuanTao in https://github.com/dora-rs/dora/pull/805 +- Add Node Table into README.md by @haixuanTao in https://github.com/dora-rs/dora/pull/808 +- update dora yaml json schema validator by @haixuanTao in https://github.com/dora-rs/dora/pull/809 +- Improve readme support matrix readability by @haixuanTao in https://github.com/dora-rs/dora/pull/810 +- Clippy automatic fixes applied by @Shar-jeel-Sajid in https://github.com/dora-rs/dora/pull/812 +- Improve documentation on adding new node to the node-hub by @haixuanTao in https://github.com/dora-rs/dora/pull/820 +- #807 Fixed by @7SOMAY in https://github.com/dora-rs/dora/pull/818 +- Applied Ruff pydocstyle to dora by @Mati-ur-rehman-017 in https://github.com/dora-rs/dora/pull/831 +- Related to dora-bot issue assignment by @MunishMummadi in https://github.com/dora-rs/dora/pull/840 +- Add dora-lerobot node into dora by @Ignavar in https://github.com/dora-rs/dora/pull/834 +- CI: Permit issue modifications for issue assign job by @phil-opp in https://github.com/dora-rs/dora/pull/848 +- Fix: Set variables outside bash script to prevent injection by @phil-opp in https://github.com/dora-rs/dora/pull/849 +- Replacing Deprecated functions of pyo3 by @Shar-jeel-Sajid in https://github.com/dora-rs/dora/pull/838 +- Add noise filtering on whisper to be able to use speakers by @haixuanTao in https://github.com/dora-rs/dora/pull/847 +- Add minimal Dockerfile with Python and uv for easy onboarding by @Krishnadubey1008 in https://github.com/dora-rs/dora/pull/843 +- More compact readme with example section by @haixuanTao in https://github.com/dora-rs/dora/pull/855 +- Create docker-image.yml by @haixuanTao in https://github.com/dora-rs/dora/pull/857 +- Multi platform docker by @haixuanTao in https://github.com/dora-rs/dora/pull/858 +- change: `dora/node-hub/README.md` by @MunishMummadi in https://github.com/dora-rs/dora/pull/862 +- Added dora-phi4 inside node-hub by @7SOMAY in https://github.com/dora-rs/dora/pull/861 +- node-hub: Added dora-magma node by @MunishMummadi in https://github.com/dora-rs/dora/pull/853 +- Added the dora-llama-cpp-python node by @ShashwatPatil in https://github.com/dora-rs/dora/pull/850 +- Adding in some missing types and test cases within arrow convert crate by @Ignavar in https://github.com/dora-rs/dora/pull/864 +- Migrate robots from dora-lerobot to dora repository by @rahat2134 in https://github.com/dora-rs/dora/pull/868 +- Applied pyupgrade style by @Mati-ur-rehman-017 in https://github.com/dora-rs/dora/pull/876 +- Adding additional llm in tests by @haixuanTao in https://github.com/dora-rs/dora/pull/873 +- Dora transformer node by @ShashwatPatil in https://github.com/dora-rs/dora/pull/870 +- Using macros in Arrow Conversion by @Shar-jeel-Sajid in https://github.com/dora-rs/dora/pull/877 +- Adding run command within python API by @haixuanTao in https://github.com/dora-rs/dora/pull/875 +- Added f16 type conversion by @Shar-jeel-Sajid in https://github.com/dora-rs/dora/pull/886 +- Added "PERF" flag inside node-hub by @7SOMAY in https://github.com/dora-rs/dora/pull/880 +- Added quality ruff-flags for better code quality by @7SOMAY in https://github.com/dora-rs/dora/pull/888 +- Add llm benchmark by @haixuanTao in https://github.com/dora-rs/dora/pull/881 +- Implement `into_vec_f64(&ArrowData) -> Vec 2025 +\[04/05\] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding, + +- \[03/05\] Add support for dora async Python. +- \[03/05\] Add support for Microsoft Phi4, Microsoft Magma. - \[03/05\] dora-rs has been accepted to [**GSoC 2025 πŸŽ‰**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025). - \[03/04\] Add support for Zenoh for distributed dataflow. - \[03/04\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`. @@ -67,17 +71,18 @@ ## Support Matrix -| | dora-rs | -| --------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| **APIs** | Python >= 3.7 βœ…
Rust βœ…
C/C++ πŸ†—
ROS2 >= Foxy πŸ†— | -| **OS** | Linux: Arm 32 βœ… Arm 64 βœ… x64_86 βœ…
MacOS: Arm 64 βœ… x64_86 βœ…
Windows: x64_86 πŸ†—
Android: πŸ› οΈ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32)
IOS: πŸ› οΈ | -| **Message Format** | Arrow βœ…
Standard Specification πŸ› οΈ | -| **Local Communication** | Shared Memory βœ…
[Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) πŸ“ | -| **Remote Communication** | [Zenoh](https://zenoh.io/) πŸ“ | -| **Metrics, Tracing, and Logging** | Opentelemetry πŸ“ | -| **Configuration** | YAML βœ… | -| **Package Manager** | [pip](https://pypi.org/): Python Node βœ… Rust Node βœ… C/C++ Node πŸ› οΈ
[cargo](https://crates.io/): Rust Node βœ… | - +| | dora-rs | +| --------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| **APIs** | Python >= 3.7 including sync β­βœ…
Rust βœ…
C/C++ πŸ†—
ROS2 >= Foxy πŸ†— | +| **OS** | Linux: Arm 32 β­βœ… Arm 64 β­βœ… x64_86 β­βœ…
MacOS: Arm 64 β­βœ… x64_86 βœ…
Windows: x64_86 πŸ†—
Android: πŸ› οΈ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32)
IOS: πŸ› οΈ | +| **Message Format** | Arrow βœ…
Standard Specification πŸ› οΈ | +| **Local Communication** | Shared Memory βœ…
[Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) πŸ“ | +| **Remote Communication** | [Zenoh](https://zenoh.io/) πŸ“ | +| **Metrics, Tracing, and Logging** | Opentelemetry πŸ“ | +| **Configuration** | YAML βœ… | +| **Package Manager** | [pip](https://pypi.org/): Python Node βœ… Rust Node βœ… C/C++ Node πŸ› οΈ
[cargo](https://crates.io/): Rust Node βœ… | + +> - ⭐ = Recommended > - βœ… = First Class Support > - πŸ†— = Best Effort Support > - πŸ“ = Experimental and looking for contributions From 36cadac50fae89e0c57377b0ef3e419299e50ad9 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 8 Apr 2025 19:55:04 +0200 Subject: [PATCH 047/135] Fix CI/CD node hub script --- .github/workflows/node_hub_test.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 43a809a0..cbd19ce7 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -69,8 +69,8 @@ else maturin publish --target x86_64-apple-darwin --skip-existing --zig fi - elif [[ "$(uname)" = "Linux" ]]; - if [ -f "$dirxΒ§/Cargo.toml" ]; then + elif [[ "$(uname)" = "Linux" ]]; then + if [ -f "$dir/Cargo.toml" ]; then echo "Running build and tests for Rust project in $dir..." cargo check cargo clippy From fc93e88c75a8ee94e6e912b50fbd0a0568e734c1 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 9 Apr 2025 11:57:46 +0200 Subject: [PATCH 048/135] Make sure to use apt universe and update to have dav1d --- .github/workflows/node-hub-ci-cd.yml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index e1c40de1..26dd2d3f 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -34,7 +34,7 @@ jobs: strategy: fail-fast: ${{ github.event_name != 'workflow_dispatch' && !(github.event_name == 'release' && startsWith(github.ref, 'refs/tags/')) }} matrix: - platform: [ubuntu-24.04, macos-14] + platform: [ubuntu-22.04, macos-14] folder: ${{ fromJson(needs.find-jobs.outputs.folders )}} steps: - name: Checkout repository @@ -43,6 +43,11 @@ jobs: with: submodules: true # Make sure to check out the sub-module + - name: Enable Universe Repository + run: | + sudo sed -i 's|^# deb http://archive.ubuntu.com/ubuntu/.*$|deb http://archive.ubuntu.com/ubuntu/ mantic-updates main restricted universe multiverse|' /etc/apt/sources.list + sudo apt-get update + - name: Update submodule if: runner.os == 'Linux' run: | From 9fbb0015f784659541641f9356951d48341289be Mon Sep 17 00:00:00 2001 From: 7SOMAY Date: Thu, 10 Apr 2025 01:27:32 +0530 Subject: [PATCH 049/135] Added E ruff flag for better code quality [skip ci] --- node-hub/dora-argotranslate/pyproject.toml | 3 ++- node-hub/dora-cotracker/pyproject.toml | 16 ++++++++++------ node-hub/dora-dav1d/pyproject.toml | 3 ++- node-hub/dora-distil-whisper/pyproject.toml | 3 ++- node-hub/dora-echo/pyproject.toml | 3 ++- node-hub/dora-gradio/pyproject.toml | 15 ++++++++++++++- node-hub/dora-internvl/pyproject.toml | 3 ++- node-hub/dora-ios-lidar/pyproject.toml | 3 ++- node-hub/dora-keyboard/pyproject.toml | 3 ++- node-hub/dora-kit-car/pyproject.toml | 3 ++- node-hub/dora-kokoro-tts/pyproject.toml | 3 ++- node-hub/dora-llama-cpp-python/pyproject.toml | 3 ++- node-hub/dora-magma/pyproject.toml | 3 ++- node-hub/dora-microphone/pyproject.toml | 3 ++- node-hub/dora-mujoco-husky/pyproject.toml | 3 +++ node-hub/dora-object-to-pose/pyproject.toml | 3 ++- node-hub/dora-openai-server/pyproject.toml | 3 ++- node-hub/dora-opus/pyproject.toml | 3 ++- node-hub/dora-outtetts/pyproject.toml | 3 ++- node-hub/dora-parler/pyproject.toml | 3 ++- node-hub/dora-phi4/pyproject.toml | 3 ++- node-hub/dora-piper/pyproject.toml | 3 ++- node-hub/dora-pyaudio/pyproject.toml | 3 ++- node-hub/dora-pyorbbecksdk/pyproject.toml | 3 ++- node-hub/dora-pyrealsense/pyproject.toml | 3 ++- node-hub/dora-qwen/pyproject.toml | 3 ++- node-hub/dora-qwen2-5-vl/pyproject.toml | 3 ++- node-hub/dora-qwenvl/pyproject.toml | 3 ++- node-hub/dora-rav1e/pyproject.toml | 3 ++- node-hub/dora-rdt-1b/pyproject.toml | 3 ++- node-hub/dora-reachy1/pyproject.toml | 3 ++- node-hub/dora-reachy2/pyproject.toml | 3 ++- node-hub/dora-rerun/pyproject.toml | 3 ++- node-hub/dora-sam2/pyproject.toml | 3 ++- node-hub/dora-transformers/pyproject.toml | 3 ++- node-hub/dora-ugv/pyproject.toml | 3 ++- node-hub/dora-vad/pyproject.toml | 3 ++- node-hub/dora-yolo/pyproject.toml | 3 ++- node-hub/dynamixel-client/pyproject.toml | 3 ++- node-hub/feetech-client/pyproject.toml | 3 ++- node-hub/gamepad/pyproject.toml | 3 +++ node-hub/lebai-client/pyproject.toml | 3 ++- node-hub/lerobot-dashboard/pyproject.toml | 3 ++- node-hub/llama-factory-recorder/pyproject.toml | 3 ++- node-hub/mujoco-client/pyproject.toml | 3 ++- node-hub/opencv-plot/pyproject.toml | 3 ++- node-hub/opencv-video-capture/pyproject.toml | 3 ++- node-hub/pyarrow-assert/pyproject.toml | 3 ++- node-hub/pyarrow-sender/pyproject.toml | 3 ++- node-hub/replay-client/pyproject.toml | 3 ++- node-hub/terminal-input/pyproject.toml | 3 ++- node-hub/video-encoder/pyproject.toml | 3 ++- 52 files changed, 126 insertions(+), 55 deletions(-) diff --git a/node-hub/dora-argotranslate/pyproject.toml b/node-hub/dora-argotranslate/pyproject.toml index a440d567..0c3183d1 100644 --- a/node-hub/dora-argotranslate/pyproject.toml +++ b/node-hub/dora-argotranslate/pyproject.toml @@ -29,4 +29,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-cotracker/pyproject.toml b/node-hub/dora-cotracker/pyproject.toml index a27d21c6..bc60dac2 100644 --- a/node-hub/dora-cotracker/pyproject.toml +++ b/node-hub/dora-cotracker/pyproject.toml @@ -24,9 +24,13 @@ dora-cotracker = "dora_cotracker.main:main" [tool.ruff.lint] extend-select = [ - "PERF", # Performance - "RET", # Return statements - "RSE", # Runtime errors - "NPY", # NumPy - "N", # Naming -] + "D", # pydocstyle + "UP", # Ruff's UP rule + "PERF", # Ruff's PERF rule + "RET", # Ruff's RET rule + "RSE", # Ruff's RSE rule + "NPY", # Ruff's NPY rule + "N", # Ruff's N rule + "I", # Ruff's I rule + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-dav1d/pyproject.toml b/node-hub/dora-dav1d/pyproject.toml index e11909e7..9bb0922c 100644 --- a/node-hub/dora-dav1d/pyproject.toml +++ b/node-hub/dora-dav1d/pyproject.toml @@ -27,4 +27,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index 64e893df..aaeb6df2 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -37,4 +37,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-echo/pyproject.toml b/node-hub/dora-echo/pyproject.toml index 8db2e285..9d347af7 100644 --- a/node-hub/dora-echo/pyproject.toml +++ b/node-hub/dora-echo/pyproject.toml @@ -28,4 +28,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-gradio/pyproject.toml b/node-hub/dora-gradio/pyproject.toml index 77d907ac..1e4258c5 100644 --- a/node-hub/dora-gradio/pyproject.toml +++ b/node-hub/dora-gradio/pyproject.toml @@ -24,4 +24,17 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"] dora-gradio = "dora_gradio.main:main" [tool.ruff] -ignore = ["F841"] # Ignore unused variable warnings \ No newline at end of file +ignore = ["F841"] # Ignore unused variable warnings + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP", # Ruff's UP rule + "PERF", # Ruff's PERF rule + "RET", # Ruff's RET rule + "RSE", # Ruff's RSE rule + "NPY", # Ruff's NPY rule + "N", # Ruff's N rule + "I", # Ruff's I rule + "E", # Ruff's E rule +] diff --git a/node-hub/dora-internvl/pyproject.toml b/node-hub/dora-internvl/pyproject.toml index 74f41b05..3324a6b9 100644 --- a/node-hub/dora-internvl/pyproject.toml +++ b/node-hub/dora-internvl/pyproject.toml @@ -41,4 +41,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index f09480b8..91e1f95a 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -25,4 +25,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-keyboard/pyproject.toml b/node-hub/dora-keyboard/pyproject.toml index 62f02828..ff605bfa 100644 --- a/node-hub/dora-keyboard/pyproject.toml +++ b/node-hub/dora-keyboard/pyproject.toml @@ -34,4 +34,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-kit-car/pyproject.toml b/node-hub/dora-kit-car/pyproject.toml index 5f7b1f6f..2d829b9f 100644 --- a/node-hub/dora-kit-car/pyproject.toml +++ b/node-hub/dora-kit-car/pyproject.toml @@ -26,4 +26,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-kokoro-tts/pyproject.toml b/node-hub/dora-kokoro-tts/pyproject.toml index 712b3188..3cb7c7d2 100644 --- a/node-hub/dora-kokoro-tts/pyproject.toml +++ b/node-hub/dora-kokoro-tts/pyproject.toml @@ -30,4 +30,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-llama-cpp-python/pyproject.toml b/node-hub/dora-llama-cpp-python/pyproject.toml index 404521ce..2cf8afa0 100644 --- a/node-hub/dora-llama-cpp-python/pyproject.toml +++ b/node-hub/dora-llama-cpp-python/pyproject.toml @@ -51,4 +51,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-magma/pyproject.toml b/node-hub/dora-magma/pyproject.toml index 1982b032..925f8378 100644 --- a/node-hub/dora-magma/pyproject.toml +++ b/node-hub/dora-magma/pyproject.toml @@ -48,4 +48,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-microphone/pyproject.toml b/node-hub/dora-microphone/pyproject.toml index 4e3ccae8..de71aaa9 100644 --- a/node-hub/dora-microphone/pyproject.toml +++ b/node-hub/dora-microphone/pyproject.toml @@ -34,4 +34,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-mujoco-husky/pyproject.toml b/node-hub/dora-mujoco-husky/pyproject.toml index 788ea68b..9db5a544 100644 --- a/node-hub/dora-mujoco-husky/pyproject.toml +++ b/node-hub/dora-mujoco-husky/pyproject.toml @@ -22,10 +22,13 @@ dora-mujoco-husky = "dora_mujoco_husky.main:main" [tool.ruff.lint] extend-select = [ + "D", # pydocstyle "UP", # Ruff's UP rule "PERF", # Ruff's PERF rule "RET", # Ruff's RET rule "RSE", # Ruff's RSE rule "NPY", # Ruff's NPY rule "N", # Ruff's N rule + "I", # Ruff's I rule + "E", # Ruff's E rule ] \ No newline at end of file diff --git a/node-hub/dora-object-to-pose/pyproject.toml b/node-hub/dora-object-to-pose/pyproject.toml index 71d0c32d..c0d34e4a 100644 --- a/node-hub/dora-object-to-pose/pyproject.toml +++ b/node-hub/dora-object-to-pose/pyproject.toml @@ -25,4 +25,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-openai-server/pyproject.toml b/node-hub/dora-openai-server/pyproject.toml index 8b29cec9..a1d3d6e9 100644 --- a/node-hub/dora-openai-server/pyproject.toml +++ b/node-hub/dora-openai-server/pyproject.toml @@ -37,4 +37,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index 696f2f9c..af419c75 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -38,4 +38,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-outtetts/pyproject.toml b/node-hub/dora-outtetts/pyproject.toml index 32cd9369..fd1abf38 100644 --- a/node-hub/dora-outtetts/pyproject.toml +++ b/node-hub/dora-outtetts/pyproject.toml @@ -38,4 +38,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-parler/pyproject.toml b/node-hub/dora-parler/pyproject.toml index 1b620808..78dae726 100644 --- a/node-hub/dora-parler/pyproject.toml +++ b/node-hub/dora-parler/pyproject.toml @@ -40,4 +40,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-phi4/pyproject.toml b/node-hub/dora-phi4/pyproject.toml index 474f11b6..6fbe77d6 100644 --- a/node-hub/dora-phi4/pyproject.toml +++ b/node-hub/dora-phi4/pyproject.toml @@ -42,4 +42,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-piper/pyproject.toml b/node-hub/dora-piper/pyproject.toml index c526a12e..6595aea1 100644 --- a/node-hub/dora-piper/pyproject.toml +++ b/node-hub/dora-piper/pyproject.toml @@ -25,4 +25,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-pyaudio/pyproject.toml b/node-hub/dora-pyaudio/pyproject.toml index bf3a62d6..dbd06277 100644 --- a/node-hub/dora-pyaudio/pyproject.toml +++ b/node-hub/dora-pyaudio/pyproject.toml @@ -30,4 +30,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-pyorbbecksdk/pyproject.toml b/node-hub/dora-pyorbbecksdk/pyproject.toml index 08d28afd..7a29fa55 100644 --- a/node-hub/dora-pyorbbecksdk/pyproject.toml +++ b/node-hub/dora-pyorbbecksdk/pyproject.toml @@ -28,4 +28,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-pyrealsense/pyproject.toml b/node-hub/dora-pyrealsense/pyproject.toml index 6465c4b7..db278280 100644 --- a/node-hub/dora-pyrealsense/pyproject.toml +++ b/node-hub/dora-pyrealsense/pyproject.toml @@ -31,4 +31,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index c78728e9..27c7a957 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -52,4 +52,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-qwen2-5-vl/pyproject.toml b/node-hub/dora-qwen2-5-vl/pyproject.toml index 532e67a1..e654bfa1 100644 --- a/node-hub/dora-qwen2-5-vl/pyproject.toml +++ b/node-hub/dora-qwen2-5-vl/pyproject.toml @@ -58,4 +58,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml index ddb30948..f3963170 100644 --- a/node-hub/dora-qwenvl/pyproject.toml +++ b/node-hub/dora-qwenvl/pyproject.toml @@ -45,4 +45,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-rav1e/pyproject.toml b/node-hub/dora-rav1e/pyproject.toml index d5aed30a..adc677f6 100644 --- a/node-hub/dora-rav1e/pyproject.toml +++ b/node-hub/dora-rav1e/pyproject.toml @@ -27,4 +27,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-rdt-1b/pyproject.toml b/node-hub/dora-rdt-1b/pyproject.toml index 9b2fd878..1cf06a05 100644 --- a/node-hub/dora-rdt-1b/pyproject.toml +++ b/node-hub/dora-rdt-1b/pyproject.toml @@ -55,4 +55,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-reachy1/pyproject.toml b/node-hub/dora-reachy1/pyproject.toml index aed06496..d61c1e20 100644 --- a/node-hub/dora-reachy1/pyproject.toml +++ b/node-hub/dora-reachy1/pyproject.toml @@ -37,4 +37,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-reachy2/pyproject.toml b/node-hub/dora-reachy2/pyproject.toml index 3b64479f..e5eb3125 100644 --- a/node-hub/dora-reachy2/pyproject.toml +++ b/node-hub/dora-reachy2/pyproject.toml @@ -34,4 +34,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml index 4ddaf14d..e79a405c 100644 --- a/node-hub/dora-rerun/pyproject.toml +++ b/node-hub/dora-rerun/pyproject.toml @@ -29,4 +29,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-sam2/pyproject.toml b/node-hub/dora-sam2/pyproject.toml index 6ad124b8..52b2e755 100644 --- a/node-hub/dora-sam2/pyproject.toml +++ b/node-hub/dora-sam2/pyproject.toml @@ -33,4 +33,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-transformers/pyproject.toml b/node-hub/dora-transformers/pyproject.toml index a6c77034..d4f4d7d5 100644 --- a/node-hub/dora-transformers/pyproject.toml +++ b/node-hub/dora-transformers/pyproject.toml @@ -36,4 +36,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-ugv/pyproject.toml b/node-hub/dora-ugv/pyproject.toml index 3ae0421f..b925b482 100644 --- a/node-hub/dora-ugv/pyproject.toml +++ b/node-hub/dora-ugv/pyproject.toml @@ -25,4 +25,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-vad/pyproject.toml b/node-hub/dora-vad/pyproject.toml index d9e91472..524230e1 100644 --- a/node-hub/dora-vad/pyproject.toml +++ b/node-hub/dora-vad/pyproject.toml @@ -25,4 +25,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dora-yolo/pyproject.toml b/node-hub/dora-yolo/pyproject.toml index 4e7047b8..47217233 100644 --- a/node-hub/dora-yolo/pyproject.toml +++ b/node-hub/dora-yolo/pyproject.toml @@ -28,4 +28,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/dynamixel-client/pyproject.toml b/node-hub/dynamixel-client/pyproject.toml index 958a921a..d255ab10 100644 --- a/node-hub/dynamixel-client/pyproject.toml +++ b/node-hub/dynamixel-client/pyproject.toml @@ -32,4 +32,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/feetech-client/pyproject.toml b/node-hub/feetech-client/pyproject.toml index 678ef90d..1587ce1b 100644 --- a/node-hub/feetech-client/pyproject.toml +++ b/node-hub/feetech-client/pyproject.toml @@ -33,4 +33,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/gamepad/pyproject.toml b/node-hub/gamepad/pyproject.toml index 902526af..8a564f1e 100644 --- a/node-hub/gamepad/pyproject.toml +++ b/node-hub/gamepad/pyproject.toml @@ -21,10 +21,13 @@ gamepad = "gamepad.main:main" [tool.ruff.lint] extend-select = [ + "D", # pydocstyle "UP", # Ruff's UP rule "PERF", # Ruff's PERF rule "RET", # Ruff's RET rule "RSE", # Ruff's RSE rule "NPY", # Ruff's NPY rule "N", # Ruff's N rule + "I", # Ruff's I rule + "E", # Ruff's E rule ] \ No newline at end of file diff --git a/node-hub/lebai-client/pyproject.toml b/node-hub/lebai-client/pyproject.toml index a7c8a83e..b40b842f 100644 --- a/node-hub/lebai-client/pyproject.toml +++ b/node-hub/lebai-client/pyproject.toml @@ -32,4 +32,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/lerobot-dashboard/pyproject.toml b/node-hub/lerobot-dashboard/pyproject.toml index eee5fc2a..13b675b2 100644 --- a/node-hub/lerobot-dashboard/pyproject.toml +++ b/node-hub/lerobot-dashboard/pyproject.toml @@ -34,4 +34,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/llama-factory-recorder/pyproject.toml b/node-hub/llama-factory-recorder/pyproject.toml index 6bbf00f3..bf85afef 100644 --- a/node-hub/llama-factory-recorder/pyproject.toml +++ b/node-hub/llama-factory-recorder/pyproject.toml @@ -31,4 +31,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/mujoco-client/pyproject.toml b/node-hub/mujoco-client/pyproject.toml index a99dda7e..c6f60daf 100644 --- a/node-hub/mujoco-client/pyproject.toml +++ b/node-hub/mujoco-client/pyproject.toml @@ -33,4 +33,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index ac4f8b7d..1722382e 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -27,4 +27,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/opencv-video-capture/pyproject.toml b/node-hub/opencv-video-capture/pyproject.toml index 9baee6ea..2899cbfa 100644 --- a/node-hub/opencv-video-capture/pyproject.toml +++ b/node-hub/opencv-video-capture/pyproject.toml @@ -28,4 +28,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/pyarrow-assert/pyproject.toml b/node-hub/pyarrow-assert/pyproject.toml index 8a3ef699..57da79ae 100644 --- a/node-hub/pyarrow-assert/pyproject.toml +++ b/node-hub/pyarrow-assert/pyproject.toml @@ -29,4 +29,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/pyarrow-sender/pyproject.toml b/node-hub/pyarrow-sender/pyproject.toml index e3d8f9bc..967600f1 100644 --- a/node-hub/pyarrow-sender/pyproject.toml +++ b/node-hub/pyarrow-sender/pyproject.toml @@ -29,4 +29,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/replay-client/pyproject.toml b/node-hub/replay-client/pyproject.toml index 4d1d0be6..82bafb0b 100644 --- a/node-hub/replay-client/pyproject.toml +++ b/node-hub/replay-client/pyproject.toml @@ -32,4 +32,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/terminal-input/pyproject.toml b/node-hub/terminal-input/pyproject.toml index 78d9503b..59ccf904 100644 --- a/node-hub/terminal-input/pyproject.toml +++ b/node-hub/terminal-input/pyproject.toml @@ -29,4 +29,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file diff --git a/node-hub/video-encoder/pyproject.toml b/node-hub/video-encoder/pyproject.toml index 6e559423..daa5863d 100644 --- a/node-hub/video-encoder/pyproject.toml +++ b/node-hub/video-encoder/pyproject.toml @@ -34,4 +34,5 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule -] + "E", # Ruff's E rule +] \ No newline at end of file From b9730061f6f53677e0053f876bade28d4d0a64c0 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 10 Apr 2025 12:12:21 +0200 Subject: [PATCH 050/135] Add better libc compatibility and add dav1d dynamic library within zig search path --- .github/workflows/node-hub-ci-cd.yml | 4 +++- .github/workflows/node_hub_test.sh | 10 +++++----- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 26dd2d3f..7a137aac 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -13,7 +13,7 @@ on: jobs: find-jobs: - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 name: Find Jobs outputs: folders: ${{ steps.jobs.outputs.folders }} @@ -60,6 +60,8 @@ jobs: sudo apt update sudo apt-get install portaudio19-dev sudo apt-get install libdav1d-dev nasm + cp /lib/x86_64-linux-gnu/libdav1d.so $HOME/.rustup/toolchains/1.84-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libdav1d.so + # Install mingw-w64 cross-compilers sudo apt install g++-mingw-w64-x86-64 gcc-mingw-w64-x86-64 diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index cbd19ce7..4b4a7336 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -26,8 +26,8 @@ else cargo build cargo test - pip install "maturin[zig]" - maturin build --release + pip install "maturin[zig, patchelf]" + maturin build --release --compatibility manylinux_2_28 --zig # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel on multiple platforms if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then # Free up ubuntu space @@ -36,10 +36,10 @@ else sudo rm -rf /usr/share/dotnet/ sudo rm -rf /opt/ghc/ - maturin publish --skip-existing + maturin publish --skip-existing --compatibility manylinux_2_28 --zig # aarch64-unknown-linux-gnu rustup target add aarch64-unknown-linux-gnu - maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig + maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig --compatibility manylinux_2_28 # armv7-unknown-linux-musleabihf rustup target add armv7-unknown-linux-musleabihf @@ -53,7 +53,7 @@ else fi elif [[ -f "Cargo.toml" && -f "pyproject.toml" && "$(uname)" = "Darwin" ]]; then - pip install "maturin[zig]" + pip install "maturin[zig, patchelf]" # aarch64-apple-darwin maturin build --release # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel From 1279aa58fbe262573e00932f2c0a67ea42bb1f2f Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 10 Apr 2025 12:18:34 +0200 Subject: [PATCH 051/135] Make dir and symlink --- .github/workflows/node-hub-ci-cd.yml | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index 7a137aac..eee7ed1e 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -34,7 +34,7 @@ jobs: strategy: fail-fast: ${{ github.event_name != 'workflow_dispatch' && !(github.event_name == 'release' && startsWith(github.ref, 'refs/tags/')) }} matrix: - platform: [ubuntu-22.04, macos-14] + platform: [ubuntu-24.04, macos-14] folder: ${{ fromJson(needs.find-jobs.outputs.folders )}} steps: - name: Checkout repository @@ -43,11 +43,6 @@ jobs: with: submodules: true # Make sure to check out the sub-module - - name: Enable Universe Repository - run: | - sudo sed -i 's|^# deb http://archive.ubuntu.com/ubuntu/.*$|deb http://archive.ubuntu.com/ubuntu/ mantic-updates main restricted universe multiverse|' /etc/apt/sources.list - sudo apt-get update - - name: Update submodule if: runner.os == 'Linux' run: | @@ -60,7 +55,8 @@ jobs: sudo apt update sudo apt-get install portaudio19-dev sudo apt-get install libdav1d-dev nasm - cp /lib/x86_64-linux-gnu/libdav1d.so $HOME/.rustup/toolchains/1.84-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libdav1d.so + mkdir -p $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib + ln -s /lib/x86_64-linux-gnu/libdav1d.so $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libdav1d.so # Install mingw-w64 cross-compilers sudo apt install g++-mingw-w64-x86-64 gcc-mingw-w64-x86-64 From 1aeeec33cf7eb18007acea773bd7d2a71e701b71 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 10 Apr 2025 13:37:55 +0200 Subject: [PATCH 052/135] Bump rav1e and dav1d version to fix build artefact --- Cargo.lock | 4 ++-- node-hub/dora-dav1d/Cargo.toml | 1 + node-hub/dora-rav1e/Cargo.toml | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index b4355a4d..6c676205 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3175,7 +3175,7 @@ dependencies = [ [[package]] name = "dora-dav1d" -version = "0.0.0" +version = "0.3.11" dependencies = [ "bitstream-io", "bytemuck", @@ -3436,7 +3436,7 @@ dependencies = [ [[package]] name = "dora-rav1e" -version = "0.3.11" +version = "0.3.11-fix.1" dependencies = [ "bytemuck", "dora-node-api", diff --git a/node-hub/dora-dav1d/Cargo.toml b/node-hub/dora-dav1d/Cargo.toml index 3c78500d..8f5f6b46 100644 --- a/node-hub/dora-dav1d/Cargo.toml +++ b/node-hub/dora-dav1d/Cargo.toml @@ -2,6 +2,7 @@ name = "dora-dav1d" edition = "2021" license = "BSD-2-Clause" +version.workspace = true # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html diff --git a/node-hub/dora-rav1e/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml index 217147bc..109120b8 100644 --- a/node-hub/dora-rav1e/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -1,7 +1,7 @@ [package] name = "dora-rav1e" edition = "2021" -version.workspace = true +version = "0.3.11+fix1" description.workspace = true documentation.workspace = true license = "BSD-2-Clause" From 0ec1214bb12b3337abaac43714f172afe0a78005 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 10 Apr 2025 14:16:06 +0200 Subject: [PATCH 053/135] Remove maturin dependency --- Cargo.lock | 2 +- node-hub/dora-dav1d/pyproject.toml | 2 -- node-hub/dora-object-to-pose/pyproject.toml | 2 -- node-hub/dora-rav1e/pyproject.toml | 2 -- node-hub/dora-rerun/pyproject.toml | 5 ++--- 5 files changed, 3 insertions(+), 10 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 6c676205..4b72fb8d 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3436,7 +3436,7 @@ dependencies = [ [[package]] name = "dora-rav1e" -version = "0.3.11-fix.1" +version = "0.3.11+fix1" dependencies = [ "bytemuck", "dora-node-api", diff --git a/node-hub/dora-dav1d/pyproject.toml b/node-hub/dora-dav1d/pyproject.toml index 845e45f8..aa869035 100644 --- a/node-hub/dora-dav1d/pyproject.toml +++ b/node-hub/dora-dav1d/pyproject.toml @@ -8,8 +8,6 @@ dynamic = ["version"] license = { text = "BSD-2-Clause" } requires-python = ">=3.8" -dependencies = ["maturin>=1.8.2"] - scripts = { "dora-dav1d" = "dora_dav1d:py_main" } [tool.maturin] diff --git a/node-hub/dora-object-to-pose/pyproject.toml b/node-hub/dora-object-to-pose/pyproject.toml index 71d0c32d..68fe3f3d 100644 --- a/node-hub/dora-object-to-pose/pyproject.toml +++ b/node-hub/dora-object-to-pose/pyproject.toml @@ -8,8 +8,6 @@ dynamic = ["version"] license = { text = "MIT" } requires-python = ">=3.8" -dependencies = ["maturin>=1.8.2"] - scripts = { "dora-object-to-pose" = "dora_object_to_pose:py_main" } [tool.maturin] diff --git a/node-hub/dora-rav1e/pyproject.toml b/node-hub/dora-rav1e/pyproject.toml index 3c278629..e59d5494 100644 --- a/node-hub/dora-rav1e/pyproject.toml +++ b/node-hub/dora-rav1e/pyproject.toml @@ -8,8 +8,6 @@ dynamic = ["version"] license = { text = "BSD-2-Clause" } requires-python = ">=3.8" -dependencies = ["maturin>=1.8.2"] - scripts = { "dora-rav1e" = "dora_rav1e:py_main" } [tool.maturin] diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml index 4ddaf14d..e06c5c54 100644 --- a/node-hub/dora-rerun/pyproject.toml +++ b/node-hub/dora-rerun/pyproject.toml @@ -9,9 +9,8 @@ license = { text = "MIT" } requires-python = ">=3.8" dependencies = [ - "maturin>=1.8.2", - 'rerun_sdk==0.22.0', - # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git", + 'rerun_sdk==0.22.0', + # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git", ] scripts = { "dora-rerun" = "dora_rerun:py_main" } From 81c83ee525626085dab2817787846f55db656bbc Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 10 Apr 2025 14:47:39 +0000 Subject: [PATCH 054/135] Bump crossbeam-channel from 0.5.14 to 0.5.15 Bumps [crossbeam-channel](https://github.com/crossbeam-rs/crossbeam) from 0.5.14 to 0.5.15. - [Release notes](https://github.com/crossbeam-rs/crossbeam/releases) - [Changelog](https://github.com/crossbeam-rs/crossbeam/blob/master/CHANGELOG.md) - [Commits](https://github.com/crossbeam-rs/crossbeam/compare/crossbeam-channel-0.5.14...crossbeam-channel-0.5.15) --- updated-dependencies: - dependency-name: crossbeam-channel dependency-version: 0.5.15 dependency-type: indirect ... Signed-off-by: dependabot[bot] --- Cargo.lock | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index fe96796c..4e45b4a1 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2471,9 +2471,9 @@ dependencies = [ [[package]] name = "crossbeam-channel" -version = "0.5.14" +version = "0.5.15" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "06ba6d68e24814cb8de6bb986db8222d3a027d15872cabc0d18817bc3c0e4471" +checksum = "82b8f8f868b36967f9606790d1903570de9ceaf870a7bf9fbbd3016d636a2cb2" dependencies = [ "crossbeam-utils", ] From 46c0196df654b9f030ac8d0a4b70882ce864d171 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 15 Apr 2025 17:05:44 +0200 Subject: [PATCH 055/135] Revert "Added E ruff flag for better code quality [skip ci]" This reverts commit 9fbb0015f784659541641f9356951d48341289be. --- node-hub/dora-argotranslate/pyproject.toml | 3 +-- node-hub/dora-cotracker/pyproject.toml | 16 ++++++---------- node-hub/dora-dav1d/pyproject.toml | 3 +-- node-hub/dora-distil-whisper/pyproject.toml | 3 +-- node-hub/dora-echo/pyproject.toml | 3 +-- node-hub/dora-gradio/pyproject.toml | 15 +-------------- node-hub/dora-internvl/pyproject.toml | 3 +-- node-hub/dora-ios-lidar/pyproject.toml | 3 +-- node-hub/dora-keyboard/pyproject.toml | 3 +-- node-hub/dora-kit-car/pyproject.toml | 3 +-- node-hub/dora-kokoro-tts/pyproject.toml | 3 +-- node-hub/dora-llama-cpp-python/pyproject.toml | 3 +-- node-hub/dora-magma/pyproject.toml | 3 +-- node-hub/dora-microphone/pyproject.toml | 3 +-- node-hub/dora-mujoco-husky/pyproject.toml | 3 --- node-hub/dora-object-to-pose/pyproject.toml | 3 +-- node-hub/dora-openai-server/pyproject.toml | 3 +-- node-hub/dora-opus/pyproject.toml | 3 +-- node-hub/dora-outtetts/pyproject.toml | 3 +-- node-hub/dora-parler/pyproject.toml | 3 +-- node-hub/dora-phi4/pyproject.toml | 3 +-- node-hub/dora-piper/pyproject.toml | 3 +-- node-hub/dora-pyaudio/pyproject.toml | 3 +-- node-hub/dora-pyorbbecksdk/pyproject.toml | 3 +-- node-hub/dora-pyrealsense/pyproject.toml | 3 +-- node-hub/dora-qwen/pyproject.toml | 3 +-- node-hub/dora-qwen2-5-vl/pyproject.toml | 3 +-- node-hub/dora-qwenvl/pyproject.toml | 3 +-- node-hub/dora-rav1e/pyproject.toml | 3 +-- node-hub/dora-rdt-1b/pyproject.toml | 3 +-- node-hub/dora-reachy1/pyproject.toml | 3 +-- node-hub/dora-reachy2/pyproject.toml | 3 +-- node-hub/dora-rerun/pyproject.toml | 3 +-- node-hub/dora-sam2/pyproject.toml | 3 +-- node-hub/dora-transformers/pyproject.toml | 3 +-- node-hub/dora-ugv/pyproject.toml | 3 +-- node-hub/dora-vad/pyproject.toml | 3 +-- node-hub/dora-yolo/pyproject.toml | 3 +-- node-hub/dynamixel-client/pyproject.toml | 3 +-- node-hub/feetech-client/pyproject.toml | 3 +-- node-hub/gamepad/pyproject.toml | 3 --- node-hub/lebai-client/pyproject.toml | 3 +-- node-hub/lerobot-dashboard/pyproject.toml | 3 +-- node-hub/llama-factory-recorder/pyproject.toml | 3 +-- node-hub/mujoco-client/pyproject.toml | 3 +-- node-hub/opencv-plot/pyproject.toml | 3 +-- node-hub/opencv-video-capture/pyproject.toml | 3 +-- node-hub/pyarrow-assert/pyproject.toml | 3 +-- node-hub/pyarrow-sender/pyproject.toml | 3 +-- node-hub/replay-client/pyproject.toml | 3 +-- node-hub/terminal-input/pyproject.toml | 3 +-- node-hub/video-encoder/pyproject.toml | 3 +-- 52 files changed, 55 insertions(+), 126 deletions(-) diff --git a/node-hub/dora-argotranslate/pyproject.toml b/node-hub/dora-argotranslate/pyproject.toml index 0c3183d1..a440d567 100644 --- a/node-hub/dora-argotranslate/pyproject.toml +++ b/node-hub/dora-argotranslate/pyproject.toml @@ -29,5 +29,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-cotracker/pyproject.toml b/node-hub/dora-cotracker/pyproject.toml index bc60dac2..a27d21c6 100644 --- a/node-hub/dora-cotracker/pyproject.toml +++ b/node-hub/dora-cotracker/pyproject.toml @@ -24,13 +24,9 @@ dora-cotracker = "dora_cotracker.main:main" [tool.ruff.lint] extend-select = [ - "D", # pydocstyle - "UP", # Ruff's UP rule - "PERF", # Ruff's PERF rule - "RET", # Ruff's RET rule - "RSE", # Ruff's RSE rule - "NPY", # Ruff's NPY rule - "N", # Ruff's N rule - "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file + "PERF", # Performance + "RET", # Return statements + "RSE", # Runtime errors + "NPY", # NumPy + "N", # Naming +] diff --git a/node-hub/dora-dav1d/pyproject.toml b/node-hub/dora-dav1d/pyproject.toml index 8d4de77d..aa869035 100644 --- a/node-hub/dora-dav1d/pyproject.toml +++ b/node-hub/dora-dav1d/pyproject.toml @@ -23,5 +23,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index aaeb6df2..64e893df 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -37,5 +37,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-echo/pyproject.toml b/node-hub/dora-echo/pyproject.toml index 9d347af7..8db2e285 100644 --- a/node-hub/dora-echo/pyproject.toml +++ b/node-hub/dora-echo/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-gradio/pyproject.toml b/node-hub/dora-gradio/pyproject.toml index 1e4258c5..77d907ac 100644 --- a/node-hub/dora-gradio/pyproject.toml +++ b/node-hub/dora-gradio/pyproject.toml @@ -24,17 +24,4 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"] dora-gradio = "dora_gradio.main:main" [tool.ruff] -ignore = ["F841"] # Ignore unused variable warnings - -[tool.ruff.lint] -extend-select = [ - "D", # pydocstyle - "UP", # Ruff's UP rule - "PERF", # Ruff's PERF rule - "RET", # Ruff's RET rule - "RSE", # Ruff's RSE rule - "NPY", # Ruff's NPY rule - "N", # Ruff's N rule - "I", # Ruff's I rule - "E", # Ruff's E rule -] +ignore = ["F841"] # Ignore unused variable warnings \ No newline at end of file diff --git a/node-hub/dora-internvl/pyproject.toml b/node-hub/dora-internvl/pyproject.toml index 3324a6b9..74f41b05 100644 --- a/node-hub/dora-internvl/pyproject.toml +++ b/node-hub/dora-internvl/pyproject.toml @@ -41,5 +41,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-ios-lidar/pyproject.toml b/node-hub/dora-ios-lidar/pyproject.toml index 91e1f95a..f09480b8 100644 --- a/node-hub/dora-ios-lidar/pyproject.toml +++ b/node-hub/dora-ios-lidar/pyproject.toml @@ -25,5 +25,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-keyboard/pyproject.toml b/node-hub/dora-keyboard/pyproject.toml index ff605bfa..62f02828 100644 --- a/node-hub/dora-keyboard/pyproject.toml +++ b/node-hub/dora-keyboard/pyproject.toml @@ -34,5 +34,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-kit-car/pyproject.toml b/node-hub/dora-kit-car/pyproject.toml index 2d829b9f..5f7b1f6f 100644 --- a/node-hub/dora-kit-car/pyproject.toml +++ b/node-hub/dora-kit-car/pyproject.toml @@ -26,5 +26,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-kokoro-tts/pyproject.toml b/node-hub/dora-kokoro-tts/pyproject.toml index 3cb7c7d2..712b3188 100644 --- a/node-hub/dora-kokoro-tts/pyproject.toml +++ b/node-hub/dora-kokoro-tts/pyproject.toml @@ -30,5 +30,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-llama-cpp-python/pyproject.toml b/node-hub/dora-llama-cpp-python/pyproject.toml index 2cf8afa0..404521ce 100644 --- a/node-hub/dora-llama-cpp-python/pyproject.toml +++ b/node-hub/dora-llama-cpp-python/pyproject.toml @@ -51,5 +51,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-magma/pyproject.toml b/node-hub/dora-magma/pyproject.toml index 925f8378..1982b032 100644 --- a/node-hub/dora-magma/pyproject.toml +++ b/node-hub/dora-magma/pyproject.toml @@ -48,5 +48,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-microphone/pyproject.toml b/node-hub/dora-microphone/pyproject.toml index de71aaa9..4e3ccae8 100644 --- a/node-hub/dora-microphone/pyproject.toml +++ b/node-hub/dora-microphone/pyproject.toml @@ -34,5 +34,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-mujoco-husky/pyproject.toml b/node-hub/dora-mujoco-husky/pyproject.toml index 9db5a544..788ea68b 100644 --- a/node-hub/dora-mujoco-husky/pyproject.toml +++ b/node-hub/dora-mujoco-husky/pyproject.toml @@ -22,13 +22,10 @@ dora-mujoco-husky = "dora_mujoco_husky.main:main" [tool.ruff.lint] extend-select = [ - "D", # pydocstyle "UP", # Ruff's UP rule "PERF", # Ruff's PERF rule "RET", # Ruff's RET rule "RSE", # Ruff's RSE rule "NPY", # Ruff's NPY rule "N", # Ruff's N rule - "I", # Ruff's I rule - "E", # Ruff's E rule ] \ No newline at end of file diff --git a/node-hub/dora-object-to-pose/pyproject.toml b/node-hub/dora-object-to-pose/pyproject.toml index d194c0d5..68fe3f3d 100644 --- a/node-hub/dora-object-to-pose/pyproject.toml +++ b/node-hub/dora-object-to-pose/pyproject.toml @@ -23,5 +23,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-openai-server/pyproject.toml b/node-hub/dora-openai-server/pyproject.toml index a1d3d6e9..8b29cec9 100644 --- a/node-hub/dora-openai-server/pyproject.toml +++ b/node-hub/dora-openai-server/pyproject.toml @@ -37,5 +37,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index af419c75..696f2f9c 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -38,5 +38,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-outtetts/pyproject.toml b/node-hub/dora-outtetts/pyproject.toml index fd1abf38..32cd9369 100644 --- a/node-hub/dora-outtetts/pyproject.toml +++ b/node-hub/dora-outtetts/pyproject.toml @@ -38,5 +38,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-parler/pyproject.toml b/node-hub/dora-parler/pyproject.toml index 78dae726..1b620808 100644 --- a/node-hub/dora-parler/pyproject.toml +++ b/node-hub/dora-parler/pyproject.toml @@ -40,5 +40,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-phi4/pyproject.toml b/node-hub/dora-phi4/pyproject.toml index d2997958..984f781d 100644 --- a/node-hub/dora-phi4/pyproject.toml +++ b/node-hub/dora-phi4/pyproject.toml @@ -42,5 +42,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-piper/pyproject.toml b/node-hub/dora-piper/pyproject.toml index 6595aea1..c526a12e 100644 --- a/node-hub/dora-piper/pyproject.toml +++ b/node-hub/dora-piper/pyproject.toml @@ -25,5 +25,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-pyaudio/pyproject.toml b/node-hub/dora-pyaudio/pyproject.toml index dbd06277..bf3a62d6 100644 --- a/node-hub/dora-pyaudio/pyproject.toml +++ b/node-hub/dora-pyaudio/pyproject.toml @@ -30,5 +30,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-pyorbbecksdk/pyproject.toml b/node-hub/dora-pyorbbecksdk/pyproject.toml index 7a29fa55..08d28afd 100644 --- a/node-hub/dora-pyorbbecksdk/pyproject.toml +++ b/node-hub/dora-pyorbbecksdk/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-pyrealsense/pyproject.toml b/node-hub/dora-pyrealsense/pyproject.toml index db278280..6465c4b7 100644 --- a/node-hub/dora-pyrealsense/pyproject.toml +++ b/node-hub/dora-pyrealsense/pyproject.toml @@ -31,5 +31,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index 27c7a957..c78728e9 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -52,5 +52,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-qwen2-5-vl/pyproject.toml b/node-hub/dora-qwen2-5-vl/pyproject.toml index e654bfa1..532e67a1 100644 --- a/node-hub/dora-qwen2-5-vl/pyproject.toml +++ b/node-hub/dora-qwen2-5-vl/pyproject.toml @@ -58,5 +58,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml index f3963170..ddb30948 100644 --- a/node-hub/dora-qwenvl/pyproject.toml +++ b/node-hub/dora-qwenvl/pyproject.toml @@ -45,5 +45,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-rav1e/pyproject.toml b/node-hub/dora-rav1e/pyproject.toml index ada586c8..e59d5494 100644 --- a/node-hub/dora-rav1e/pyproject.toml +++ b/node-hub/dora-rav1e/pyproject.toml @@ -23,5 +23,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-rdt-1b/pyproject.toml b/node-hub/dora-rdt-1b/pyproject.toml index 1cf06a05..9b2fd878 100644 --- a/node-hub/dora-rdt-1b/pyproject.toml +++ b/node-hub/dora-rdt-1b/pyproject.toml @@ -55,5 +55,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-reachy1/pyproject.toml b/node-hub/dora-reachy1/pyproject.toml index d61c1e20..aed06496 100644 --- a/node-hub/dora-reachy1/pyproject.toml +++ b/node-hub/dora-reachy1/pyproject.toml @@ -37,5 +37,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-reachy2/pyproject.toml b/node-hub/dora-reachy2/pyproject.toml index e5eb3125..3b64479f 100644 --- a/node-hub/dora-reachy2/pyproject.toml +++ b/node-hub/dora-reachy2/pyproject.toml @@ -34,5 +34,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml index b91498cf..e06c5c54 100644 --- a/node-hub/dora-rerun/pyproject.toml +++ b/node-hub/dora-rerun/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-sam2/pyproject.toml b/node-hub/dora-sam2/pyproject.toml index 52b2e755..6ad124b8 100644 --- a/node-hub/dora-sam2/pyproject.toml +++ b/node-hub/dora-sam2/pyproject.toml @@ -33,5 +33,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-transformers/pyproject.toml b/node-hub/dora-transformers/pyproject.toml index d4f4d7d5..a6c77034 100644 --- a/node-hub/dora-transformers/pyproject.toml +++ b/node-hub/dora-transformers/pyproject.toml @@ -36,5 +36,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-ugv/pyproject.toml b/node-hub/dora-ugv/pyproject.toml index b925b482..3ae0421f 100644 --- a/node-hub/dora-ugv/pyproject.toml +++ b/node-hub/dora-ugv/pyproject.toml @@ -25,5 +25,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-vad/pyproject.toml b/node-hub/dora-vad/pyproject.toml index 524230e1..d9e91472 100644 --- a/node-hub/dora-vad/pyproject.toml +++ b/node-hub/dora-vad/pyproject.toml @@ -25,5 +25,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dora-yolo/pyproject.toml b/node-hub/dora-yolo/pyproject.toml index 47217233..4e7047b8 100644 --- a/node-hub/dora-yolo/pyproject.toml +++ b/node-hub/dora-yolo/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/dynamixel-client/pyproject.toml b/node-hub/dynamixel-client/pyproject.toml index d255ab10..958a921a 100644 --- a/node-hub/dynamixel-client/pyproject.toml +++ b/node-hub/dynamixel-client/pyproject.toml @@ -32,5 +32,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/feetech-client/pyproject.toml b/node-hub/feetech-client/pyproject.toml index 1587ce1b..678ef90d 100644 --- a/node-hub/feetech-client/pyproject.toml +++ b/node-hub/feetech-client/pyproject.toml @@ -33,5 +33,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/gamepad/pyproject.toml b/node-hub/gamepad/pyproject.toml index 8a564f1e..902526af 100644 --- a/node-hub/gamepad/pyproject.toml +++ b/node-hub/gamepad/pyproject.toml @@ -21,13 +21,10 @@ gamepad = "gamepad.main:main" [tool.ruff.lint] extend-select = [ - "D", # pydocstyle "UP", # Ruff's UP rule "PERF", # Ruff's PERF rule "RET", # Ruff's RET rule "RSE", # Ruff's RSE rule "NPY", # Ruff's NPY rule "N", # Ruff's N rule - "I", # Ruff's I rule - "E", # Ruff's E rule ] \ No newline at end of file diff --git a/node-hub/lebai-client/pyproject.toml b/node-hub/lebai-client/pyproject.toml index b40b842f..a7c8a83e 100644 --- a/node-hub/lebai-client/pyproject.toml +++ b/node-hub/lebai-client/pyproject.toml @@ -32,5 +32,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/lerobot-dashboard/pyproject.toml b/node-hub/lerobot-dashboard/pyproject.toml index 13b675b2..eee5fc2a 100644 --- a/node-hub/lerobot-dashboard/pyproject.toml +++ b/node-hub/lerobot-dashboard/pyproject.toml @@ -34,5 +34,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/llama-factory-recorder/pyproject.toml b/node-hub/llama-factory-recorder/pyproject.toml index e78a75e5..4a894bb2 100644 --- a/node-hub/llama-factory-recorder/pyproject.toml +++ b/node-hub/llama-factory-recorder/pyproject.toml @@ -32,5 +32,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/mujoco-client/pyproject.toml b/node-hub/mujoco-client/pyproject.toml index c6f60daf..a99dda7e 100644 --- a/node-hub/mujoco-client/pyproject.toml +++ b/node-hub/mujoco-client/pyproject.toml @@ -33,5 +33,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index 9a04df42..95f253ee 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/opencv-video-capture/pyproject.toml b/node-hub/opencv-video-capture/pyproject.toml index 2899cbfa..9baee6ea 100644 --- a/node-hub/opencv-video-capture/pyproject.toml +++ b/node-hub/opencv-video-capture/pyproject.toml @@ -28,5 +28,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/pyarrow-assert/pyproject.toml b/node-hub/pyarrow-assert/pyproject.toml index 57da79ae..8a3ef699 100644 --- a/node-hub/pyarrow-assert/pyproject.toml +++ b/node-hub/pyarrow-assert/pyproject.toml @@ -29,5 +29,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/pyarrow-sender/pyproject.toml b/node-hub/pyarrow-sender/pyproject.toml index 967600f1..e3d8f9bc 100644 --- a/node-hub/pyarrow-sender/pyproject.toml +++ b/node-hub/pyarrow-sender/pyproject.toml @@ -29,5 +29,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/replay-client/pyproject.toml b/node-hub/replay-client/pyproject.toml index 82bafb0b..4d1d0be6 100644 --- a/node-hub/replay-client/pyproject.toml +++ b/node-hub/replay-client/pyproject.toml @@ -32,5 +32,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/terminal-input/pyproject.toml b/node-hub/terminal-input/pyproject.toml index 59ccf904..78d9503b 100644 --- a/node-hub/terminal-input/pyproject.toml +++ b/node-hub/terminal-input/pyproject.toml @@ -29,5 +29,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] diff --git a/node-hub/video-encoder/pyproject.toml b/node-hub/video-encoder/pyproject.toml index daa5863d..6e559423 100644 --- a/node-hub/video-encoder/pyproject.toml +++ b/node-hub/video-encoder/pyproject.toml @@ -34,5 +34,4 @@ extend-select = [ "NPY", # Ruff's NPY rule "N", # Ruff's N rule "I", # Ruff's I rule - "E", # Ruff's E rule -] \ No newline at end of file +] From d5c38b958d9c106f443a8a3febcc7fe5b0d895e1 Mon Sep 17 00:00:00 2001 From: Ignavar Date: Tue, 15 Apr 2025 20:41:09 +0500 Subject: [PATCH 056/135] Ease of use changes to not manually have to install libraries like librosa and opencv when running benches in virtual env --- benches/llms/README.md | 8 +++++++- benches/llms/llama_cpp_python.yaml | 2 ++ benches/llms/mistralrs.yaml | 2 ++ benches/llms/phi4.yaml | 2 ++ benches/llms/qwen2.5.yaml | 2 ++ benches/llms/transformers.yaml | 2 ++ benches/mllm/pyproject.toml | 22 ++++++++++++++++++++++ 7 files changed, 39 insertions(+), 1 deletion(-) create mode 100644 benches/mllm/pyproject.toml diff --git a/benches/llms/README.md b/benches/llms/README.md index f9d32dfb..80190cf9 100644 --- a/benches/llms/README.md +++ b/benches/llms/README.md @@ -1,6 +1,12 @@ # Benchmark LLM Speed -Use the following command to run the benchmark: +If you do not have a python virtual environment setup run + +'''bash +uv venv --seed -p 3.11 +''' + +Then Use the following command to run the benchmark: ```bash dora build transformers.yaml --uv diff --git a/benches/llms/llama_cpp_python.yaml b/benches/llms/llama_cpp_python.yaml index eabd2bbf..9fd824a1 100644 --- a/benches/llms/llama_cpp_python.yaml +++ b/benches/llms/llama_cpp_python.yaml @@ -1,5 +1,7 @@ nodes: - id: benchmark_script + build: | + pip install ../mllm path: ../mllm/benchmark_script.py inputs: text: llm/text diff --git a/benches/llms/mistralrs.yaml b/benches/llms/mistralrs.yaml index 929c9646..09bc5c2b 100644 --- a/benches/llms/mistralrs.yaml +++ b/benches/llms/mistralrs.yaml @@ -1,5 +1,7 @@ nodes: - id: benchmark_script + build: | + pip install ../mllm path: ../mllm/benchmark_script.py inputs: text: llm/text diff --git a/benches/llms/phi4.yaml b/benches/llms/phi4.yaml index 4859a406..b3f93943 100644 --- a/benches/llms/phi4.yaml +++ b/benches/llms/phi4.yaml @@ -1,5 +1,7 @@ nodes: - id: benchmark_script + build: | + pip install ../mllm path: ../mllm/benchmark_script.py inputs: text: llm/text diff --git a/benches/llms/qwen2.5.yaml b/benches/llms/qwen2.5.yaml index 99090f1d..73013ad7 100644 --- a/benches/llms/qwen2.5.yaml +++ b/benches/llms/qwen2.5.yaml @@ -1,5 +1,7 @@ nodes: - id: benchmark_script + build: | + pip install ../mllm path: ../mllm/benchmark_script.py inputs: text: llm/text diff --git a/benches/llms/transformers.yaml b/benches/llms/transformers.yaml index 86c56071..7e9a342d 100644 --- a/benches/llms/transformers.yaml +++ b/benches/llms/transformers.yaml @@ -1,5 +1,7 @@ nodes: - id: benchmark_script + build: | + pip install ../mllm path: ../mllm/benchmark_script.py inputs: text: llm/text diff --git a/benches/mllm/pyproject.toml b/benches/mllm/pyproject.toml new file mode 100644 index 00000000..d1bd28ae --- /dev/null +++ b/benches/mllm/pyproject.toml @@ -0,0 +1,22 @@ +[project] +name = "dora-bench" +version = "0.1.0" +description = "Script to benchmark performance of llms while using dora" +authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }] +license = { text = "MIT" } +readme = "README.md" +requires-python = ">=3.11" + +dependencies = [ + "dora-rs>=0.3.9", + "librosa>=0.10.0", + "opencv-python>=4.8", + "Pillow>=10", +] + +[project.scripts] +dora-benches = "benchmark_script.main:main" + +[build-system] +requires = ["setuptools>=61", "wheel"] +build-backend = "setuptools.build_meta" From e60451eb2f9a5126d8144ba4db4d5d5277977ad8 Mon Sep 17 00:00:00 2001 From: mivik Date: Wed, 16 Apr 2025 15:50:24 +0800 Subject: [PATCH 057/135] fix(example): improve benchmark implementation --- examples/benchmark/dataflow.yml | 4 ++- examples/benchmark/node/src/main.rs | 45 ++++++++++++----------------- examples/benchmark/sink/src/main.rs | 5 ++-- 3 files changed, 23 insertions(+), 31 deletions(-) diff --git a/examples/benchmark/dataflow.yml b/examples/benchmark/dataflow.yml index 41546151..ac85a45c 100644 --- a/examples/benchmark/dataflow.yml +++ b/examples/benchmark/dataflow.yml @@ -11,4 +11,6 @@ nodes: path: ../../target/release/benchmark-example-sink inputs: latency: rust-node/latency - throughput: rust-node/throughput + throughput: + source: rust-node/throughput + queue_size: 1000 diff --git a/examples/benchmark/node/src/main.rs b/examples/benchmark/node/src/main.rs index 7ad9715f..ab2d1e9c 100644 --- a/examples/benchmark/node/src/main.rs +++ b/examples/benchmark/node/src/main.rs @@ -1,7 +1,6 @@ use dora_node_api::{self, dora_core::config::DataId, DoraNode}; -use eyre::{Context, ContextCompat}; -use rand::Rng; -use std::collections::HashMap; +use eyre::Context; +use rand::RngCore; use std::time::Duration; use tracing_subscriber::Layer; @@ -25,26 +24,17 @@ fn main() -> eyre::Result<()> { 1000 * 4096, ]; - let mut data = HashMap::new(); - for size in sizes { - let vec: Vec = rand::thread_rng() - .sample_iter(rand::distributions::Standard) - .take(size) - .collect(); - - data.insert(size, vec); - } + let data = sizes.map(|size| { + let mut data = vec![0u8; size]; + rand::thread_rng().fill_bytes(&mut data); + data + }); // test latency first - for size in sizes { - for _ in 0..100 { - let data = data.get(&size).wrap_err(eyre::Report::msg(format!( - "data not found for size {}", - size - )))?; - + for data in &data { + for _ in 0..1 { node.send_output_raw(latency.clone(), Default::default(), data.len(), |out| { - out.copy_from_slice(data); + out.copy_from_slice(&data); })?; // sleep a bit to avoid queue buildup @@ -56,17 +46,18 @@ fn main() -> eyre::Result<()> { std::thread::sleep(Duration::from_secs(2)); // then throughput with full speed - for size in sizes { + for data in &data { for _ in 0..100 { - let data = data.get(&size).wrap_err(eyre::Report::msg(format!( - "data not found for size {}", - size - )))?; - node.send_output_raw(throughput.clone(), Default::default(), data.len(), |out| { - out.copy_from_slice(data); + out.copy_from_slice(&data); })?; } + // notify sink that all messages have been sent + node.send_output_raw(throughput.clone(), Default::default(), 1, |out| { + out.copy_from_slice(&[1]); + })?; + + std::thread::sleep(Duration::from_secs(2)); } Ok(()) diff --git a/examples/benchmark/sink/src/main.rs b/examples/benchmark/sink/src/main.rs index 154b47d2..e7364441 100644 --- a/examples/benchmark/sink/src/main.rs +++ b/examples/benchmark/sink/src/main.rs @@ -24,7 +24,8 @@ fn main() -> eyre::Result<()> { // check if new size bracket let data_len = data.len(); if data_len != current_size { - if n > 0 { + // data of length 1 is used to sync + if n > 0 && current_size != 1 { record_results(start, current_size, n, latencies, latency); } current_size = data_len; @@ -63,8 +64,6 @@ fn main() -> eyre::Result<()> { } } - record_results(start, current_size, n, latencies, latency); - Ok(()) } From 9e687ccae844cb2fe172b0680cb3edf5e8925541 Mon Sep 17 00:00:00 2001 From: mivik Date: Wed, 16 Apr 2025 15:53:53 +0800 Subject: [PATCH 058/135] feat(node): add warning for discarding events --- apis/rust/node/src/event_stream/scheduler.rs | 1 + 1 file changed, 1 insertion(+) diff --git a/apis/rust/node/src/event_stream/scheduler.rs b/apis/rust/node/src/event_stream/scheduler.rs index 89165678..f8783732 100644 --- a/apis/rust/node/src/event_stream/scheduler.rs +++ b/apis/rust/node/src/event_stream/scheduler.rs @@ -54,6 +54,7 @@ impl Scheduler { if let Some((size, queue)) = self.event_queues.get_mut(event_id) { // Remove the oldest event if at limit if &queue.len() >= size { + tracing::warn!("Discarding event for input `{event_id}` due to queue size limit"); queue.pop_front(); } queue.push_back(event); From 9037ca87967d024c72fc10d0f1fec49a8d3b1f40 Mon Sep 17 00:00:00 2001 From: Shar-jeel-Sajid Date: Fri, 4 Apr 2025 17:47:21 +0500 Subject: [PATCH 059/135] Added Self Uninstall Command --- Cargo.lock | 12 ++++++++++++ binaries/cli/Cargo.toml | 1 + binaries/cli/src/lib.rs | 33 ++++++++++++++++++++++++++++++++- 3 files changed, 45 insertions(+), 1 deletion(-) diff --git a/Cargo.lock b/Cargo.lock index 481f1ef0..0523a917 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3087,6 +3087,7 @@ dependencies = [ "log", "notify 5.2.0", "pyo3", + "self-replace", "self_update", "serde", "serde_json", @@ -11989,6 +11990,17 @@ dependencies = [ "libc", ] +[[package]] +name = "self-replace" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "03ec815b5eab420ab893f63393878d89c90fdd94c0bcc44c07abb8ad95552fb7" +dependencies = [ + "fastrand 2.3.0", + "tempfile", + "windows-sys 0.52.0", +] + [[package]] name = "self_update" version = "0.27.0" diff --git a/binaries/cli/Cargo.toml b/binaries/cli/Cargo.toml index 20d42015..6fd7e1ce 100644 --- a/binaries/cli/Cargo.toml +++ b/binaries/cli/Cargo.toml @@ -60,6 +60,7 @@ pyo3 = { workspace = true, features = [ "extension-module", "abi3", ], optional = true } +self-replace = "1.5.0" [lib] diff --git a/binaries/cli/src/lib.rs b/binaries/cli/src/lib.rs index bb89de20..ce5c5ec5 100644 --- a/binaries/cli/src/lib.rs +++ b/binaries/cli/src/lib.rs @@ -240,7 +240,7 @@ enum Command { #[clap(long)] quiet: bool, }, - + /// Dora CLI self-management commands Self_ { #[clap(subcommand)] command: SelfSubCommand, @@ -249,11 +249,18 @@ enum Command { #[derive(Debug, clap::Subcommand)] enum SelfSubCommand { + /// Check for updates or update the CLI Update { /// Only check for updates without installing #[clap(long)] check_only: bool, }, + /// Remove The Dora CLI from the system + Uninstall { + /// Force uninstallation without confirmation + #[clap(long)] + force: bool, + }, } #[derive(Debug, clap::Args)] @@ -606,6 +613,30 @@ fn run(args: Args) -> eyre::Result<()> { } } } + SelfSubCommand::Uninstall { force } => { + if !force { + let confirmed = + inquire::Confirm::new("Are you sure you want to uninstall Dora CLI?") + .with_default(false) + .prompt() + .wrap_err("Uninstallation cancelled")?; + + if !confirmed { + println!("Uninstallation cancelled"); + return Ok(()); + } + } + + println!("Uninstalling Dora CLI..."); + match self_replace::self_delete() { + Ok(_) => { + println!("Dora CLI has been successfully uninstalled."); + } + Err(e) => { + bail!("Failed to uninstall Dora CLI: {}", e); + } + } + } }, }; From 3936db7a5fe3050b2809da3002b17508a178039b Mon Sep 17 00:00:00 2001 From: Shar-jeel-Sajid Date: Wed, 16 Apr 2025 19:51:12 +0500 Subject: [PATCH 060/135] Handled case for pip versions --- binaries/cli/src/lib.rs | 27 ++++++++++++++++++++++----- 1 file changed, 22 insertions(+), 5 deletions(-) diff --git a/binaries/cli/src/lib.rs b/binaries/cli/src/lib.rs index ce5c5ec5..75497999 100644 --- a/binaries/cli/src/lib.rs +++ b/binaries/cli/src/lib.rs @@ -628,12 +628,29 @@ fn run(args: Args) -> eyre::Result<()> { } println!("Uninstalling Dora CLI..."); - match self_replace::self_delete() { - Ok(_) => { - println!("Dora CLI has been successfully uninstalled."); + #[cfg(feature = "python")] + { + println!("Detected pip installation, running pip uninstall..."); + let status = std::process::Command::new("pip") + .args(["uninstall", "-y", "dora-rs-cli"]) + .status() + .wrap_err("Failed to run pip uninstall")?; + + if status.success() { + println!("Dora CLI has been successfully uninstalled via pip."); + } else { + bail!("Failed to uninstall Dora CLI via pip."); } - Err(e) => { - bail!("Failed to uninstall Dora CLI: {}", e); + } + #[cfg(not(feature = "python"))] + { + match self_replace::self_delete() { + Ok(_) => { + println!("Dora CLI has been successfully uninstalled."); + } + Err(e) => { + bail!("Failed to uninstall Dora CLI: {}", e); + } } } } From 87c7df5838f8e3152f26111f835dfd4ce1b6ea59 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 9 Apr 2025 15:14:32 +0200 Subject: [PATCH 061/135] Adding example dataflow --- examples/reachy2-remote/dataflow_reachy.yml | 180 ++++++++++++++++++ examples/reachy2-remote/parse_bbox.py | 66 +++++++ examples/reachy2-remote/parse_point.py | 47 +++++ examples/reachy2-remote/parse_whisper.py | 75 ++++++++ examples/reachy2-remote/whisper-dev.yml | 42 ++++ .../dora-cotracker/dora_cotracker/main.py | 19 +- 6 files changed, 425 insertions(+), 4 deletions(-) create mode 100644 examples/reachy2-remote/dataflow_reachy.yml create mode 100644 examples/reachy2-remote/parse_bbox.py create mode 100644 examples/reachy2-remote/parse_point.py create mode 100644 examples/reachy2-remote/parse_whisper.py create mode 100644 examples/reachy2-remote/whisper-dev.yml diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml new file mode 100644 index 00000000..aa5574bb --- /dev/null +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -0,0 +1,180 @@ +nodes: + - id: camera + path: dora-reachy2-camera + _unstable_deploy: + machine: encoder + inputs: + tick: dora/timer/millis/10 + outputs: + - image_left + - image_depth + - depth + env: + CAPTURE_PATH: 0 + IMAGE_WIDTH: 640 + IMAGE_HEIGHT: 480 + ROBOT_IP: 127.0.0.1 + + - id: rav1e-local-image + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: encoder + inputs: + image_depth: camera/image_depth + image_left: camera/image_left + outputs: + - image_left + - image_depth + - depth + env: + RAV1E_SPEED: 10 + + - id: dav1d-remote + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: gpu + inputs: + image_depth: rav1e-local-image/image_depth + image_left: rav1e-local-image/image_left + # depth: rav1e-local/depth + outputs: + - image_left + - image_depth + - depth + + - id: dora-microphone + build: pip install -e ../../node-hub/dora-microphone + path: dora-microphone + _unstable_deploy: + machine: macbook + inputs: + tick: dora/timer/millis/2000 + outputs: + - audio + + - id: dora-vad + build: pip install -e ../../node-hub/dora-vad + _unstable_deploy: + machine: macbook + path: dora-vad + inputs: + audio: dora-microphone/audio + outputs: + - audio + + - id: dora-distil-whisper + build: pip install -e ../../node-hub/dora-distil-whisper + _unstable_deploy: + machine: macbook + path: dora-distil-whisper + inputs: + input: dora-vad/audio + outputs: + - text + env: + TARGET_LANGUAGE: english + + - id: parse_whisper + path: parse_whisper.py + _unstable_deploy: + machine: gpu + inputs: + text: dora-distil-whisper/text + outputs: + - bbox + - action + - points + - text + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: dora-qwenvl + build: pip install -e ../../node-hub/dora-qwen2-5-vl + path: dora-qwen2-5-vl + _unstable_deploy: + machine: gpu + inputs: + image_left: dav1d-remote/image_left + text: parse_whisper/text + outputs: + - text + env: + DEFAULT_QUESTION: Output the bounding box of the suitcase. + IMAGE_RESIZE_RATIO: "1.0" + + - id: parse_bbox + path: parse_bbox.py + _unstable_deploy: + machine: gpu + inputs: + text: dora-qwenvl/text + points: parse_whisper/points + outputs: + - bbox + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: tracker + build: pip install -e ../../node-hub/dora-cotracker + path: dora-cotracker + _unstable_deploy: + machine: gpu + inputs: + image: dav1d-remote/image_left + boxes2d: parse_bbox/bbox + outputs: + - tracked_image + - points + env: + INTERACTIVE_MODE: false + + #- id: sam2 + #build: pip install -e ../../node-hub/dora-sam2 + #path: dora-sam2 + #_unstable_deploy: + #machine: gpu + #inputs: + #image_left: dav1d-remote/image_left + #boxes2d: parse_bbox/bbox + #outputs: + #- masks + + - id: parse_point + path: parse_point.py + _unstable_deploy: + machine: gpu + inputs: + points: tracker/points + outputs: + - action + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: reachy-mobile-base + build: pip install -e ../../node-hub/dora-reachy2 + path: dora-reachy2-mobile-base + _unstable_deploy: + machine: encoder + inputs: + action_base: parse_point/action + action_whipser: parse_whisper/action + outputs: + - response_base + env: + ROBOT_IP: 127.0.0.1 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + _unstable_deploy: + machine: macbook + inputs: + image: dav1d-remote/image_left + image_depth: dav1d-remote/image_depth + boxes2d: parse_bbox/bbox + original_text: dora-distil-whisper/text + parsed_text: parse_whisper/text + qwenvl_text: dora-qwenvl/text + tracked_image: tracker/tracked_image diff --git a/examples/reachy2-remote/parse_bbox.py b/examples/reachy2-remote/parse_bbox.py new file mode 100644 index 00000000..09bca4e7 --- /dev/null +++ b/examples/reachy2-remote/parse_bbox.py @@ -0,0 +1,66 @@ +"""TODO: Add docstring.""" + +import json +import os + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +def extract_bboxes(json_text): + """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array. + + Parameters + ---------- + json_text : str + JSON string containing bounding box data, including ```json markers. + + Returns + ------- + np.ndarray: NumPy array of bounding boxes. + + """ + # Ensure all lines are stripped of whitespace and markers + lines = json_text.strip().splitlines() + + # Filter out lines that are markdown markers + clean_lines = [line for line in lines if not line.strip().startswith("```")] + + # Join the lines back into a single string + clean_text = "\n".join(clean_lines) + # Parse the cleaned JSON text + try: + data = json.loads(clean_text) + + # Extract bounding boxes + bboxes = [item["bbox_2d"] for item in data] + labels = [item["label"] for item in data] + + return np.array(bboxes), np.array(labels) + except Exception as _e: # noqa + pass + return None, None + + +for event in node: + if event["type"] == "INPUT": + if len(event["value"]) == 0: + node.send_output("bbox", pa.array([])) + continue + + text = event["value"][0].as_py() + image_id = event["metadata"]["image_id"] + + bboxes, labels = extract_bboxes(text) + if bboxes is not None and len(bboxes) > 0: + bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO) + node.send_output( + "bbox", + pa.array(bboxes.ravel()), + metadata={"encoding": "xyxy", "image_id": image_id}, + ) diff --git a/examples/reachy2-remote/parse_point.py b/examples/reachy2-remote/parse_point.py new file mode 100644 index 00000000..0617f3d2 --- /dev/null +++ b/examples/reachy2-remote/parse_point.py @@ -0,0 +1,47 @@ +"""TODO: Add docstring.""" + +import json +import os + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +for event in node: + if event["type"] == "INPUT": + text = event["value"][0].as_py() + width = event["metadata"]["width"] + height = event["metadata"]["height"] + values = event["value"].to_numpy().reshape((-1, 2)) + values = values * int(1 / IMAGE_RESIZE_RATIO) + + # Do point 0 first + if len(values) == 0: + print("No points detected") + continue + elif len(values) > 1: + print("Multiple points detected, taking the first one") + point = values[0] + + rz = int((width / 2) - point[0]) / (width / 2) + x_distance = min(height / 2, height - point[1]) + + if abs(rz) > 0.3: + rz = np.deg2rad(30) * np.sign(rz) + elif abs(rz) > 0.1: + rz = np.deg2rad(30) * np.sign(rz) + else: + x = 0 + + if x_distance > (height * 0.15): + x = 0.5 + else: + x = 0 + # Action + action = pa.array([x, 0, 0, 0, 0, rz]) + node.send_output("action", action) diff --git a/examples/reachy2-remote/parse_whisper.py b/examples/reachy2-remote/parse_whisper.py new file mode 100644 index 00000000..e91f4a45 --- /dev/null +++ b/examples/reachy2-remote/parse_whisper.py @@ -0,0 +1,75 @@ +"""TODO: Add docstring.""" + +import json +import os +import time + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +def extract_bboxes(json_text): + """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array. + + Parameters + ---------- + json_text : str + JSON string containing bounding box data, including ```json markers. + + Returns + ------- + np.ndarray: NumPy array of bounding boxes. + + """ + # Ensure all lines are stripped of whitespace and markers + lines = json_text.strip().splitlines() + + # Filter out lines that are markdown markers + clean_lines = [line for line in lines if not line.strip().startswith("```")] + + # Join the lines back into a single string + clean_text = "\n".join(clean_lines) + # Parse the cleaned JSON text + try: + data = json.loads(clean_text) + + # Extract bounding boxes + bboxes = [item["bbox_2d"] for item in data] + labels = [item["label"] for item in data] + + return np.array(bboxes), np.array(labels) + except Exception as _e: # noqa + pass + return None, None + + +for event in node: + if event["type"] == "INPUT": + text = event["value"][0].as_py().lower() + + if "stop" in text: + node.send_output("points", pa.array([], type=pa.float64())) + elif "follow" in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object" + node.send_output("text", pa.array([text]), {"image_id": "image_left"}) + elif "left" in text: + action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + node.send_output("points", pa.array([])) + node.send_output("action", action) + elif "right" in text: + action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + node.send_output("points", pa.array([])) + node.send_output("action", action) diff --git a/examples/reachy2-remote/whisper-dev.yml b/examples/reachy2-remote/whisper-dev.yml new file mode 100644 index 00000000..c52e52f4 --- /dev/null +++ b/examples/reachy2-remote/whisper-dev.yml @@ -0,0 +1,42 @@ +nodes: + - id: dora-microphone + build: pip install -e ../../node-hub/dora-microphone + path: dora-microphone + _unstable_deploy: + machine: macbook + inputs: + tick: dora/timer/millis/2000 + outputs: + - audio + + - id: dora-vad + build: pip install -e ../../node-hub/dora-vad + _unstable_deploy: + machine: macbook + path: dora-vad + inputs: + audio: dora-microphone/audio + outputs: + - audio + + - id: dora-distil-whisper + build: pip install -e ../../node-hub/dora-distil-whisper + _unstable_deploy: + machine: macbook + path: dora-distil-whisper + inputs: + input: dora-vad/audio + outputs: + - text + env: + TARGET_LANGUAGE: english + # For China + # USE_MODELSCOPE_HUB: true + + - id: dora-rerun + build: cargo build -p dora-rerun --release + _unstable_deploy: + machine: macbook + path: dora-rerun + inputs: + original_text: dora-distil-whisper/text diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py index dcfaeb54..27bcbc74 100644 --- a/node-hub/dora-cotracker/dora_cotracker/main.py +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -25,6 +25,7 @@ class VideoTrackingNode: self.accept_new_points = True self.clicked_points = [] self.input_points = [] + self.input_masks = [] def mouse_callback(self, event, x, y, flags, param): if event == cv2.EVENT_LBUTTONDOWN: @@ -52,9 +53,9 @@ class VideoTrackingNode: # Track points pred_tracks, pred_visibility = self.model( video_chunk, + queries=queries, is_first_step=self.is_first_step, grid_size=0, - queries=queries, add_support_grid=False, ) self.is_first_step = False @@ -118,6 +119,8 @@ class VideoTrackingNode: "num_points": len(visible_tracks), "dtype": "float32", "shape": (len(visible_tracks), 2), + "width": frame.shape[1], + "height": frame.shape[0], }, ) @@ -153,7 +156,7 @@ class VideoTrackingNode: cv2.imshow("Interactive Feed to track point", display_frame) cv2.waitKey(1) - if event["id"] == "points": + elif event["id"] == "points": if not self.accept_new_points: continue # Handle points from input_stream node @@ -162,9 +165,13 @@ class VideoTrackingNode: self.input_points = points_array.reshape((-1, 2)).tolist() self.accept_new_points = False self.is_first_step = True - if event["id"] == "boxes2d": + elif event["id"] == "boxes2d": if not self.accept_new_points: continue + if len(event["value"]) == 0: + self.input_points = [] + self.is_first_step = True + continue # Handle points from input_stream node metadata = event["metadata"] @@ -185,7 +192,11 @@ class VideoTrackingNode: _labels = None self.input_points = [ - [int((x_min + x_max) / 2), int((y_min + y_max) / 2)] + [ + int(x_min + (x_max - x_min) * 2 / 4), + int(y_min + (y_max - y_min) * i / 10), + ] + for i in range(4, 7) for x_min, y_min, x_max, y_max in boxes2d ] From 0192f3637ce030ef3d13b43cc98444680e2302ba Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 9 Apr 2025 15:31:13 +0200 Subject: [PATCH 062/135] Update demo --- examples/reachy2-remote/dataflow_reachy.yml | 14 ++++++++++++-- examples/reachy2-remote/parse_bbox.py | 17 ++++++++++++----- examples/reachy2-remote/parse_point.py | 8 +++++--- examples/reachy2-remote/parse_pose.py | 0 examples/reachy2-remote/parse_whisper.py | 11 +++++++++-- 5 files changed, 38 insertions(+), 12 deletions(-) create mode 100644 examples/reachy2-remote/parse_pose.py diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml index aa5574bb..dc843baf 100644 --- a/examples/reachy2-remote/dataflow_reachy.yml +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -97,6 +97,7 @@ nodes: machine: gpu inputs: image_left: dav1d-remote/image_left + image_depth: dav1d-remote/image_depth text: parse_whisper/text outputs: - text @@ -112,7 +113,8 @@ nodes: text: dora-qwenvl/text points: parse_whisper/points outputs: - - bbox + - bbox_track + - bbox_grab env: IMAGE_RESIZE_RATIO: "1.0" @@ -123,13 +125,21 @@ nodes: machine: gpu inputs: image: dav1d-remote/image_left - boxes2d: parse_bbox/bbox + boxes2d: parse_bbox/bbox_track outputs: - tracked_image - points env: INTERACTIVE_MODE: false + # - id: box_coordinates + # build: pip install -e ../../node-hub/dora-object-to-pose + # path: dora-object-to-pose + # inputs: + # depth: reachy-camera/depth + # boxes2d: parse_bbox/bbox + # outputs: + # - pose #- id: sam2 #build: pip install -e ../../node-hub/dora-sam2 #path: dora-sam2 diff --git a/examples/reachy2-remote/parse_bbox.py b/examples/reachy2-remote/parse_bbox.py index 09bca4e7..143404ac 100644 --- a/examples/reachy2-remote/parse_bbox.py +++ b/examples/reachy2-remote/parse_bbox.py @@ -59,8 +59,15 @@ for event in node: bboxes, labels = extract_bboxes(text) if bboxes is not None and len(bboxes) > 0: bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO) - node.send_output( - "bbox", - pa.array(bboxes.ravel()), - metadata={"encoding": "xyxy", "image_id": image_id}, - ) + if image_id == "image_left": + node.send_output( + "bbox_track", + pa.array(bboxes.ravel()), + metadata={"encoding": "xyxy", "image_id": image_id}, + ) + elif image_id == "image_depth": + node.send_output( + "bbox_grab", + pa.array(bboxes.ravel()), + metadata={"encoding": "xyxy", "image_id": image_id}, + ) diff --git a/examples/reachy2-remote/parse_point.py b/examples/reachy2-remote/parse_point.py index 0617f3d2..e3401a4e 100644 --- a/examples/reachy2-remote/parse_point.py +++ b/examples/reachy2-remote/parse_point.py @@ -26,7 +26,7 @@ for event in node: continue elif len(values) > 1: print("Multiple points detected, taking the first one") - point = values[0] + point = values[-1] rz = int((width / 2) - point[0]) / (width / 2) x_distance = min(height / 2, height - point[1]) @@ -34,11 +34,13 @@ for event in node: if abs(rz) > 0.3: rz = np.deg2rad(30) * np.sign(rz) elif abs(rz) > 0.1: - rz = np.deg2rad(30) * np.sign(rz) + rz = np.deg2rad(20) * np.sign(rz) else: x = 0 - if x_distance > (height * 0.15): + if x_distance > (height * 0.3): + x = 0.7 + elif x_distance > (height * 0.15): x = 0.5 else: x = 0 diff --git a/examples/reachy2-remote/parse_pose.py b/examples/reachy2-remote/parse_pose.py new file mode 100644 index 00000000..e69de29b diff --git a/examples/reachy2-remote/parse_whisper.py b/examples/reachy2-remote/parse_whisper.py index e91f4a45..74211806 100644 --- a/examples/reachy2-remote/parse_whisper.py +++ b/examples/reachy2-remote/parse_whisper.py @@ -57,19 +57,26 @@ for event in node: elif "follow" in text: text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object" node.send_output("text", pa.array([text]), {"image_id": "image_left"}) + elif "grab" in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the given grabbed object" + node.send_output("text", pa.array([text]), {"image_id": "image_depth"}) elif "left" in text: action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + node.send_output("action", action) time.sleep(0.25) action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + node.send_output("action", action) time.sleep(0.25) action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) - node.send_output("points", pa.array([])) node.send_output("action", action) + node.send_output("points", pa.array([])) elif "right" in text: action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + node.send_output("action", action) time.sleep(0.25) action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + node.send_output("action", action) time.sleep(0.25) action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) - node.send_output("points", pa.array([])) node.send_output("action", action) + node.send_output("points", pa.array([])) From 04c06ec185c40aa010da5fc445f75f633eb8a01f Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 10 Apr 2025 18:38:58 +0200 Subject: [PATCH 063/135] Minor improvement --- examples/reachy2-remote/dataflow_reachy.yml | 110 +++++-- examples/reachy2-remote/parse_bbox.py | 7 +- examples/reachy2-remote/parse_point.py | 22 +- examples/reachy2-remote/parse_pose.py | 291 ++++++++++++++++++ examples/reachy2-remote/parse_whisper.py | 19 +- node-hub/dora-object-to-pose/src/lib.rs | 54 ++-- .../dora-qwen2-5-vl/dora_qwen2_5_vl/main.py | 4 +- node-hub/dora-sam2/dora_sam2/main.py | 58 +++- 8 files changed, 502 insertions(+), 63 deletions(-) diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml index dc843baf..494b112d 100644 --- a/examples/reachy2-remote/dataflow_reachy.yml +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -4,17 +4,40 @@ nodes: _unstable_deploy: machine: encoder inputs: - tick: dora/timer/millis/10 + tick: dora/timer/millis/20 outputs: - image_left - image_depth - depth env: - CAPTURE_PATH: 0 IMAGE_WIDTH: 640 IMAGE_HEIGHT: 480 ROBOT_IP: 127.0.0.1 + - id: reachy-left-arm + build: pip install -e ../../node-hub/dora-reachy2 + path: dora-reachy2-left-arm + _unstable_deploy: + machine: encoder + inputs: + pose: parse_pose/action_l_arm + outputs: + - response_l_arm + env: + ROBOT_IP: 127.0.0.1 + + - id: reachy-right-arm + build: pip install -e ../../node-hub/dora-reachy2 + path: dora-reachy2-right-arm + _unstable_deploy: + machine: encoder + inputs: + pose: parse_pose/action_r_arm + outputs: + - response_r_arm + env: + ROBOT_IP: 127.0.0.1 + - id: rav1e-local-image path: dora-rav1e build: cargo build -p dora-rav1e --release @@ -26,10 +49,21 @@ nodes: outputs: - image_left - image_depth - - depth env: RAV1E_SPEED: 10 + - id: rav1e-local-depth + path: dora-rav1e + build: cargo build -p dora-rav1e --release + _unstable_deploy: + machine: encoder + inputs: + depth: camera/depth + outputs: + - depth + env: + RAV1E_SPEED: 7 + - id: dav1d-remote path: dora-dav1d build: cargo build -p dora-dav1d --release @@ -38,7 +72,7 @@ nodes: inputs: image_depth: rav1e-local-image/image_depth image_left: rav1e-local-image/image_left - # depth: rav1e-local/depth + depth: rav1e-local-depth/depth outputs: - image_left - image_depth @@ -87,6 +121,8 @@ nodes: - action - points - text + - action_release_left + - action_release_right env: IMAGE_RESIZE_RATIO: "1.0" @@ -118,6 +154,17 @@ nodes: env: IMAGE_RESIZE_RATIO: "1.0" + - id: sam2 + build: pip install -e ../../node-hub/dora-sam2 + path: dora-sam2 + _unstable_deploy: + machine: gpu + inputs: + image_depth: dav1d-remote/image_depth + boxes2d: parse_bbox/bbox_grab + outputs: + - masks + - id: tracker build: pip install -e ../../node-hub/dora-cotracker path: dora-cotracker @@ -132,24 +179,32 @@ nodes: env: INTERACTIVE_MODE: false - # - id: box_coordinates - # build: pip install -e ../../node-hub/dora-object-to-pose - # path: dora-object-to-pose - # inputs: - # depth: reachy-camera/depth - # boxes2d: parse_bbox/bbox - # outputs: - # - pose - #- id: sam2 - #build: pip install -e ../../node-hub/dora-sam2 - #path: dora-sam2 - #_unstable_deploy: - #machine: gpu - #inputs: - #image_left: dav1d-remote/image_left - #boxes2d: parse_bbox/bbox - #outputs: - #- masks + - id: box_coordinates + build: pip install -e ../../node-hub/dora-object-to-pose + path: dora-object-to-pose + _unstable_deploy: + machine: gpu + inputs: + depth: dav1d-remote/depth + masks: sam2/masks + outputs: + - pose + + - id: parse_pose + path: parse_pose.py + _unstable_deploy: + machine: gpu + inputs: + pose: box_coordinates/pose + response_r_arm: reachy-right-arm/response_r_arm + response_l_arm: reachy-left-arm/response_l_arm + release_left: parse_whisper/action_release_left + release_right: parse_whisper/action_release_right + outputs: + - action_r_arm + - action_l_arm + env: + IMAGE_RESIZE_RATIO: "1.0" - id: parse_point path: parse_point.py @@ -179,12 +234,15 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun _unstable_deploy: - machine: macbook + machine: gpu inputs: image: dav1d-remote/image_left - image_depth: dav1d-remote/image_depth - boxes2d: parse_bbox/bbox + torso/image: dav1d-remote/image_depth + torso/depth: dav1d-remote/depth + torso/boxes2d: parse_bbox/bbox original_text: dora-distil-whisper/text parsed_text: parse_whisper/text qwenvl_text: dora-qwenvl/text - tracked_image: tracker/tracked_image + env: + RERUN_MEMORY_LIMIT: 5% + CAMERA_PITCH: 2.47 diff --git a/examples/reachy2-remote/parse_bbox.py b/examples/reachy2-remote/parse_bbox.py index 143404ac..88667769 100644 --- a/examples/reachy2-remote/parse_bbox.py +++ b/examples/reachy2-remote/parse_bbox.py @@ -54,20 +54,23 @@ for event in node: continue text = event["value"][0].as_py() + metadata = event["metadata"] image_id = event["metadata"]["image_id"] bboxes, labels = extract_bboxes(text) if bboxes is not None and len(bboxes) > 0: bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO) + metadata["image_id"] = image_id + metadata["encoding"] = "xyxy" if image_id == "image_left": node.send_output( "bbox_track", pa.array(bboxes.ravel()), - metadata={"encoding": "xyxy", "image_id": image_id}, + metadata, ) elif image_id == "image_depth": node.send_output( "bbox_grab", pa.array(bboxes.ravel()), - metadata={"encoding": "xyxy", "image_id": image_id}, + metadata, ) diff --git a/examples/reachy2-remote/parse_point.py b/examples/reachy2-remote/parse_point.py index e3401a4e..7e9990da 100644 --- a/examples/reachy2-remote/parse_point.py +++ b/examples/reachy2-remote/parse_point.py @@ -29,18 +29,24 @@ for event in node: point = values[-1] rz = int((width / 2) - point[0]) / (width / 2) - x_distance = min(height / 2, height - point[1]) - - if abs(rz) > 0.3: - rz = np.deg2rad(30) * np.sign(rz) + x_distance = min(height, height - point[1]) + + if abs(rz) > 0.75: + rz = np.deg2rad(90) * np.sign(rz) + if abs(rz) > 0.5: + rz = np.deg2rad(60) * np.sign(rz) + elif abs(rz) > 0.3: + rz = np.deg2rad(55) * np.sign(rz) elif abs(rz) > 0.1: - rz = np.deg2rad(20) * np.sign(rz) + rz = np.deg2rad(45) * np.sign(rz) else: x = 0 - if x_distance > (height * 0.3): - x = 0.7 - elif x_distance > (height * 0.15): + if x_distance > (height * 0.7): + x = 0.5 + elif x_distance > (height * 0.5): + x = 0.5 + elif x_distance > (height * 0.2): x = 0.5 else: x = 0 diff --git a/examples/reachy2-remote/parse_pose.py b/examples/reachy2-remote/parse_pose.py index e69de29b..042b6c0a 100644 --- a/examples/reachy2-remote/parse_pose.py +++ b/examples/reachy2-remote/parse_pose.py @@ -0,0 +1,291 @@ +"""TODO: Add docstring.""" + +import json +import os + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +l_init_pose = [ + -7.0631310641087435, + -10.432298603362307, + 24.429809104404114, + -132.15000828778648, + -1.5494749438811133, + -21.749917789205202, + 8.099312596108344, + 100, +] +r_init_pose = [ + -5.60273587426976, + 10.780818397272316, + -27.868146823156042, + -126.15650363072193, + 3.961108018106834, + -35.43682799906162, + 350.9236448374495, + 100, +] +r_release_closed_pose = [ + -26.1507947940993, + 12.16735021387949, + -2.2657319092611976, + -97.63648867582175, + -19.91084837404425, + 22.10184328619011, + 366.71351223614494, + 0, +] + +r_release_opened_pose = [ + -26.1507947940993, + 12.16735021387949, + -2.2657319092611976, + -97.63648867582175, + -19.91084837404425, + 22.10184328619011, + 366.71351223614494, + 100, +] + +l_release_opened_pose = [ + -30.04330081906935, + -7.415231584691132, + 3.6972339048071468, + -97.7274736257555, + 12.996718740452982, + 30.838020649757016, + -1.5572310505704858, + 0, +] + +l_release_closed_pose = [ + -30.04330081906935, + -7.415231584691132, + 3.6972339048071468, + -97.7274736257555, + 12.996718740452982, + 30.838020649757016, + -1.5572310505704858, + 100, +] + + +def wait_for_event(id, timeout=None, cache={}): + """TODO: Add docstring.""" + while True: + event = node.next(timeout=timeout) + if event is None: + cache["finished"] = True + return None, cache + if event["type"] == "INPUT": + cache[event["id"]] = event["value"] + if event["id"] == id: + return event["value"], cache + + elif event["type"] == "ERROR": + return None, cache + + +arm_holding_object = None +cache = {} + + +## ---- INIT --- +node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": 2}, +) +node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": 2}, +) + +for event in node: + if event["type"] == "INPUT": + if event["id"] == "pose": + values = event["value"] + values = values.to_numpy() + print("Pose: ", values) + if len(values) == 0: + continue + x = values[0] + y = values[1] + z = values[2] + action = event["metadata"]["action"] + + match action: + case "grab": + if len(values) == 0: + continue + x = x + 0.03 + + ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement. + trajectory = np.array( + [ + [x, y, -0.16, 0, 0, 0, 100], + [x, y, z, 0, 0, 0, 0], + [x, y, -0.16, 0, 0, 0, 0], + ], + ).ravel() + + if y < 0: + node.send_output( + "action_r_arm", + pa.array(trajectory), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event = wait_for_event(id="response_r_arm", timeout=5) + if event is not None and event[0]: + print("Success") + arm_holding_object = "right" + node.send_output( + "action_r_arm", + pa.array([0.1, -0.2, -0.16, 0, 0, 0, 0]), + metadata={"encoding": "xyzrpy", "duration": "1"}, + ) + else: + print("Failed: x: ", x, " y: ", y, " z: ", z) + node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": "1"}, + ) + event = wait_for_event(id="response_r_arm") + else: + y += 0.03 + node.send_output( + "action_l_arm", + pa.array(trajectory), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event = wait_for_event(id="response_l_arm", timeout=5) + if event is not None and event[0]: + print("Success") + arm_holding_object = "left" + node.send_output( + "action_l_arm", + pa.array([0.1, 0.2, -0.16, 0, 0, 0, 0]), + metadata={"encoding": "xyzrpy", "duration": "1"}, + ) + else: + print("Failed") + node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": "1"}, + ) + event = wait_for_event(id="response_l_arm") + case "release": + if len(values) == 0: + continue + x = x + 0.03 + + ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement. + trajectory = np.array( + [ + [x, y, -0.16, 0, 0, 0, 100], + ], + ).ravel() + + if y < 0: + node.send_output( + "action_r_arm", + pa.array(trajectory), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event = wait_for_event(id="response_r_arm", timeout=5) + if event is not None and event[0]: + print("Success") + arm_holding_object = "right" + node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) + else: + print("Failed: x: ", x, " y: ", y, " z: ", z) + node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": "1"}, + ) + event = wait_for_event(id="response_r_arm") + else: + y += 0.03 + node.send_output( + "action_l_arm", + pa.array(trajectory), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event = wait_for_event(id="response_l_arm", timeout=5) + if event is not None and event[0]: + print("Success") + arm_holding_object = "left" + node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) + else: + print("Failed") + node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": "1"}, + ) + event = wait_for_event(id="response_l_arm") + + elif event["id"] == "release_right": + node.send_output( + "action_r_arm", + pa.array( + [ + 0.4, + 0, + -0.16, + 0, + 0, + 0, + 100, + ], + ), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event, cache = wait_for_event(id="response_r_arm", cache=cache) + node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) + elif event["id"] == "release_left": + node.send_output( + "action_l_arm", + pa.array( + [ + 0.4, + 0, + -0.16, + 0, + 0, + 0, + 100, + ], + ), + metadata={"encoding": "xyzrpy", "duration": "0.75"}, + ) + event, cache = wait_for_event(id="response_l_arm", cache=cache) + + node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) diff --git a/examples/reachy2-remote/parse_whisper.py b/examples/reachy2-remote/parse_whisper.py index 74211806..99a5e47f 100644 --- a/examples/reachy2-remote/parse_whisper.py +++ b/examples/reachy2-remote/parse_whisper.py @@ -59,8 +59,21 @@ for event in node: node.send_output("text", pa.array([text]), {"image_id": "image_left"}) elif "grab" in text: text = f"Given the prompt: {text}. Output the bounding boxes for the given grabbed object" - node.send_output("text", pa.array([text]), {"image_id": "image_depth"}) - elif "left" in text: + node.send_output( + "text", pa.array([text]), {"image_id": "image_depth", "action": "grab"} + ) + elif "put " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image_depth", "action": "release"}, + ) + elif "release left" in text: + node.send_output("action_release_left", pa.array([1.0])) + elif "release right" in text: + node.send_output("action_release_right", pa.array([1.0])) + elif "turn left" in text: action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) node.send_output("action", action) time.sleep(0.25) @@ -70,7 +83,7 @@ for event in node: action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) node.send_output("action", action) node.send_output("points", pa.array([])) - elif "right" in text: + elif "turn right" in text: action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) node.send_output("action", action) time.sleep(0.25) diff --git a/node-hub/dora-object-to-pose/src/lib.rs b/node-hub/dora-object-to-pose/src/lib.rs index 8c2a3779..98aadad1 100644 --- a/node-hub/dora-object-to-pose/src/lib.rs +++ b/node-hub/dora-object-to-pose/src/lib.rs @@ -1,7 +1,7 @@ use core::f32; use dora_node_api::{ arrow::{ - array::{AsArray, Float64Array, UInt8Array}, + array::{AsArray, Float64Array, UInt16Array, UInt8Array}, datatypes::{Float32Type, Int64Type}, }, dora_core::config::DataId, @@ -11,7 +11,7 @@ use eyre::Result; use std::collections::HashMap; fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { - let (_x, _y, _z, sum_xy, sum_x2, sum_y2, n, x_min, x_max, y_min, y_max, z_min, z_max) = + let (sum_x, sum_y, sum_z, sum_xy, sum_x2, sum_y2, n, x_min, x_max, y_min, y_max, z_min, z_max) = points.iter().fold( ( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0, @@ -49,11 +49,7 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { ) }, ); - let (mean_x, mean_y, mean_z) = ( - (x_max + x_min) / 2., - (y_max + y_min) / 2., - (z_max + z_min) / 2., - ); + let (mean_x, mean_y, mean_z) = ((sum_x) / n, (sum_y) / n, (sum_z) / n); // Compute covariance and standard deviations let cov = sum_xy / n - mean_x * mean_y; @@ -116,7 +112,8 @@ pub fn lib_main() -> Result<()> { } else { vec![640, 480] }; - let buffer: &Float64Array = data.as_any().downcast_ref().unwrap(); + let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); + depth_frame = Some(buffer.clone()); } "masks" => { @@ -137,6 +134,8 @@ pub fn lib_main() -> Result<()> { continue; }; + let mut z_2 = 0.0; + let mut z_1 = 0.0; let outputs: Vec> = masks .chunks(height as usize * width as usize) .filter_map(|data| { @@ -150,23 +149,36 @@ pub fn lib_main() -> Result<()> { let v = i as f32 / width as f32; // Calculate y-coordinate (v) if let Some(z) = z { - let z = z as f32; + let z = (z as f32) / 1000.; // Skip points that have empty depth or is too far away if z == 0. || z > 20.0 { return; } - if data[i] { - let y = (u - resolution[0] as f32) * z - / focal_length[0] as f32; - let x = (v - resolution[1] as f32) * z - / focal_length[1] as f32; - let new_x = sin_theta * z + cos_theta * x; - let new_y = -y; - let new_z = cos_theta * z - sin_theta * x; + if z_2 == 0. && z_1 == 0. { + z_1 = z; + } else if z_1 == 0. { + z_2 = z_1; + z_1 = z; + } else if (z - z_2).abs() < 0.1 && (z - z_1).abs() < 0.1 { + z_2 = z_1; + z_1 = z; - points.push((new_x, new_y, new_z)); - z_total += new_z; - n += 1.; + if data[i] { + let y = (u - resolution[0] as f32) * z + / focal_length[0] as f32; + let x = (v - resolution[1] as f32) * z + / focal_length[1] as f32; + let new_x = sin_theta * z + cos_theta * x; + let new_y = -y; + let new_z = cos_theta * z - sin_theta * x; + + points.push((new_x, new_y, new_z)); + z_total += new_z; + n += 1.; + } + } else { + z_2 = z_1; + z_1 = z; } } }); @@ -215,7 +227,7 @@ pub fn lib_main() -> Result<()> { let v = i as f32 / width as f32; // Calculate y-coordinate (v) if let Some(z) = z { - let z = z as f32; + let z = (z as f32) / 1000.; // Skip points that have empty depth or is too far away if z == 0. || z > 5.0 { return; diff --git a/node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py b/node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py index 8a7ade0c..3125858c 100644 --- a/node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py +++ b/node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py @@ -229,10 +229,12 @@ def main(): past_key_values, image_id, ) + metadata = event["metadata"] + metadata["image_id"] = image_id if image_id is not None else "all" node.send_output( "text", pa.array([response]), - {"image_id": image_id if image_id is not None else "all"}, + metadata, ) elif event_type == "ERROR": diff --git a/node-hub/dora-sam2/dora_sam2/main.py b/node-hub/dora-sam2/dora_sam2/main.py index d2612cac..37b216a9 100644 --- a/node-hub/dora-sam2/dora_sam2/main.py +++ b/node-hub/dora-sam2/dora_sam2/main.py @@ -133,7 +133,9 @@ def main(): ) if "boxes2d" in event_id: - + if len(event["value"]) == 0: + node.send_output("masks", pa.array([])) + continue if isinstance(event["value"], pa.StructArray): boxes2d = event["value"][0].get("bbox").values.to_numpy() labels = ( @@ -162,7 +164,59 @@ def main(): ): predictor.set_image(frames[image_id]) masks, _scores, last_pred = predictor.predict( - box=boxes2d, point_labels=labels, multimask_output=False, + box=boxes2d, + point_labels=labels, + multimask_output=False, + ) + + if len(masks.shape) == 4: + masks = masks[:, 0, :, :] + last_pred = last_pred[:, 0, :, :] + else: + masks = masks[0, :, :] + last_pred = last_pred[0, :, :] + + masks = masks > 0 + metadata["image_id"] = image_id + metadata["width"] = frames[image_id].width + metadata["height"] = frames[image_id].height + ## Mask to 3 channel image + match return_type: + case pa.Array: + node.send_output("masks", pa.array(masks.ravel()), metadata) + case pa.StructArray: + node.send_output( + "masks", + pa.array( + [ + { + "masks": masks.ravel(), + "labels": event["value"]["labels"], + }, + ], + ), + metadata, + ) + elif "points" in event_id: + points = event["value"].to_numpy().reshape((-1, 2)) + return_type = pa.Array + if len(frames) == 0: + continue + first_image = next(iter(frames.keys())) + image_id = event["metadata"].get("image_id", first_image) + with ( + torch.inference_mode(), + torch.autocast( + "cuda", + dtype=torch.bfloat16, + ), + ): + predictor.set_image(frames[image_id]) + labels = [i for i in range(len(points))] + masks, _scores, last_pred = predictor.predict( + points, + point_labels=labels, + multimask_output=False, ) if len(masks.shape) == 4: From 572134a94eaa03f2c95518b959cedcdc19aa94f1 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Thu, 10 Apr 2025 20:18:12 +0200 Subject: [PATCH 064/135] Add better configuration --- examples/reachy2-remote/dataflow_reachy.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml index 494b112d..76a61383 100644 --- a/examples/reachy2-remote/dataflow_reachy.yml +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -101,7 +101,7 @@ nodes: - id: dora-distil-whisper build: pip install -e ../../node-hub/dora-distil-whisper _unstable_deploy: - machine: macbook + machine: gpu path: dora-distil-whisper inputs: input: dora-vad/audio @@ -234,7 +234,7 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun _unstable_deploy: - machine: gpu + machine: macbook inputs: image: dav1d-remote/image_left torso/image: dav1d-remote/image_depth From ddcd2276906bb72a4def3ee116a97e036874ceef Mon Sep 17 00:00:00 2001 From: Ubuntu Date: Thu, 10 Apr 2025 18:19:27 +0000 Subject: [PATCH 065/135] Better parse variable --- examples/reachy2-remote/parse_bbox.py | 2 +- examples/reachy2-remote/parse_point.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/reachy2-remote/parse_bbox.py b/examples/reachy2-remote/parse_bbox.py index 88667769..c1a992a4 100644 --- a/examples/reachy2-remote/parse_bbox.py +++ b/examples/reachy2-remote/parse_bbox.py @@ -50,7 +50,7 @@ def extract_bboxes(json_text): for event in node: if event["type"] == "INPUT": if len(event["value"]) == 0: - node.send_output("bbox", pa.array([])) + node.send_output("bbox_track", pa.array([])) continue text = event["value"][0].as_py() diff --git a/examples/reachy2-remote/parse_point.py b/examples/reachy2-remote/parse_point.py index 7e9990da..307d5d55 100644 --- a/examples/reachy2-remote/parse_point.py +++ b/examples/reachy2-remote/parse_point.py @@ -32,20 +32,20 @@ for event in node: x_distance = min(height, height - point[1]) if abs(rz) > 0.75: - rz = np.deg2rad(90) * np.sign(rz) + rz = np.deg2rad(75) * np.sign(rz) if abs(rz) > 0.5: - rz = np.deg2rad(60) * np.sign(rz) + rz = np.deg2rad(50) * np.sign(rz) elif abs(rz) > 0.3: - rz = np.deg2rad(55) * np.sign(rz) - elif abs(rz) > 0.1: rz = np.deg2rad(45) * np.sign(rz) + elif abs(rz) > 0.1: + rz = np.deg2rad(30) * np.sign(rz) else: x = 0 if x_distance > (height * 0.7): - x = 0.5 + x = 1.0 elif x_distance > (height * 0.5): - x = 0.5 + x = 0.7 elif x_distance > (height * 0.2): x = 0.5 else: From 9f6ebb8c9707784b758a3876cb6545131b2fa5ab Mon Sep 17 00:00:00 2001 From: Ubuntu Date: Fri, 11 Apr 2025 16:52:31 +0000 Subject: [PATCH 066/135] Hot fix issue --- examples/reachy2-remote/dataflow_reachy.yml | 2 + examples/reachy2-remote/parse_point.py | 35 +++-- examples/reachy2-remote/parse_pose.py | 43 +++--- examples/reachy2-remote/parse_whisper.py | 126 ++++++++++++------ .../dora-cotracker/dora_cotracker/main.py | 1 - node-hub/dora-object-to-pose/src/lib.rs | 7 +- 6 files changed, 138 insertions(+), 76 deletions(-) diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml index 76a61383..069e8b24 100644 --- a/examples/reachy2-remote/dataflow_reachy.yml +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -116,6 +116,7 @@ nodes: machine: gpu inputs: text: dora-distil-whisper/text + arrived: parse_point/arrived outputs: - bbox - action @@ -214,6 +215,7 @@ nodes: points: tracker/points outputs: - action + - arrived env: IMAGE_RESIZE_RATIO: "1.0" diff --git a/examples/reachy2-remote/parse_point.py b/examples/reachy2-remote/parse_point.py index 307d5d55..d0bee8d1 100644 --- a/examples/reachy2-remote/parse_point.py +++ b/examples/reachy2-remote/parse_point.py @@ -2,6 +2,7 @@ import json import os +import time import numpy as np import pyarrow as pa @@ -11,6 +12,7 @@ node = Node() IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) +arrive_time = time.time() for event in node: if event["type"] == "INPUT": @@ -22,34 +24,39 @@ for event in node: # Do point 0 first if len(values) == 0: - print("No points detected") continue elif len(values) > 1: - print("Multiple points detected, taking the first one") - point = values[-1] + point = values[-1] rz = int((width / 2) - point[0]) / (width / 2) x_distance = min(height, height - point[1]) - + y = 0 if abs(rz) > 0.75: - rz = np.deg2rad(75) * np.sign(rz) - if abs(rz) > 0.5: - rz = np.deg2rad(50) * np.sign(rz) - elif abs(rz) > 0.3: rz = np.deg2rad(45) * np.sign(rz) - elif abs(rz) > 0.1: + elif abs(rz) > 0.5: rz = np.deg2rad(30) * np.sign(rz) + elif abs(rz) > 0.3: + rz = np.deg2rad(20) * np.sign(rz) + elif abs(rz) > 0.1: + rz = np.deg2rad(10) * np.sign(rz) else: x = 0 if x_distance > (height * 0.7): - x = 1.0 - elif x_distance > (height * 0.5): x = 0.7 - elif x_distance > (height * 0.2): - x = 0.5 + elif x_distance > (height * 0.5): + x = 0.6 + elif x_distance > (height * 0.25): + x = 0.5 else: x = 0 + + if x_distance < (height * 0.25): + print("ARRIVED!") + time.sleep(1.0) + if time.time() - arrive_time > 4.0: + node.send_output("arrived", pa.array([])) + arrive_time = time.time() # Action - action = pa.array([x, 0, 0, 0, 0, rz]) + action = pa.array([x, y, 0, 0, 0, rz]) node.send_output("action", action) diff --git a/examples/reachy2-remote/parse_pose.py b/examples/reachy2-remote/parse_pose.py index 042b6c0a..2bade5f3 100644 --- a/examples/reachy2-remote/parse_pose.py +++ b/examples/reachy2-remote/parse_pose.py @@ -108,6 +108,8 @@ node.send_output( pa.array(l_init_pose), metadata={"encoding": "jointstate", "duration": 2}, ) +node.send_output("look", pa.array([0.35, 0, 0])) + for event in node: if event["type"] == "INPUT": @@ -126,7 +128,7 @@ for event in node: case "grab": if len(values) == 0: continue - x = x + 0.03 + x = x + 0.01 ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement. trajectory = np.array( @@ -187,16 +189,20 @@ for event in node: case "release": if len(values) == 0: continue - x = x + 0.03 + x = x + 0.01 + if z < -0.4: + z = -0.16 ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement. trajectory = np.array( [ - [x, y, -0.16, 0, 0, 0, 100], + [x, y, z + 0.1, 0, 0, 0, 100], ], ).ravel() - if y < 0: + if arm_holding_object is None: + continue + elif arm_holding_object == "right": node.send_output( "action_r_arm", pa.array(trajectory), @@ -204,13 +210,14 @@ for event in node: ) event = wait_for_event(id="response_r_arm", timeout=5) if event is not None and event[0]: - print("Success") + print("Success release right with", event[0]) arm_holding_object = "right" node.send_output( "action_r_arm", pa.array(r_init_pose), metadata={"encoding": "jointstate", "duration": 1}, ) + arm_holding_object = None else: print("Failed: x: ", x, " y: ", y, " z: ", z) node.send_output( @@ -228,13 +235,14 @@ for event in node: ) event = wait_for_event(id="response_l_arm", timeout=5) if event is not None and event[0]: - print("Success") + print("Success release left with", event[0]) arm_holding_object = "left" node.send_output( "action_l_arm", pa.array(l_init_pose), metadata={"encoding": "jointstate", "duration": 1}, ) + arm_holding_object = None else: print("Failed") node.send_output( @@ -261,11 +269,12 @@ for event in node: metadata={"encoding": "xyzrpy", "duration": "0.75"}, ) event, cache = wait_for_event(id="response_r_arm", cache=cache) - node.send_output( - "action_r_arm", - pa.array(r_init_pose), - metadata={"encoding": "jointstate", "duration": 1}, - ) + if event is not None and event[0]: + node.send_output( + "action_r_arm", + pa.array(r_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) elif event["id"] == "release_left": node.send_output( "action_l_arm", @@ -283,9 +292,9 @@ for event in node: metadata={"encoding": "xyzrpy", "duration": "0.75"}, ) event, cache = wait_for_event(id="response_l_arm", cache=cache) - - node.send_output( - "action_l_arm", - pa.array(l_init_pose), - metadata={"encoding": "jointstate", "duration": 1}, - ) + if event is not None and event[0]: + node.send_output( + "action_l_arm", + pa.array(l_init_pose), + metadata={"encoding": "jointstate", "duration": 1}, + ) diff --git a/examples/reachy2-remote/parse_whisper.py b/examples/reachy2-remote/parse_whisper.py index 99a5e47f..98ee07de 100644 --- a/examples/reachy2-remote/parse_whisper.py +++ b/examples/reachy2-remote/parse_whisper.py @@ -47,49 +47,89 @@ def extract_bboxes(json_text): pass return None, None - +last_prompt = "" for event in node: if event["type"] == "INPUT": - text = event["value"][0].as_py().lower() - - if "stop" in text: - node.send_output("points", pa.array([], type=pa.float64())) - elif "follow" in text: - text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object" - node.send_output("text", pa.array([text]), {"image_id": "image_left"}) - elif "grab" in text: - text = f"Given the prompt: {text}. Output the bounding boxes for the given grabbed object" - node.send_output( - "text", pa.array([text]), {"image_id": "image_depth", "action": "grab"} - ) - elif "put " in text: - text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" - node.send_output( - "text", - pa.array([text]), - {"image_id": "image_depth", "action": "release"}, - ) - elif "release left" in text: - node.send_output("action_release_left", pa.array([1.0])) - elif "release right" in text: - node.send_output("action_release_right", pa.array([1.0])) - elif "turn left" in text: - action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) - node.send_output("action", action) - time.sleep(0.25) - action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) - node.send_output("action", action) - time.sleep(0.25) - action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) - node.send_output("action", action) - node.send_output("points", pa.array([])) - elif "turn right" in text: - action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) - node.send_output("action", action) - time.sleep(0.25) - action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) - node.send_output("action", action) - time.sleep(0.25) - action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) - node.send_output("action", action) + if event["id"] == "text": + text = event["value"][0].as_py().lower() + + if "stop" in text: + node.send_output("points", pa.array([], type=pa.float64())) + elif "follow" in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object" + node.send_output("text", pa.array([text]), {"image_id": "image_left"}) + elif "grab " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the given grabbed object" + node.send_output( + "text", pa.array([text]), {"image_id": "image_depth", "action": "grab"} + ) + elif "get " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the object" + node.send_output( + "text", pa.array([text]), {"image_id": "image_left", "action": "grab"} + ) + last_prompt = text + elif "put " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image_left", "action": "release"}, + ) + last_prompt = text + elif "drop " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to drop the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image_depth", "action": "release"}, + ) + elif "release left" in text: + node.send_output("action_release_left", pa.array([1.0])) + elif "release right" in text: + node.send_output("action_release_right", pa.array([1.0])) + elif "turn left" in text: + action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + node.send_output("action", action) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)]) + node.send_output("action", action) + node.send_output("points", pa.array([])) + elif "turn right" in text: + action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + node.send_output("action", action) + time.sleep(0.25) + action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)]) + node.send_output("action", action) + node.send_output("points", pa.array([])) + elif "move forward" in text: + action = pa.array([0.5, 0, 0, 0, 0, 0]) + node.send_output("action", action) + time.sleep(0.25) + node.send_output("action", action) + node.send_output("points", pa.array([])) + elif "move backward" in text: + action = pa.array([-0.5, 0, 0, 0, 0, 0]) + node.send_output("action", action) + time.sleep(0.25) + node.send_output("action", action) + node.send_output("points", pa.array([])) + elif event["id"] == "arrived": + text = last_prompt + print("received arrived message") node.send_output("points", pa.array([])) + if "get " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image_depth", "action": "grab"}, + ) + elif "put " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image_depth", "action": "release"}, + ) + \ No newline at end of file diff --git a/node-hub/dora-cotracker/dora_cotracker/main.py b/node-hub/dora-cotracker/dora_cotracker/main.py index 27bcbc74..43523ee3 100644 --- a/node-hub/dora-cotracker/dora_cotracker/main.py +++ b/node-hub/dora-cotracker/dora_cotracker/main.py @@ -39,7 +39,6 @@ class VideoTrackingNode: all_points = self.input_points + self.clicked_points if not all_points: - print("No points to track") return None, None video_chunk = torch.tensor( np.stack(list(self.window_frames)), device=self.device diff --git a/node-hub/dora-object-to-pose/src/lib.rs b/node-hub/dora-object-to-pose/src/lib.rs index 98aadad1..f8f7e0f0 100644 --- a/node-hub/dora-object-to-pose/src/lib.rs +++ b/node-hub/dora-object-to-pose/src/lib.rs @@ -49,7 +49,12 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { ) }, ); - let (mean_x, mean_y, mean_z) = ((sum_x) / n, (sum_y) / n, (sum_z) / n); + let (mean_x, mean_y, mean_z) = ( + (x_max + x_min) / 2., + (y_max + y_min) / 2., + (z_max + z_min) / 2., + ); + // Compute covariance and standard deviations let cov = sum_xy / n - mean_x * mean_y; From fdef7d743cb76464d591a56e8dc59aa8dc2c1611 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 17 Apr 2025 12:03:54 +0200 Subject: [PATCH 067/135] Fix cargo lock --- Cargo.lock | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 481f1ef0..e62a3a37 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2471,9 +2471,9 @@ dependencies = [ [[package]] name = "crossbeam-channel" -version = "0.5.15" +version = "0.5.14" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "82b8f8f868b36967f9606790d1903570de9ceaf870a7bf9fbbd3016d636a2cb2" +checksum = "06ba6d68e24814cb8de6bb986db8222d3a027d15872cabc0d18817bc3c0e4471" dependencies = [ "crossbeam-utils", ] From 4ba0033526c8a18266f975305a2ecb3d1bc7568d Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 18 Apr 2025 10:41:54 +0200 Subject: [PATCH 068/135] Minor CI/CD fix --- examples/reachy2-remote/dataflow_reachy.yml | 2 +- node-hub/dora-object-to-pose/src/lib.rs | 126 ++++++++++---------- 2 files changed, 63 insertions(+), 65 deletions(-) diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml index 069e8b24..e3ec824c 100644 --- a/examples/reachy2-remote/dataflow_reachy.yml +++ b/examples/reachy2-remote/dataflow_reachy.yml @@ -226,7 +226,7 @@ nodes: machine: encoder inputs: action_base: parse_point/action - action_whipser: parse_whisper/action + action_whisper: parse_whisper/action outputs: - response_base env: diff --git a/node-hub/dora-object-to-pose/src/lib.rs b/node-hub/dora-object-to-pose/src/lib.rs index f8f7e0f0..652dec78 100644 --- a/node-hub/dora-object-to-pose/src/lib.rs +++ b/node-hub/dora-object-to-pose/src/lib.rs @@ -1,7 +1,7 @@ use core::f32; use dora_node_api::{ arrow::{ - array::{AsArray, Float64Array, UInt16Array, UInt8Array}, + array::{AsArray, UInt16Array, UInt8Array}, datatypes::{Float32Type, Int64Type}, }, dora_core::config::DataId, @@ -11,50 +11,62 @@ use eyre::Result; use std::collections::HashMap; fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { - let (sum_x, sum_y, sum_z, sum_xy, sum_x2, sum_y2, n, x_min, x_max, y_min, y_max, z_min, z_max) = - points.iter().fold( + let ( + _sum_x, + _sum_y, + _sum_z, + sum_xy, + sum_x2, + sum_y2, + n, + x_min, + x_max, + y_min, + y_max, + z_min, + z_max, + ) = points.iter().fold( + ( + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0, + ), + |( + acc_x, + acc_y, + acc_z, + acc_xy, + acc_x2, + acc_y2, + acc_n, + acc_x_min, + acc_x_max, + acc_y_min, + acc_y_max, + acc_z_min, + acc_z_max, + ), + (x, y, z)| { ( - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0, - ), - |( - acc_x, - acc_y, - acc_z, - acc_xy, - acc_x2, - acc_y2, - acc_n, - acc_x_min, - acc_x_max, - acc_y_min, - acc_y_max, - acc_z_min, - acc_z_max, - ), - (x, y, z)| { - ( - acc_x + x, - acc_y + y, - acc_z + z, - acc_xy + x * y, - acc_x2 + x * x, - acc_y2 + y * y, - acc_n + 1., - f32::min(acc_x_min, *x), - f32::max(acc_x_max, *x), - f32::min(acc_y_min, *y), - f32::max(acc_y_max, *y), - f32::min(acc_z_min, *z), - f32::max(acc_z_max, *z), - ) - }, - ); + acc_x + x, + acc_y + y, + acc_z + z, + acc_xy + x * y, + acc_x2 + x * x, + acc_y2 + y * y, + acc_n + 1., + f32::min(acc_x_min, *x), + f32::max(acc_x_max, *x), + f32::min(acc_y_min, *y), + f32::max(acc_y_max, *y), + f32::min(acc_z_min, *z), + f32::max(acc_z_max, *z), + ) + }, + ); let (mean_x, mean_y, mean_z) = ( (x_max + x_min) / 2., (y_max + y_min) / 2., (z_max + z_min) / 2., ); - // Compute covariance and standard deviations let cov = sum_xy / n - mean_x * mean_y; @@ -139,8 +151,6 @@ pub fn lib_main() -> Result<()> { continue; }; - let mut z_2 = 0.0; - let mut z_1 = 0.0; let outputs: Vec> = masks .chunks(height as usize * width as usize) .filter_map(|data| { @@ -159,31 +169,19 @@ pub fn lib_main() -> Result<()> { if z == 0. || z > 20.0 { return; } - if z_2 == 0. && z_1 == 0. { - z_1 = z; - } else if z_1 == 0. { - z_2 = z_1; - z_1 = z; - } else if (z - z_2).abs() < 0.1 && (z - z_1).abs() < 0.1 { - z_2 = z_1; - z_1 = z; - if data[i] { - let y = (u - resolution[0] as f32) * z - / focal_length[0] as f32; - let x = (v - resolution[1] as f32) * z - / focal_length[1] as f32; - let new_x = sin_theta * z + cos_theta * x; - let new_y = -y; - let new_z = cos_theta * z - sin_theta * x; + if data[i] { + let y = (u - resolution[0] as f32) * z + / focal_length[0] as f32; + let x = (v - resolution[1] as f32) * z + / focal_length[1] as f32; + let new_x = sin_theta * z + cos_theta * x; + let new_y = -y; + let new_z = cos_theta * z - sin_theta * x; - points.push((new_x, new_y, new_z)); - z_total += new_z; - n += 1.; - } - } else { - z_2 = z_1; - z_1 = z; + points.push((new_x, new_y, new_z)); + z_total += new_z; + n += 1.; } } }); From 70074749bad44c69fef1fb728ed24b656eaf8ed1 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 14 Apr 2025 20:26:16 +0200 Subject: [PATCH 069/135] adding avif support within rav1e --- node-hub/dora-dav1d/src/lib.rs | 13 ++ node-hub/dora-rav1e/Cargo.toml | 1 + node-hub/dora-rav1e/src/lib.rs | 375 +++++++++++++++++++-------------- node-hub/dora-rerun/src/lib.rs | 2 +- 4 files changed, 233 insertions(+), 158 deletions(-) diff --git a/node-hub/dora-dav1d/src/lib.rs b/node-hub/dora-dav1d/src/lib.rs index aad95ebe..a829f5aa 100644 --- a/node-hub/dora-dav1d/src/lib.rs +++ b/node-hub/dora-dav1d/src/lib.rs @@ -58,6 +58,19 @@ pub fn lib_main() -> Result<()> { }) => { if let Some(data) = data.as_any().downcast_ref::() { let data = data.values().clone(); + let encoding = metadata + .parameters + .get("encoding") + .and_then(|p| match p { + dora_node_api::Parameter::String(s) => Some(s), + _ => None, + }) + .map(|s| s.as_str()) + .unwrap_or("av1"); + if encoding != "av1" { + warn!("Unsupported encoding {}", encoding); + continue; + } match dec.send_data(data, None, None, None) { Err(e) => { warn!("Error sending data to the decoder: {}", e); diff --git a/node-hub/dora-rav1e/Cargo.toml b/node-hub/dora-rav1e/Cargo.toml index 109120b8..c2e35cd2 100644 --- a/node-hub/dora-rav1e/Cargo.toml +++ b/node-hub/dora-rav1e/Cargo.toml @@ -25,6 +25,7 @@ pyo3 = { workspace = true, features = [ "eyre", "generate-import-lib", ], optional = true } +avif-serialize = "0.8.3" [lib] diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs index 44163f76..6884f7b6 100644 --- a/node-hub/dora-rav1e/src/lib.rs +++ b/node-hub/dora-rav1e/src/lib.rs @@ -10,14 +10,47 @@ use std::env::var; use dora_node_api::arrow::array::{UInt16Array, UInt8Array}; -use dora_node_api::{DoraNode, Event, IntoArrow, Parameter}; +use dora_node_api::dora_core::config::DataId; +use dora_node_api::{DoraNode, Event, IntoArrow, Metadata, Parameter}; use eyre::{Context as EyreContext, Result}; use log::warn; +use rav1e::color::{ColorDescription, MatrixCoefficients}; // Encode the same tiny blank frame 30 times use rav1e::config::SpeedSettings; use rav1e::*; +pub fn fill_zeros_toward_center_y_plane_in_place(y: &mut [u16], width: usize, height: usize) { + assert_eq!(y.len(), width * height); + + for row in 0..height { + let row_start = row * width; + let center = width / 2; + + // --- Fill left half (left to center) + let mut last = 0u16; + for col in 0..center { + let idx = row_start + col; + if y[idx] == 0 { + y[idx] = last; + } else { + last = y[idx]; + } + } + + // --- Fill right half (right to center) + last = 0u16; + for col in (center..width).rev() { + let idx = row_start + col; + if y[idx] == 0 { + y[idx] = last; + } else { + last = y[idx]; + } + } + } +} + fn bgr8_to_yuv420(bgr_data: Vec, width: usize, height: usize) -> (Vec, Vec, Vec) { let mut y_plane = vec![0; width * height]; let mut u_plane = vec![0; (width / 2) * (height / 2)]; @@ -69,6 +102,123 @@ fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8], (y_plane, u_plane, v_plane) } +fn send_yuv( + y: &[u8], + u: &[u8], + v: &[u8], + enc: EncoderConfig, + width: usize, + height: usize, + node: &mut DoraNode, + id: DataId, + metadata: &mut Metadata, + output_enconding: &str, +) -> () { + // Create a new Arrow array for the YUV420 data + let cfg = Config::new().with_encoder_config(enc.clone()); + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); + + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[0].copy_from_raw_u8(&y, stride, 1); + let xdec = f.planes[1].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[1].copy_from_raw_u8(&u, stride, 1); + let xdec = f.planes[2].cfg.xdec; + let stride = (width + xdec) >> xdec; + f.planes[2].copy_from_raw_u8(&v, stride, 1); + + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); + } + _ => { + warn!("Unable to send frame "); + } + }, + } + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => match output_enconding { + "avif" => { + let data = pkt.data.clone(); + metadata.parameters.insert( + "encoding".to_string(), + Parameter::String("avif".to_string()), + ); + let matrix_coefficients = if let Some(desc) = enc.color_description { + desc.matrix_coefficients + } else { + MatrixCoefficients::BT709 + }; + let data = avif_serialize::Aviffy::new() + .set_chroma_subsampling((true, true)) + .set_seq_profile(0) + .matrix_coefficients(match matrix_coefficients { + MatrixCoefficients::Identity => { + avif_serialize::constants::MatrixCoefficients::Rgb + } + MatrixCoefficients::BT709 => { + avif_serialize::constants::MatrixCoefficients::Bt709 + } + MatrixCoefficients::Unspecified => { + avif_serialize::constants::MatrixCoefficients::Unspecified + } + MatrixCoefficients::BT601 => { + avif_serialize::constants::MatrixCoefficients::Bt601 + } + MatrixCoefficients::YCgCo => { + avif_serialize::constants::MatrixCoefficients::Ycgco + } + MatrixCoefficients::BT2020NCL => { + avif_serialize::constants::MatrixCoefficients::Bt2020Ncl + } + MatrixCoefficients::BT2020CL => { + avif_serialize::constants::MatrixCoefficients::Bt2020Cl + } + _ => { + warn!("color matrix coefficients"); + avif_serialize::constants::MatrixCoefficients::Rgb + } + }) + .to_vec( + &data, + None, + width as u32, + height as u32, + enc.bit_depth as u8, + ); + + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters.clone(), arrow) + .context("could not send output") + .unwrap(); + } + _ => { + metadata + .parameters + .insert("encoding".to_string(), Parameter::String("av1".to_string())); + let data = pkt.data; + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters.clone(), arrow) + .context("could not send output") + .unwrap(); + } + }, + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } +} + pub fn lib_main() -> Result<()> { let mut height = std::env::var("IMAGE_HEIGHT") .unwrap_or_else(|_| "480".to_string()) @@ -79,10 +229,17 @@ pub fn lib_main() -> Result<()> { .parse() .unwrap(); let speed = var("RAV1E_SPEED").map(|s| s.parse().unwrap()).unwrap_or(10); + let output_encoding = var("ENCODING").unwrap_or("av1".to_string()); let mut enc = EncoderConfig { width, height, speed_settings: SpeedSettings::from_preset(speed), + chroma_sampling: color::ChromaSampling::Cs420, + color_description: Some(ColorDescription { + matrix_coefficients: MatrixCoefficients::BT709, + transfer_characteristics: color::TransferCharacteristics::BT709, + color_primaries: color::ColorPrimaries::BT709, + }), low_latency: true, ..Default::default() }; @@ -127,115 +284,49 @@ pub fn lib_main() -> Result<()> { _ => {} } - let cfg = Config::new().with_encoder_config(enc.clone()); if encoding == "bgr8" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer: Vec = buffer.values().to_vec(); let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - - // Transpose values from BGR to RGB - // let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); - - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - continue; - } - _ => { - warn!("Unable to send frame "); - continue; - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); } else if encoding == "yuv420" { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer = buffer.values(); //.to_vec(); let (y, u, v) = get_yuv_planes(buffer, width, height); - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - } - _ => { - warn!("Unable to send frame "); - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } - } else if encoding == "mono16" { + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); + } else if encoding == "mono16" || encoding == "z16" { let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); - let buffer: &[u16] = buffer.values(); + let mut buffer = buffer.values().to_vec(); + if std::env::var("FILL_ZEROS") + .map(|s| s != "false") + .unwrap_or(true) + { + fill_zeros_toward_center_y_plane_in_place(&mut buffer, width, height); + } + // let buffer = shift_u16_slice_to_upper_12_bits(buffer); let bytes: &[u8] = &bytemuck::cast_slice(&buffer); @@ -258,17 +349,25 @@ pub fn lib_main() -> Result<()> { } }, } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); ctx.flush(); match ctx.receive_packet() { Ok(pkt) => { let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); + match output_encoding.as_str() { + "avif" => { + warn!("avif encoding not supported for mono16"); + } + _ => { + metadata.parameters.insert( + "encoding".to_string(), + Parameter::String("av1".to_string()), + ); + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + } } Err(e) => match e { EncoderStatus::LimitReached => {} @@ -285,56 +384,18 @@ pub fn lib_main() -> Result<()> { let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - - // Transpose values from BGR to RGB - - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); - - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[0].copy_from_raw_u8(&y, stride, 1); - let xdec = f.planes[1].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[1].copy_from_raw_u8(&u, stride, 1); - let xdec = f.planes[2].cfg.xdec; - let stride = (width + xdec) >> xdec; - f.planes[2].copy_from_raw_u8(&v, stride, 1); - - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - continue; - } - _ => { - warn!("Unable to send frame "); - continue; - } - }, - } - metadata - .parameters - .insert("encoding".to_string(), Parameter::String("av1".to_string())); - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); - } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); - } - }, - } + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); } else { unimplemented!("We haven't worked on additional encodings."); } diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index c6884630..2da325ac 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -155,7 +155,7 @@ pub fn lib_main() -> Result<()> { ); rec.log(id.as_str(), &image) .context("could not log image")?; - } else if ["jpeg", "png"].contains(&encoding) { + } else if ["jpeg", "png", "avif"].contains(&encoding) { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); let buffer: &[u8] = buffer.values(); From 48f72dce5a899204401a85f2e9c120cf39465e31 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 14 Apr 2025 23:18:00 +0200 Subject: [PATCH 070/135] Minor fix on rav1e dav1d --- Cargo.lock | 16 ++- examples/av1-encoding/dataflow.yml | 7 -- examples/av1-encoding/ios-dev.yaml | 53 +++------ node-hub/dora-dav1d/src/lib.rs | 105 +++++++++++++++--- .../dora-ios-lidar/dora_ios_lidar/main.py | 10 +- node-hub/dora-rav1e/src/lib.rs | 15 ++- node-hub/opencv-plot/opencv_plot/main.py | 18 ++- node-hub/opencv-plot/pyproject.toml | 8 +- 8 files changed, 168 insertions(+), 64 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index e62a3a37..29727563 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1350,6 +1350,15 @@ dependencies = [ "v_frame", ] +[[package]] +name = "avif-serialize" +version = "0.8.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "98922d6a4cfbcb08820c69d8eeccc05bb1f29bfa06b4f5b1dbfe9a868bd7608e" +dependencies = [ + "arrayvec", +] + [[package]] name = "axum" version = "0.7.9" @@ -3438,6 +3447,7 @@ dependencies = [ name = "dora-rav1e" version = "0.3.11+fix1" dependencies = [ + "avif-serialize", "bytemuck", "dora-node-api", "eyre", @@ -5405,7 +5415,7 @@ dependencies = [ "httpdate", "itoa", "pin-project-lite", - "socket2 0.4.10", + "socket2 0.5.8", "tokio", "tower-service", "tracing", @@ -6368,7 +6378,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "fc2f4eb4bc735547cfed7c0a4922cbd04a4655978c09b54f1f7b228750664c34" dependencies = [ "cfg-if 1.0.0", - "windows-targets 0.48.5", + "windows-targets 0.52.6", ] [[package]] @@ -13923,7 +13933,7 @@ version = "1.6.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675" dependencies = [ - "cfg-if 0.1.10", + "cfg-if 1.0.0", "static_assertions", ] diff --git a/examples/av1-encoding/dataflow.yml b/examples/av1-encoding/dataflow.yml index 131da27a..2dbcef01 100644 --- a/examples/av1-encoding/dataflow.yml +++ b/examples/av1-encoding/dataflow.yml @@ -42,9 +42,6 @@ nodes: image: dav1d-remote/image outputs: - image - env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - id: dav1d-local path: dora-dav1d @@ -55,9 +52,6 @@ nodes: image: rav1e-remote/image outputs: - image - env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 - id: plot build: pip install -e ../../node-hub/dora-rerun @@ -66,4 +60,3 @@ nodes: path: dora-rerun inputs: image_decode: dav1d-local/image - image_echo: echo/image diff --git a/examples/av1-encoding/ios-dev.yaml b/examples/av1-encoding/ios-dev.yaml index d14fdb36..02fdf900 100644 --- a/examples/av1-encoding/ios-dev.yaml +++ b/examples/av1-encoding/ios-dev.yaml @@ -2,72 +2,53 @@ nodes: - id: camera build: pip install -e ../../node-hub/dora-ios-lidar path: dora-ios-lidar - _unstable_deploy: - machine: encoder-ios inputs: tick: dora/timer/millis/20 outputs: - image - depth env: - IMAGE_WIDTH: 640 - IMAGE_HEIGHT: 480 + IMAGE_WIDTH: 1280 + IMAGE_HEIGHT: 720 + ROTATE: ROTATE_90_CLOCKWISE - id: rav1e-local path: dora-rav1e build: cargo build -p dora-rav1e --release - _unstable_deploy: - machine: encoder-ios inputs: image: camera/image - depth: camera/depth outputs: - image - - depth env: - RAV1E_SPEED: 4 + RAV1E_SPEED: 10 - - id: dav1d-remote - path: dora-dav1d - build: cargo build -p dora-dav1d --release - _unstable_deploy: - machine: decoder + - id: rav1e-local-depth + path: dora-rav1e + build: cargo build -p dora-rav1e --release inputs: - image: rav1e-local/image - depth: rav1e-local/depth + depth: camera/depth outputs: - - image - depth - - - id: rav1e-remote - path: dora-rav1e - build: cargo build -p dora-rav1e --release - _unstable_deploy: - machine: decoder + env: + RAV1E_SPEED: 10 + - id: dav1d-local-depth + path: dora-dav1d + build: cargo build -p dora-dav1d --release inputs: - image: dav1d-remote/image - depth: dav1d-remote/depth + depth: rav1e-local-depth/depth outputs: - - image - depth - - id: dav1d-local path: dora-dav1d build: cargo build -p dora-dav1d --release - _unstable_deploy: - machine: encoder-ios inputs: - image: rav1e-remote/image - depth: rav1e-remote/depth + image: rav1e-local/image outputs: - image - - depth - id: plot build: pip install -e ../../node-hub/dora-rerun path: dora-rerun - _unstable_deploy: - machine: encoder-ios inputs: - image: dav1d-remote/image - depth: dav1d-remote/depth + image: dav1d-local/image + depth: dav1d-local-depth/depth diff --git a/node-hub/dora-dav1d/src/lib.rs b/node-hub/dora-dav1d/src/lib.rs index a829f5aa..b6aeed30 100644 --- a/node-hub/dora-dav1d/src/lib.rs +++ b/node-hub/dora-dav1d/src/lib.rs @@ -1,3 +1,5 @@ +use std::env::var; + use dav1d::Settings; use dora_node_api::{arrow::array::UInt8Array, DoraNode, Event, IntoArrow}; use eyre::{Context, Result}; @@ -49,6 +51,8 @@ pub fn lib_main() -> Result<()> { let (mut node, mut events) = DoraNode::init_from_env().context("Could not initialize dora node")?; + let output_encoding = var("ENCODING").unwrap_or("bgr8".to_string()); + loop { match events.recv() { Some(Event::Input { @@ -82,23 +86,96 @@ pub fn lib_main() -> Result<()> { let y = p.plane(dav1d::PlanarImageComponent::Y); let u = p.plane(dav1d::PlanarImageComponent::U); let v = p.plane(dav1d::PlanarImageComponent::V); - let y = yuv420_to_bgr(&y, &u, &v, p.width(), p.height()); - let arrow = y.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("bgr8".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); + match output_encoding.as_str() { + "yuv420" => { + let mut y = y.to_vec(); + let mut u = u.to_vec(); + let mut v = v.to_vec(); + y.append(&mut u); + y.append(&mut v); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String( + "yuv420".to_string(), + ), + ); + metadata.parameters.insert( + "width".to_string(), + dora_node_api::Parameter::Integer( + p.width() as i64 + ), + ); + metadata.parameters.insert( + "height".to_string(), + dora_node_api::Parameter::Integer( + p.height() as i64 + ), + ); + + node.send_output(id, metadata.parameters, arrow) + .unwrap(); + } + "bgr8" => { + let y = yuv420_to_bgr( + &y, + &u, + &v, + p.width(), + p.height(), + ); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String( + "bgr8".to_string(), + ), + ); + node.send_output(id, metadata.parameters, arrow) + .unwrap(); + } + _ => { + warn!( + "Unsupported output encoding {}", + output_encoding + ); + continue; + } + } } dav1d::PixelLayout::I400 => { let y = p.plane(dav1d::PlanarImageComponent::Y); - let vec16: Vec = bytemuck::cast_slice(&y).to_vec(); - let arrow = vec16.into_arrow(); - metadata.parameters.insert( - "encoding".to_string(), - dora_node_api::Parameter::String("mono16".to_string()), - ); - node.send_output(id, metadata.parameters, arrow).unwrap(); + match p.bit_depth() { + 8 => { + let y = y.to_vec(); + let arrow = y.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String( + "mono8".to_string(), + ), + ); + node.send_output(id, metadata.parameters, arrow) + .unwrap(); + } + 10 | 12 => { + let vec16: Vec = + bytemuck::cast_slice(&y).to_vec(); + let arrow = vec16.into_arrow(); + metadata.parameters.insert( + "encoding".to_string(), + dora_node_api::Parameter::String( + "mono16".to_string(), + ), + ); + node.send_output(id, metadata.parameters, arrow) + .unwrap(); + } + _ => { + warn!("Unsupported bit depth {}", p.bit_depth()); + continue; + } + } } _ => { warn!("Unsupported pixel layout"); diff --git a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py index 8c6a0b66..13c67524 100644 --- a/node-hub/dora-ios-lidar/dora_ios_lidar/main.py +++ b/node-hub/dora-ios-lidar/dora_ios_lidar/main.py @@ -12,6 +12,7 @@ from scipy.spatial.transform import Rotation image_width = os.getenv("IMAGE_WIDTH") image_height = os.getenv("IMAGE_HEIGHT") +ROTATE = os.getenv("ROTATE") class DemoApp: @@ -100,8 +101,15 @@ class DemoApp: f_1 = intrinsic_mat[1, 1] * (int(image_width) / rgb.shape[1]) r_0 = intrinsic_mat[0, 2] * (int(image_height) / rgb.shape[0]) r_1 = intrinsic_mat[1, 2] * (int(image_width) / rgb.shape[1]) + if ROTATE == "ROTATE_90_CLOCKWISE": + rgb = cv2.rotate(rgb, cv2.ROTATE_90_CLOCKWISE) + depth = cv2.rotate(depth, cv2.ROTATE_90_CLOCKWISE) rgb = cv2.resize(rgb, (int(image_width), int(image_height))) - depth = cv2.resize(depth, (int(image_width), int(image_height))) + depth = cv2.resize( + depth, + (int(image_width), int(image_height)), + interpolation=cv2.INTER_NEAREST, + ) else: f_0 = intrinsic_mat[0, 0] f_1 = intrinsic_mat[1, 1] diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs index 6884f7b6..2491d42f 100644 --- a/node-hub/dora-rav1e/src/lib.rs +++ b/node-hub/dora-rav1e/src/lib.rs @@ -201,6 +201,13 @@ fn send_yuv( metadata .parameters .insert("encoding".to_string(), Parameter::String("av1".to_string())); + metadata + .parameters + .insert("height".to_string(), Parameter::Integer(enc.height as i64)); + metadata + .parameters + .insert("width".to_string(), Parameter::Integer(enc.width as i64)); + let data = pkt.data; let arrow = data.into_arrow(); node.send_output(id, metadata.parameters.clone(), arrow) @@ -274,6 +281,12 @@ pub fn lib_main() -> Result<()> { height, speed_settings: SpeedSettings::from_preset(speed), low_latency: true, + chroma_sampling: color::ChromaSampling::Cs420, + color_description: Some(ColorDescription { + matrix_coefficients: MatrixCoefficients::BT709, + transfer_characteristics: color::TransferCharacteristics::BT709, + color_primaries: color::ColorPrimaries::BT709, + }), ..Default::default() }; match encoding { @@ -327,9 +340,9 @@ pub fn lib_main() -> Result<()> { fill_zeros_toward_center_y_plane_in_place(&mut buffer, width, height); } - // let buffer = shift_u16_slice_to_upper_12_bits(buffer); let bytes: &[u8] = &bytemuck::cast_slice(&buffer); + let cfg = Config::new().with_encoder_config(enc.clone()); let mut ctx: Context = cfg.new_context().unwrap(); let mut f = ctx.new_frame(); diff --git a/node-hub/opencv-plot/opencv_plot/main.py b/node-hub/opencv-plot/opencv_plot/main.py index a7007d42..78b26756 100644 --- a/node-hub/opencv-plot/opencv_plot/main.py +++ b/node-hub/opencv-plot/opencv_plot/main.py @@ -1,12 +1,19 @@ """TODO: Add docstring.""" import argparse +import io import os import cv2 import numpy as np import pyarrow as pa from dora import Node +from PIL import ( + Image, +) + +if True: + import pillow_avif # noqa # noqa RUNNER_CI = True if os.getenv("CI") == "true" else False @@ -76,6 +83,7 @@ def plot_frame(plot): def yuv420p_to_bgr_opencv(yuv_array, width, height): """TODO: Add docstring.""" + yuv_array = yuv_array[: width * height * 3 // 2] yuv = yuv_array.reshape((height * 3 // 2, width)) return cv2.cvtColor(yuv, cv2.COLOR_YUV420p2RGB) @@ -145,7 +153,6 @@ def main(): encoding = metadata["encoding"] width = metadata["width"] height = metadata["height"] - if encoding == "bgr8": channels = 3 storage_type = np.uint8 @@ -181,6 +188,14 @@ def main(): img_bgr_restored = yuv420p_to_bgr_opencv(storage, width, height) plot.frame = img_bgr_restored + elif encoding == "avif": + # Convert AVIF to RGB + array = storage.to_numpy() + bytes = array.tobytes() + img = Image.open(io.BytesIO(bytes)) + img = img.convert("RGB") + plot.frame = np.array(img) + plot.frame = cv2.cvtColor(plot.frame, cv2.COLOR_RGB2BGR) else: raise RuntimeError(f"Unsupported image encoding: {encoding}") @@ -188,6 +203,7 @@ def main(): if not RUNNER_CI: if cv2.waitKey(1) & 0xFF == ord("q"): break + elif event_id == "bbox": arrow_bbox = event["value"][0] bbox_format = event["metadata"]["format"] diff --git a/node-hub/opencv-plot/pyproject.toml b/node-hub/opencv-plot/pyproject.toml index 95f253ee..6b4412a4 100644 --- a/node-hub/opencv-plot/pyproject.toml +++ b/node-hub/opencv-plot/pyproject.toml @@ -10,7 +10,13 @@ description = "Dora Node for plotting text and bbox on image with OpenCV" requires-python = ">=3.8" -dependencies = ["dora-rs >= 0.3.9", "numpy < 2.0.0", "opencv-python >= 4.1.1"] +dependencies = [ + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "opencv-python >= 4.1.1", + "pillow-avif-plugin>=1.5.1", + "pillow>=10.4.0", +] [dependency-groups] dev = ["pytest >=8.1.1", "ruff >=0.9.1"] From 7389fa419593be3877c86db33b6ffdae6fe26587 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 16 Apr 2025 14:02:10 +0200 Subject: [PATCH 071/135] Improve depth irregularities when compressing --- node-hub/dora-rav1e/src/lib.rs | 216 +++++++++++++++++---------------- 1 file changed, 110 insertions(+), 106 deletions(-) diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs index 2491d42f..7ea00780 100644 --- a/node-hub/dora-rav1e/src/lib.rs +++ b/node-hub/dora-rav1e/src/lib.rs @@ -9,7 +9,8 @@ use std::env::var; -use dora_node_api::arrow::array::{UInt16Array, UInt8Array}; +use dora_node_api::arrow::array::AsArray; +use dora_node_api::arrow::datatypes::{UInt16Type, UInt8Type}; use dora_node_api::dora_core::config::DataId; use dora_node_api::{DoraNode, Event, IntoArrow, Metadata, Parameter}; use eyre::{Context as EyreContext, Result}; @@ -29,10 +30,12 @@ pub fn fill_zeros_toward_center_y_plane_in_place(y: &mut [u16], width: usize, he // --- Fill left half (left to center) let mut last = 0u16; - for col in 0..center { + for col in (0..center).rev() { let idx = row_start + col; if y[idx] == 0 { y[idx] = last; + } else if y[idx] > 4096 { + y[idx] = 4096; } else { last = y[idx]; } @@ -40,10 +43,12 @@ pub fn fill_zeros_toward_center_y_plane_in_place(y: &mut [u16], width: usize, he // --- Fill right half (right to center) last = 0u16; - for col in (center..width).rev() { + for col in center..width { let idx = row_start + col; if y[idx] == 0 { y[idx] = last; + } else if y[idx] > 4096 { + y[idx] = 4096; } else { last = y[idx]; } @@ -282,11 +287,6 @@ pub fn lib_main() -> Result<()> { speed_settings: SpeedSettings::from_preset(speed), low_latency: true, chroma_sampling: color::ChromaSampling::Cs420, - color_description: Some(ColorDescription { - matrix_coefficients: MatrixCoefficients::BT709, - transfer_characteristics: color::TransferCharacteristics::BT709, - color_primaries: color::ColorPrimaries::BT709, - }), ..Default::default() }; match encoding { @@ -298,117 +298,121 @@ pub fn lib_main() -> Result<()> { } if encoding == "bgr8" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: Vec = buffer.values().to_vec(); - let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - send_yuv( - &y, - &u, - &v, - enc, - width, - height, - &mut node, - id, - &mut metadata, - &output_encoding, - ); + if let Some(buffer) = data.as_primitive_opt::() { + let buffer: Vec = buffer.values().to_vec(); + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); + } } else if encoding == "yuv420" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer = buffer.values(); //.to_vec(); - - let (y, u, v) = get_yuv_planes(buffer, width, height); - send_yuv( - &y, - &u, - &v, - enc, - width, - height, - &mut node, - id, - &mut metadata, - &output_encoding, - ); - } else if encoding == "mono16" || encoding == "z16" { - let buffer: &UInt16Array = data.as_any().downcast_ref().unwrap(); - let mut buffer = buffer.values().to_vec(); - if std::env::var("FILL_ZEROS") - .map(|s| s != "false") - .unwrap_or(true) - { - fill_zeros_toward_center_y_plane_in_place(&mut buffer, width, height); + if let Some(buffer) = data.as_primitive_opt::() { + let buffer = buffer.values(); //.to_vec(); + + let (y, u, v) = get_yuv_planes(buffer, width, height); + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); } + } else if encoding == "mono16" || encoding == "z16" { + if let Some(buffer) = data.as_primitive_opt::() { + let mut buffer = buffer.values().to_vec(); + if std::env::var("FILL_ZEROS") + .map(|s| s != "false") + .unwrap_or(true) + { + fill_zeros_toward_center_y_plane_in_place(&mut buffer, width, height); + } - let bytes: &[u8] = &bytemuck::cast_slice(&buffer); + let bytes: &[u8] = &bytemuck::cast_slice(&buffer); - let cfg = Config::new().with_encoder_config(enc.clone()); - let mut ctx: Context = cfg.new_context().unwrap(); - let mut f = ctx.new_frame(); + let cfg = Config::new().with_encoder_config(enc.clone()); + let mut ctx: Context = cfg.new_context().unwrap(); + let mut f = ctx.new_frame(); - let xdec = f.planes[0].cfg.xdec; - let stride = (width + xdec) >> xdec; - // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit. - f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2); + let xdec = f.planes[0].cfg.xdec; + let stride = (width + xdec) >> xdec; + // Multiply by 2 the stride as it is going to be width * 2 as we're converting 16-bit to 2*8-bit. + f.planes[0].copy_from_raw_u8(bytes, stride * 2, 2); - match ctx.send_frame(f) { - Ok(_) => {} - Err(e) => match e { - EncoderStatus::EnoughData => { - warn!("Unable to send frame "); - } - _ => { - warn!("Unable to send frame "); - } - }, - } - ctx.flush(); - match ctx.receive_packet() { - Ok(pkt) => { - let data = pkt.data; - match output_encoding.as_str() { - "avif" => { - warn!("avif encoding not supported for mono16"); + match ctx.send_frame(f) { + Ok(_) => {} + Err(e) => match e { + EncoderStatus::EnoughData => { + warn!("Unable to send frame "); } _ => { - metadata.parameters.insert( - "encoding".to_string(), - Parameter::String("av1".to_string()), - ); - let arrow = data.into_arrow(); - node.send_output(id, metadata.parameters, arrow) - .context("could not send output") - .unwrap(); + warn!("Unable to send frame "); } - } + }, } - Err(e) => match e { - EncoderStatus::LimitReached => {} - EncoderStatus::Encoded => {} - EncoderStatus::NeedMoreData => {} - _ => { - panic!("Unable to receive packet",); + ctx.flush(); + match ctx.receive_packet() { + Ok(pkt) => { + let data = pkt.data; + match output_encoding.as_str() { + "avif" => { + warn!("avif encoding not supported for mono16"); + } + _ => { + metadata.parameters.insert( + "encoding".to_string(), + Parameter::String("av1".to_string()), + ); + let arrow = data.into_arrow(); + node.send_output(id, metadata.parameters, arrow) + .context("could not send output") + .unwrap(); + } + } } - }, + Err(e) => match e { + EncoderStatus::LimitReached => {} + EncoderStatus::Encoded => {} + EncoderStatus::NeedMoreData => {} + _ => { + panic!("Unable to receive packet",); + } + }, + } } } else if encoding == "rgb8" { - let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); - let buffer: Vec = buffer.values().to_vec(); - let buffer: Vec = - buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); - let (y, u, v) = bgr8_to_yuv420(buffer, width, height); - send_yuv( - &y, - &u, - &v, - enc, - width, - height, - &mut node, - id, - &mut metadata, - &output_encoding, - ); + if let Some(buffer) = data.as_primitive_opt::() { + let buffer: Vec = buffer.values().to_vec(); + let buffer: Vec = + buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); + let (y, u, v) = bgr8_to_yuv420(buffer, width, height); + send_yuv( + &y, + &u, + &v, + enc, + width, + height, + &mut node, + id, + &mut metadata, + &output_encoding, + ); + } } else { unimplemented!("We haven't worked on additional encodings."); } From 4bdeca5dd58c7ba7f6bb37b93710f0ab05ed4329 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 18 Apr 2025 11:12:50 +0200 Subject: [PATCH 072/135] Fix typo --- node-hub/dora-rav1e/src/lib.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/node-hub/dora-rav1e/src/lib.rs b/node-hub/dora-rav1e/src/lib.rs index 7ea00780..22e43180 100644 --- a/node-hub/dora-rav1e/src/lib.rs +++ b/node-hub/dora-rav1e/src/lib.rs @@ -117,7 +117,7 @@ fn send_yuv( node: &mut DoraNode, id: DataId, metadata: &mut Metadata, - output_enconding: &str, + output_encoding: &str, ) -> () { // Create a new Arrow array for the YUV420 data let cfg = Config::new().with_encoder_config(enc.clone()); @@ -147,7 +147,7 @@ fn send_yuv( } ctx.flush(); match ctx.receive_packet() { - Ok(pkt) => match output_enconding { + Ok(pkt) => match output_encoding { "avif" => { let data = pkt.data.clone(); metadata.parameters.insert( From 412be2331f548558a16dd2e027178243629a63ad Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 17 Apr 2025 12:03:01 +0200 Subject: [PATCH 073/135] Fix pyrealsense and convert it to uint16 --- .../dora-pyrealsense/dora_pyrealsense/main.py | 20 ++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py index 940859f2..d0b44feb 100644 --- a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py +++ b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py @@ -36,7 +36,7 @@ def main(): config = rs.config() config.enable_device(device_serial) config.enable_stream(rs.stream.color, image_width, image_height, rs.format.rgb8, 30) - config.enable_stream(rs.stream.depth, image_width, image_height) + config.enable_stream(rs.stream.depth, image_width, image_height, rs.format.z16, 30) align_to = rs.stream.color align = rs.align(align_to) @@ -46,8 +46,8 @@ def main(): depth_sensor = profile.get_device().first_depth_sensor() depth_scale = depth_sensor.get_depth_scale() # rgb_profile = profile.get_stream(rs.stream.color) - # depth_profile = profile.get_stream(rs.stream.depth) - # rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics() + depth_profile = profile.get_stream(rs.stream.depth) + depth_intr = depth_profile.as_video_stream_profile().get_intrinsics() # rgb_intr = depth_profile.get_extrinsics_to(rgb_profile) node = Node() start_time = time.time() @@ -74,7 +74,7 @@ def main(): continue depth_image = np.asanyarray(aligned_depth_frame.get_data()) - scaled_depth_image = depth_image * depth_scale + scaled_depth_image = depth_image frame = np.asanyarray(color_frame.get_data()) ## Change rgb to bgr @@ -94,6 +94,7 @@ def main(): frame.shape[1] != image_width or frame.shape[0] != image_height ) ): + pass frame = cv2.resize(frame, (image_width, image_height)) metadata = event["metadata"] @@ -112,12 +113,17 @@ def main(): storage = pa.array(frame.ravel()) - # metadata["resolution"] = [int(rgb_intr.width), int(rgb_intr.height)] - # metadata["focal_length"] = [int(rgb_intr.fx), int(rgb_intr.fy)] + metadata["resolution"] = [int(depth_intr.width), int(depth_intr.height)] + metadata["focal_length"] = [int(depth_intr.fx), int(depth_intr.fy)] # metadata["principal_point"] = [int(rgb_intr.ppx), int(rgb_intr.ppy)] + metadata["timestamp"] = time.time_ns() node.send_output("image", storage, metadata) + metadata["encoding"] = "mono16" + scaled_depth_image[scaled_depth_image > 5000] = 0 node.send_output( - "depth", pa.array(scaled_depth_image.ravel()), metadata, + "depth", + pa.array(scaled_depth_image.ravel()), + metadata, ) elif event_type == "ERROR": From f4f14d344714aad0dce0e5728df34e06f29fe329 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 18 Apr 2025 11:04:15 +0200 Subject: [PATCH 074/135] Fix resolution parameter and pyrealsense encoding --- .../dora-pyrealsense/dora_pyrealsense/main.py | 23 ++++--------------- node-hub/dora-pyrealsense/pyproject.toml | 12 +++++----- 2 files changed, 11 insertions(+), 24 deletions(-) diff --git a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py index d0b44feb..f30e2a01 100644 --- a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py +++ b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py @@ -43,12 +43,10 @@ def main(): profile = pipeline.start(config) - depth_sensor = profile.get_device().first_depth_sensor() - depth_scale = depth_sensor.get_depth_scale() - # rgb_profile = profile.get_stream(rs.stream.color) + rgb_profile = profile.get_stream(rs.stream.color) depth_profile = profile.get_stream(rs.stream.depth) - depth_intr = depth_profile.as_video_stream_profile().get_intrinsics() - # rgb_intr = depth_profile.get_extrinsics_to(rgb_profile) + _depth_intr = depth_profile.as_video_stream_profile().get_intrinsics() + rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics() node = Node() start_time = time.time() @@ -86,17 +84,6 @@ def main(): elif flip == "BOTH": frame = cv2.flip(frame, -1) - # resize the frame - if ( - image_width is not None - and image_height is not None - and ( - frame.shape[1] != image_width or frame.shape[0] != image_height - ) - ): - pass - frame = cv2.resize(frame, (image_width, image_height)) - metadata = event["metadata"] metadata["encoding"] = encoding metadata["width"] = int(frame.shape[1]) @@ -113,8 +100,8 @@ def main(): storage = pa.array(frame.ravel()) - metadata["resolution"] = [int(depth_intr.width), int(depth_intr.height)] - metadata["focal_length"] = [int(depth_intr.fx), int(depth_intr.fy)] + metadata["resolution"] = [int(rgb_intr.ppx), int(rgb_intr.ppy)] + metadata["focal_length"] = [int(rgb_intr.fx), int(rgb_intr.fy)] # metadata["principal_point"] = [int(rgb_intr.ppx), int(rgb_intr.ppy)] metadata["timestamp"] = time.time_ns() node.send_output("image", storage, metadata) diff --git a/node-hub/dora-pyrealsense/pyproject.toml b/node-hub/dora-pyrealsense/pyproject.toml index 6465c4b7..b9a572fe 100644 --- a/node-hub/dora-pyrealsense/pyproject.toml +++ b/node-hub/dora-pyrealsense/pyproject.toml @@ -8,12 +8,12 @@ readme = "README.md" requires-python = ">=3.8" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "opencv-python >= 4.1.1", - "pyrealsense2-macosx >= 2.54.2; sys_platform == 'darwin'", - "pyrealsense2 == 2.54.1.5216; sys_platform == 'linux'", - "pyrealsense2 == 2.54.1.5216; sys_platform == 'windows'", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "opencv-python >= 4.1.1", + "pyrealsense2-macosx >= 2.54.2; sys_platform == 'darwin'", + "pyrealsense2 == 2.55.1.6486; sys_platform == 'linux'", + "pyrealsense2 == 2.55.1.6486; sys_platform == 'windows'", ] [dependency-groups] dev = ["pytest >=8.1.1", "ruff >=0.9.1"] From dfa8dd17bea7b94257a13c85d818c631da9d4f39 Mon Sep 17 00:00:00 2001 From: Shar-jeel-Sajid Date: Tue, 22 Apr 2025 09:16:10 +0500 Subject: [PATCH 075/135] uninstall through uv first --- binaries/cli/src/lib.rs | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/binaries/cli/src/lib.rs b/binaries/cli/src/lib.rs index 75497999..94b48718 100644 --- a/binaries/cli/src/lib.rs +++ b/binaries/cli/src/lib.rs @@ -630,7 +630,22 @@ fn run(args: Args) -> eyre::Result<()> { println!("Uninstalling Dora CLI..."); #[cfg(feature = "python")] { - println!("Detected pip installation, running pip uninstall..."); + println!("Detected Python installation..."); + + // Try uv pip uninstall first + let uv_status = std::process::Command::new("uv") + .args(["pip", "uninstall", "dora-rs-cli"]) + .status(); + + if let Ok(status) = uv_status { + if status.success() { + println!("Dora CLI has been successfully uninstalled via uv pip."); + return Ok(()); + } + } + + // Fall back to regular pip uninstall + println!("Trying with pip..."); let status = std::process::Command::new("pip") .args(["uninstall", "-y", "dora-rs-cli"]) .status() From eaae7af4c35154b1bc972340cc75b1a858373a76 Mon Sep 17 00:00:00 2001 From: mivik Date: Tue, 22 Apr 2025 16:23:02 +0800 Subject: [PATCH 076/135] feat(node): change logging level of discarding to debug --- apis/rust/node/src/event_stream/scheduler.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apis/rust/node/src/event_stream/scheduler.rs b/apis/rust/node/src/event_stream/scheduler.rs index f8783732..defdc209 100644 --- a/apis/rust/node/src/event_stream/scheduler.rs +++ b/apis/rust/node/src/event_stream/scheduler.rs @@ -54,7 +54,7 @@ impl Scheduler { if let Some((size, queue)) = self.event_queues.get_mut(event_id) { // Remove the oldest event if at limit if &queue.len() >= size { - tracing::warn!("Discarding event for input `{event_id}` due to queue size limit"); + tracing::debug!("Discarding event for input `{event_id}` due to queue size limit"); queue.pop_front(); } queue.push_back(event); From 735d2af6c596348a4e9c87b9d58a68968dae7814 Mon Sep 17 00:00:00 2001 From: Leon Date: Fri, 25 Apr 2025 22:23:31 +0800 Subject: [PATCH 077/135] docs: Updated README: Added comprehensive usage documentation with video walkthrough --- node-hub/dora-kit-car/README.md | 46 +++++++++++++++++++++++++++++---- 1 file changed, 41 insertions(+), 5 deletions(-) diff --git a/node-hub/dora-kit-car/README.md b/node-hub/dora-kit-car/README.md index ffaa5a25..e6e01a41 100644 --- a/node-hub/dora-kit-car/README.md +++ b/node-hub/dora-kit-car/README.md @@ -1,10 +1,16 @@ -# Chongyou Car Control +# dora-kit-car control ## Introduce -Control of the movement of the trolley by receiving texts +Dora Kit Car is a DORA node for controlling a differential-drive mobile robot to move forward/backward and turn left/right. Developed in Rust with Python API support. -## Usage +## Highlights + +- Compatible with the ROS geometry_msgs/Twist.msg format, utilizing only: +- linear.x (positive: forward movement, negative: backward movement) +- angular.z (positive: left turn, negative: right turn) + +## Raw Message Definition Accepts an array of six f64's @@ -14,6 +20,36 @@ see [https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html](https ## Environment -The default serial port is `/dev/ttyUSB0` +Adds an environment variable `SERIAL_PORT` to specify the serial port for the car device, with `/dev/ttyUSB0` as the default value + +## Demo Video + +[![Dora Kit Car Video](https://yt3.ggpht.com/92FGXQL59VsiXim13EJQek4IB7CRI-9SjmW3LhH8PFY16oBXqKUvkKhg5UdzLiGCOmoSuTvdpQxIuw=s640-rw-nd-v1)](https://youtu.be/B7zGHtRUZSo) + +## Getting Started + +```yaml +nodes: + - id: keyboard-listener # Run on car + build: pip install dora-keyboard + path: dora-keyboard + inputs: + tick: dora/timer/millis/10 + outputs: + - twist # for example [2.0,0.0,0.0,0.0,0.0,1.0] + + - id: car + build: pip install dora-kit-car + path: dora-kit-car + inputs: + keyboard: keyboard-listener/twist + env: + SERIAL_PORT: /dev/ttyUSB0 + +``` + +## License + +The MIT License (MIT) -Added definition of default serial port number. Can additionally define the environment variable `SERIAL_PORT` +Copyright (c) 2024-present, Leon \ No newline at end of file From 242a2b5fca498cf757396ba3e9743a3e291495b9 Mon Sep 17 00:00:00 2001 From: Franco Cipollone Date: Mon, 28 Apr 2025 15:29:20 -0300 Subject: [PATCH 078/135] Fix rerun-viewer example. Signed-off-by: Franco Cipollone --- Cargo.toml | 4 ++++ examples/rerun-viewer/dataflow.yml | 2 +- examples/rerun-viewer/run.rs | 14 ++++++++++---- 3 files changed, 15 insertions(+), 5 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 03c997f8..0f574c55 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -182,6 +182,10 @@ name = "cxx-ros2-dataflow" path = "examples/c++-ros2-dataflow/run.rs" required-features = ["ros2-examples"] +[[example]] +name = "rerun-viewer" +path = "examples/rerun-viewer/run.rs" + # The profile that 'dist' will build with [profile.dist] inherits = "release" diff --git a/examples/rerun-viewer/dataflow.yml b/examples/rerun-viewer/dataflow.yml index 219bc726..a33d308f 100644 --- a/examples/rerun-viewer/dataflow.yml +++ b/examples/rerun-viewer/dataflow.yml @@ -14,7 +14,7 @@ nodes: - id: rerun build: cargo build -p dora-rerun --release - path: dora-rerun + path: ../../target/release/dora-rerun inputs: image: camera/image env: diff --git a/examples/rerun-viewer/run.rs b/examples/rerun-viewer/run.rs index d085ddf9..4785ba9b 100644 --- a/examples/rerun-viewer/run.rs +++ b/examples/rerun-viewer/run.rs @@ -5,7 +5,7 @@ use std::path::Path; #[tokio::main] async fn main() -> eyre::Result<()> { - set_up_tracing("python-dataflow-runner")?; + set_up_tracing("rerun-viewer-runner")?; let root = Path::new(env!("CARGO_MANIFEST_DIR")); std::env::set_current_dir(root.join(file!()).parent().unwrap()) @@ -13,18 +13,24 @@ async fn main() -> eyre::Result<()> { let uv = get_uv_path().context("Could not get uv binary")?; - run(&uv, &["venv", "-p", "3.10", "--seed"], None) + run(&uv, &["venv", "-p", "3.11", "--seed"], None) .await .context("failed to create venv")?; run( &uv, - &["pip", "install", "-e", "../../apis/python/node", "--reinstall"], + &[ + "pip", + "install", + "-e", + "../../apis/python/node", + "--reinstall", + ], None, ) .await .context("Unable to install develop dora-rs API")?; - let dataflow = Path::new("qwen2-5-vl-vision-only-dev.yml"); + let dataflow = Path::new("dataflow.yml"); run_dataflow(dataflow).await?; Ok(()) From be54fbc222d6a6cac37ebe7e3fbc68a1b7522fa1 Mon Sep 17 00:00:00 2001 From: Radovenchyk Date: Mon, 5 May 2025 15:37:25 +0300 Subject: [PATCH 079/135] Update README.md --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index b948d7b4..7f2fe62b 100644 --- a/README.md +++ b/README.md @@ -29,6 +29,9 @@ PyPi Latest Release + + PyPi Latest Release +
dora-rs%2Fdora | Trendshift From 515c091e1e00f5b0d516dca337c8132388b6364b Mon Sep 17 00:00:00 2001 From: Philipp Oppermann Date: Wed, 16 Apr 2025 17:56:31 +0200 Subject: [PATCH 080/135] Disable sccache for `musllinux` jobs --- .github/workflows/pip-release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/pip-release.yml b/.github/workflows/pip-release.yml index 78820d5d..98465b85 100644 --- a/.github/workflows/pip-release.yml +++ b/.github/workflows/pip-release.yml @@ -100,7 +100,7 @@ jobs: with: target: ${{ matrix.platform.target }} args: --release --out dist - sccache: "true" + sccache: "false" manylinux: musllinux_1_2 working-directory: ${{ matrix.repository.path }} From 18bb7938d59af9afa32b00976c86d1b8804a2302 Mon Sep 17 00:00:00 2001 From: mivik Date: Mon, 12 May 2025 23:27:32 +0800 Subject: [PATCH 081/135] feat(python): refactor python CUDA IPC API --- apis/python/node/dora/cuda.py | 75 +++++++++++++++-------------------- 1 file changed, 31 insertions(+), 44 deletions(-) diff --git a/apis/python/node/dora/cuda.py b/apis/python/node/dora/cuda.py index 81c1f1a1..946ab182 100644 --- a/apis/python/node/dora/cuda.py +++ b/apis/python/node/dora/cuda.py @@ -8,13 +8,19 @@ from numba.cuda import to_device # Make sure to install numba with cuda from numba.cuda.cudadrv.devicearray import DeviceNDArray +from numba.cuda.cudadrv.devices import get_context +from numba.cuda.cudadrv.driver import IpcHandle -# To install pyarrow.cuda, run `conda install pyarrow "arrow-cpp-proc=*=cuda" -c conda-forge` -from pyarrow import cuda + +import pickle + +from contextlib import contextmanager +from typing import ContextManager def torch_to_ipc_buffer(tensor: torch.TensorType) -> tuple[pa.array, dict]: - """Convert a Pytorch tensor into a pyarrow buffer containing the IPC handle and its metadata. + """Convert a Pytorch tensor into a pyarrow buffer containing the IPC handle + and its metadata. Example Use: ```python @@ -24,75 +30,56 @@ def torch_to_ipc_buffer(tensor: torch.TensorType) -> tuple[pa.array, dict]: ``` """ device_arr = to_device(tensor) - cuda_buf = pa.cuda.CudaBuffer.from_numba(device_arr.gpu_data) - handle_buffer = cuda_buf.export_for_ipc().serialize() + ipch = get_context().get_ipc_handle(device_arr.gpu_data) metadata = { "shape": device_arr.shape, "strides": device_arr.strides, "dtype": device_arr.dtype.str, } - return pa.array(handle_buffer, type=pa.uint8()), metadata + return pa.array(pickle.dumps(ipch), type=pa.uint8()), metadata -def ipc_buffer_to_ipc_handle(handle_buffer: pa.array) -> cuda.IpcMemHandle: - """Convert a buffer containing a serialized handler into cuda IPC MemHandle. +def ipc_buffer_to_ipc_handle(handle_buffer: pa.array) -> IpcHandle: + """Convert a buffer containing a serialized handler into cuda IPC Handle. example use: ```python + from dora.cuda import ipc_buffer_to_ipc_handle, open_ipc_handle - import pyarrow as pa - from dora.cuda import ipc_buffer_to_ipc_handle, cudabuffer_to_torch - - ctx = pa.cuda.context() event = node.next() ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) - cudabuffer = ctx.open_ipc_buffer(ipc_handle) - torch_tensor = cudabuffer_to_torch(cudabuffer, event["metadata"]) # on cuda + with open_ipc_handle(ipc_handle, event["metadata"]) as tensor: + pass ``` """ handle_buffer = handle_buffer.buffers()[1] - return pa.cuda.IpcMemHandle.from_buffer(handle_buffer) + return pickle.loads(handle_buffer.to_pybytes()) -def cudabuffer_to_numba(buffer: cuda.CudaBuffer, metadata: dict) -> DeviceNDArray: - """Convert a pyarrow CUDA buffer to numba. +@contextmanager +def open_ipc_handle( + ipc_handle: IpcHandle, metadata: dict +) -> ContextManager[torch.TensorType]: + """Open a CUDA IPC handle and return a Pytorch tensor. example use: ```python + from dora.cuda import ipc_buffer_to_ipc_handle, open_ipc_handle - import pyarrow as pa - from dora.cuda import ipc_buffer_to_ipc_handle, cudabuffer_to_torch - - ctx = pa.cuda.context() event = node.next() ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) - cudabuffer = ctx.open_ipc_buffer(ipc_handle) - numba_tensor = cudabuffer_to_numbda(cudabuffer, event["metadata"]) + with open_ipc_handle(ipc_handle, event["metadata"]) as tensor: + pass ``` """ shape = metadata["shape"] strides = metadata["strides"] dtype = metadata["dtype"] - return DeviceNDArray(shape, strides, dtype, gpu_data=buffer.to_numba()) - - -def cudabuffer_to_torch(buffer: cuda.CudaBuffer, metadata: dict) -> torch.Tensor: - """Convert a pyarrow CUDA buffer to a torch tensor. - - example use: - ```python - - import pyarrow as pa - from dora.cuda import ipc_buffer_to_ipc_handle, cudabuffer_to_torch - - ctx = pa.cuda.context() - event = node.next() - - ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) - cudabuffer = ctx.open_ipc_buffer(ipc_handle) - torch_tensor = cudabuffer_to_torch(cudabuffer, event["metadata"]) # on cuda - ``` - """ - return torch.as_tensor(cudabuffer_to_numba(buffer, metadata), device="cuda") + try: + buffer = ipc_handle.open(get_context()) + device_arr = DeviceNDArray(shape, strides, dtype, gpu_data=buffer) + yield torch.as_tensor(device_arr, device="cuda") + finally: + ipc_handle.close() From a9e4ea84d42317ab3e8bbff066618fa8df48733c Mon Sep 17 00:00:00 2001 From: mivik Date: Mon, 12 May 2025 23:56:07 +0800 Subject: [PATCH 082/135] fix(example): fix CUDA benchmark --- examples/cuda-benchmark/demo_receiver.py | 21 ++++++++++----------- examples/cuda-benchmark/receiver.py | 16 +++++++--------- 2 files changed, 17 insertions(+), 20 deletions(-) diff --git a/examples/cuda-benchmark/demo_receiver.py b/examples/cuda-benchmark/demo_receiver.py index ea8609ae..0b2c86d6 100644 --- a/examples/cuda-benchmark/demo_receiver.py +++ b/examples/cuda-benchmark/demo_receiver.py @@ -1,7 +1,6 @@ #!/usr/bin/env python """TODO: Add docstring.""" - import os import time @@ -9,7 +8,7 @@ import numpy as np import pyarrow as pa import torch from dora import Node -from dora.cuda import cudabuffer_to_torch, ipc_buffer_to_ipc_handle +from dora.cuda import ipc_buffer_to_ipc_handle, open_ipc_handle from helper import record_results from tqdm import tqdm @@ -17,7 +16,6 @@ torch.tensor([], device="cuda") pa.array([]) -context = pa.cuda.Context() node = Node("node_2") current_size = 8 @@ -29,8 +27,6 @@ DEVICE = os.getenv("DEVICE", "cuda") NAME = f"dora torch {DEVICE}" -ctx = pa.cuda.Context() - print() print("Receiving 40MB packets using default dora-rs") @@ -49,13 +45,13 @@ while True: if event["metadata"]["device"] != "cuda": # BEFORE handle = event["value"].to_numpy() + scope = None torch_tensor = torch.tensor(handle, device="cuda") else: # AFTER - # storage needs to be spawned in the same file as where it's used. Don't ask me why. ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) - cudabuffer = ctx.open_ipc_buffer(ipc_handle) - torch_tensor = cudabuffer_to_torch(cudabuffer, event["metadata"]) # on cuda + scope = open_ipc_handle(ipc_handle, event["metadata"]) + torch_tensor = scope.__enter__() else: break t_received = time.perf_counter_ns() @@ -73,6 +69,9 @@ while True: latencies = [] n += 1 + if scope: + scope.__exit__(None, None, None) + mean_cuda = np.array(latencies).mean() pbar.close() @@ -81,9 +80,9 @@ time.sleep(2) print() print("----") -print(f"Node communication duration with default dora-rs: {mean_cpu/1000:.1f}ms") -print(f"Node communication duration with dora CUDA->CUDA: {mean_cuda/1000:.1f}ms") +print(f"Node communication duration with default dora-rs: {mean_cpu / 1000:.1f}ms") +print(f"Node communication duration with dora CUDA->CUDA: {mean_cuda / 1000:.1f}ms") print("----") -print(f"Speed Up: {(mean_cpu)/(mean_cuda):.0f}") +print(f"Speed Up: {(mean_cpu) / (mean_cuda):.0f}") record_results(NAME, current_size, latencies) diff --git a/examples/cuda-benchmark/receiver.py b/examples/cuda-benchmark/receiver.py index 8115ed16..5c67a5a2 100644 --- a/examples/cuda-benchmark/receiver.py +++ b/examples/cuda-benchmark/receiver.py @@ -1,14 +1,13 @@ #!/usr/bin/env python """TODO: Add docstring.""" - import os import time import pyarrow as pa import torch from dora import Node -from dora.cuda import cudabuffer_to_torch, ipc_buffer_to_ipc_handle +from dora.cuda import ipc_buffer_to_ipc_handle, open_ipc_handle from helper import record_results from tqdm import tqdm @@ -17,7 +16,6 @@ torch.tensor([], device="cuda") pa.array([]) pbar = tqdm(total=100) -context = pa.cuda.Context() node = Node("node_2") @@ -29,8 +27,6 @@ DEVICE = os.getenv("DEVICE", "cuda") NAME = f"dora torch {DEVICE}" -ctx = pa.cuda.Context() - while True: event = node.next() if event["type"] == "INPUT": @@ -40,12 +36,12 @@ while True: # BEFORE handle = event["value"].to_numpy() torch_tensor = torch.tensor(handle, device="cuda") + scope = None else: # AFTER - # storage needs to be spawned in the same file as where it's used. Don't ask me why. ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) - cudabuffer = ctx.open_ipc_buffer(ipc_handle) - torch_tensor = cudabuffer_to_torch(cudabuffer, event["metadata"]) # on cuda + scope = open_ipc_handle(ipc_handle, event["metadata"]) + torch_tensor = scope.__enter__() else: break t_received = time.perf_counter_ns() @@ -53,7 +49,6 @@ while True: if length != current_size: if n > 0: - pbar.close() pbar = tqdm(total=100) record_results(NAME, current_size, latencies) @@ -69,4 +64,7 @@ while True: n += 1 i += 1 + if scope: + scope.__exit__(None, None, None) + record_results(NAME, current_size, latencies) From d2e29542c1b54936145eebf6b87de5942fac764d Mon Sep 17 00:00:00 2001 From: mivik Date: Tue, 13 May 2025 21:40:46 +0800 Subject: [PATCH 083/135] feat(python): remove pickle dependency --- apis/python/node/dora/cuda.py | 23 ++++++++++++++++------- examples/cuda-benchmark/demo_receiver.py | 2 +- examples/cuda-benchmark/receiver.py | 2 +- 3 files changed, 18 insertions(+), 9 deletions(-) diff --git a/apis/python/node/dora/cuda.py b/apis/python/node/dora/cuda.py index 946ab182..1950393f 100644 --- a/apis/python/node/dora/cuda.py +++ b/apis/python/node/dora/cuda.py @@ -12,7 +12,7 @@ from numba.cuda.cudadrv.devices import get_context from numba.cuda.cudadrv.driver import IpcHandle -import pickle +import json from contextlib import contextmanager from typing import ContextManager @@ -31,15 +31,19 @@ def torch_to_ipc_buffer(tensor: torch.TensorType) -> tuple[pa.array, dict]: """ device_arr = to_device(tensor) ipch = get_context().get_ipc_handle(device_arr.gpu_data) + _, handle, size, source_info, offset = ipch.__reduce__()[1] metadata = { "shape": device_arr.shape, "strides": device_arr.strides, "dtype": device_arr.dtype.str, + "size": size, + "offset": offset, + "source_info": json.dumps(source_info), } - return pa.array(pickle.dumps(ipch), type=pa.uint8()), metadata + return pa.array(handle, pa.int8()), metadata -def ipc_buffer_to_ipc_handle(handle_buffer: pa.array) -> IpcHandle: +def ipc_buffer_to_ipc_handle(handle_buffer: pa.array, metadata: dict) -> IpcHandle: """Convert a buffer containing a serialized handler into cuda IPC Handle. example use: @@ -48,13 +52,18 @@ def ipc_buffer_to_ipc_handle(handle_buffer: pa.array) -> IpcHandle: event = node.next() - ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) + ipc_handle = ipc_buffer_to_ipc_handle(event["value"], event["metadata"]) with open_ipc_handle(ipc_handle, event["metadata"]) as tensor: pass ``` """ - handle_buffer = handle_buffer.buffers()[1] - return pickle.loads(handle_buffer.to_pybytes()) + handle = handle_buffer.to_pylist() + return IpcHandle._rebuild( + handle, + metadata["size"], + json.loads(metadata["source_info"]), + metadata["offset"], + ) @contextmanager @@ -69,7 +78,7 @@ def open_ipc_handle( event = node.next() - ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) + ipc_handle = ipc_buffer_to_ipc_handle(event["value"], event["metadata"]) with open_ipc_handle(ipc_handle, event["metadata"]) as tensor: pass ``` diff --git a/examples/cuda-benchmark/demo_receiver.py b/examples/cuda-benchmark/demo_receiver.py index 0b2c86d6..fe0364a4 100644 --- a/examples/cuda-benchmark/demo_receiver.py +++ b/examples/cuda-benchmark/demo_receiver.py @@ -49,7 +49,7 @@ while True: torch_tensor = torch.tensor(handle, device="cuda") else: # AFTER - ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) + ipc_handle = ipc_buffer_to_ipc_handle(event["value"], event["metadata"]) scope = open_ipc_handle(ipc_handle, event["metadata"]) torch_tensor = scope.__enter__() else: diff --git a/examples/cuda-benchmark/receiver.py b/examples/cuda-benchmark/receiver.py index 5c67a5a2..771cef01 100644 --- a/examples/cuda-benchmark/receiver.py +++ b/examples/cuda-benchmark/receiver.py @@ -39,7 +39,7 @@ while True: scope = None else: # AFTER - ipc_handle = ipc_buffer_to_ipc_handle(event["value"]) + ipc_handle = ipc_buffer_to_ipc_handle(event["value"], event["metadata"]) scope = open_ipc_handle(ipc_handle, event["metadata"]) torch_tensor = scope.__enter__() else: From aa8dde9d7a87f8cf79bcc7ee0056b215a57c0280 Mon Sep 17 00:00:00 2001 From: Haixuan Xavier Tao Date: Sun, 18 May 2025 12:45:13 +0200 Subject: [PATCH 084/135] Update README.md Remove AI-generated distributed dataflow documentation --- README.md | 103 ------------------------------------------------------ 1 file changed, 103 deletions(-) diff --git a/README.md b/README.md index 7f2fe62b..aa4be735 100644 --- a/README.md +++ b/README.md @@ -319,109 +319,6 @@ turtle_twist_writer.publish(message) > You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15 -## Zenoh Integration for Distributed Dataflow (Experimental) - -Zenoh is a high-performance pub/sub and query protocol that unifies data in motion and at rest. In **dora-rs**, Zenoh is used for remote communication between nodes running on different machines, enabling distributed dataflow across networks. - -### What is Zenoh? - -- **Definition:** - [Zenoh](https://zenoh.io) is an open-source communication middleware offering pub/sub and query capabilities. -- **Benefits in DORA:** - - Simplifies communication between distributed nodes. - - Handles NAT traversal and inter-network communication. - - Integrates with DORA to manage remote data exchange while local communication still uses efficient shared memory. - -### Enabling Zenoh Support - -1. **Run a Zenoh Router (`zenohd`):** - Launch a Zenoh daemon to mediate communication. For example, using Docker: - - ```bash - docker run -p 7447:7447 -p 8000:8000 --name zenoh-router eclipse/zenohd:latest - ``` - -````markdown -## Create a Zenoh Configuration File πŸŽ›οΈ - -Create a file (e.g., `zenoh.json5`) with the router endpoint details: - -```json5 -{ - connect: { - endpoints: ["tcp/203.0.113.10:7447"], - }, -} -``` -```` - ---- - -## Launch DORA Daemons with Zenoh Enabled πŸš€ - -On each machine, export the configuration and start the daemon: - -```bash -export ZENOH_CONFIG=/path/to/zenoh.json5 -dora daemon --coordinator-addr --machine-id -``` - ---- - -## Deploy Distributed Nodes via YAML πŸ“„ - -Mark nodes for remote deployment using the `_unstable_deploy` key: - -```yaml -nodes: - - id: camera_node - outputs: [image] - - - id: processing_node - _unstable_deploy: - machine: robot1 - path: /home/robot/dora-nodes/processing_node - inputs: - image: camera_node/image - outputs: [result] -``` - ---- - -## Start the Coordinator and Dataflow 🏁 - -Run the coordinator on a designated machine and start the dataflow: - -```bash -dora coordinator -dora start dataflow.yml -``` - ---- - -## YAML Example for Distributed Dataflow πŸ“˜ - -```yaml -communication: - zenoh: {} - -nodes: - - id: camera_node - custom: - run: ./camera_driver.py - outputs: - - image - - - id: processing_node - _unstable_deploy: - machine: robot1 - path: /home/robot/dora-nodes/processing_node - inputs: - image: camera_node/image - outputs: - - result -``` - ## Contributing We are passionate about supporting contributors of all levels of experience and would love to see From 6ba2d611f6a92fb7d0bd69fe552919dfbb7a84b1 Mon Sep 17 00:00:00 2001 From: mivik Date: Wed, 21 May 2025 14:38:31 +0800 Subject: [PATCH 085/135] perf: remove unused sysinfo monitor --- binaries/daemon/src/lib.rs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs index a204ad02..e309e066 100644 --- a/binaries/daemon/src/lib.rs +++ b/binaries/daemon/src/lib.rs @@ -1796,10 +1796,11 @@ impl ProcessId { pub fn kill(&mut self) -> bool { if let Some(pid) = self.0 { + let pid = Pid::from(pid as usize); let mut system = sysinfo::System::new(); - system.refresh_processes(); + system.refresh_process(pid); - if let Some(process) = system.process(Pid::from(pid as usize)) { + if let Some(process) = system.process(pid) { process.kill(); self.mark_as_stopped(); return true; From edb1766ffea7e1c1c573d5c98767f0fcc43fecf7 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 16:21:16 +0200 Subject: [PATCH 086/135] fix terminal --- Cargo.lock | 334 +++++++++--------- .../extensions/telemetry/metrics/Cargo.toml | 8 +- 2 files changed, 175 insertions(+), 167 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 413cdf7f..12cf8e40 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -391,7 +391,7 @@ checksum = "0ae92a5119aa49cdbcf6b9f893fe4e1d98b04ccbf82ee0584ad948a44a734dea" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -448,15 +448,15 @@ checksum = "dc208515aa0151028e464cc94a692156e945ce5126abd3537bb7fd6ba2143ed1" dependencies = [ "arrow-arith 54.2.1", "arrow-array 54.2.1", - "arrow-buffer 54.3.0", + "arrow-buffer 54.3.1", "arrow-cast 54.2.1", "arrow-csv", - "arrow-data 54.3.0", + "arrow-data 54.3.1", "arrow-ipc 54.2.1", "arrow-json", "arrow-ord 54.2.1", "arrow-row 54.2.1", - "arrow-schema 54.3.0", + "arrow-schema 54.3.1", "arrow-select 54.2.1", "arrow-string 54.2.1", "pyo3", @@ -484,9 +484,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e07e726e2b3f7816a85c6a45b6ec118eeeabf0b2a8c208122ad949437181f49a" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "chrono", "num", ] @@ -514,9 +514,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a2262eba4f16c78496adfd559a29fe4b24df6088efc9985a873d58e92be022d5" dependencies = [ "ahash", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "chrono", "half", "hashbrown 0.15.2", @@ -536,9 +536,9 @@ dependencies = [ [[package]] name = "arrow-buffer" -version = "54.3.0" +version = "54.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bc6ed265c73f134a583d02c3cab5e16afab9446d8048ede8707e31f85fad58a0" +checksum = "263f4801ff1839ef53ebd06f99a56cecd1dbaf314ec893d93168e2e860e0291c" dependencies = [ "bytes", "half", @@ -572,9 +572,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4103d88c5b441525ed4ac23153be7458494c2b0c9a11115848fdb9b81f6f886a" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "arrow-select 54.2.1", "atoi", "base64 0.22.1", @@ -593,7 +593,7 @@ checksum = "43d3cb0914486a3cae19a5cad2598e44e225d53157926d0ada03c20521191a65" dependencies = [ "arrow-array 54.2.1", "arrow-cast 54.2.1", - "arrow-schema 54.3.0", + "arrow-schema 54.3.1", "chrono", "csv", "csv-core", @@ -615,12 +615,12 @@ dependencies = [ [[package]] name = "arrow-data" -version = "54.3.0" +version = "54.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5f2cebf504bb6a92a134a87fff98f01b14fbb3a93ecf7aef90cd0f888c5fffa4" +checksum = "61cfdd7d99b4ff618f167e548b2411e5dd2c98c0ddebedd7df433d34c20a4429" dependencies = [ - "arrow-buffer 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-schema 54.3.1", "half", "num", ] @@ -656,9 +656,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ddecdeab02491b1ce88885986e25002a3da34dd349f682c7cfe67bab7cc17b86" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "flatbuffers", ] @@ -669,10 +669,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d03b9340013413eb84868682ace00a1098c81a5ebc96d279f7ebf9a4cac3c0fd" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", + "arrow-buffer 54.3.1", "arrow-cast 54.2.1", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "chrono", "half", "indexmap 2.8.0", @@ -704,9 +704,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "f841bfcc1997ef6ac48ee0305c4dfceb1f7c786fe31e67c1186edf775e1f1160" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "arrow-select 54.2.1", ] @@ -731,9 +731,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1eeb55b0a0a83851aa01f2ca5ee5648f607e8506ba6802577afdda9d75cdedcd" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "half", ] @@ -745,9 +745,9 @@ checksum = "35b0f9c0c3582dd55db0f136d3b44bfa0189df07adcf7dc7f2f2e74db0f52eb8" [[package]] name = "arrow-schema" -version = "54.3.0" +version = "54.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a5c53775bba63f319189f366d2b86e9a8889373eb198f07d8544938fc9f8ed9a" +checksum = "39cfaf5e440be44db5413b75b72c2a87c1f8f0627117d110264048f2969b99e9" dependencies = [ "bitflags 2.9.0", "serde", @@ -775,9 +775,9 @@ checksum = "7e2932aece2d0c869dd2125feb9bd1709ef5c445daa3838ac4112dcfa0fda52c" dependencies = [ "ahash", "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "num", ] @@ -805,9 +805,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "912e38bd6a7a7714c1d9b61df80315685553b7455e8a6045c27531d8ecd5b458" dependencies = [ "arrow-array 54.2.1", - "arrow-buffer 54.3.0", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-buffer 54.3.1", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "arrow-select 54.2.1", "memchr", "num", @@ -885,7 +885,7 @@ checksum = "965c2d33e53cb6b267e148a4cb0760bc01f4904c1cd4bb4002a085bb016d1490" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "synstructure", ] @@ -897,7 +897,7 @@ checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -1105,7 +1105,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -1184,7 +1184,7 @@ checksum = "c7c24de15d275a1ecfd47a380fb4d5ec9bfe0933f309ed5e705b775596a3574d" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -1201,7 +1201,7 @@ checksum = "e539d3fca749fcee5236ab05e93a52867dd549cc157c8cb7f99595f3cedffdb5" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -1717,7 +1717,7 @@ checksum = "2ff22c2722516255d1823ce3cc4bc0b154dbc9364be5c905d6baa6eccbbc8774" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2159,7 +2159,7 @@ dependencies = [ "heck 0.5.0", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2657,7 +2657,7 @@ dependencies = [ "proc-macro2", "quote", "scratch", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2670,7 +2670,7 @@ dependencies = [ "codespan-reporting 0.11.1", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2688,7 +2688,7 @@ dependencies = [ "proc-macro2", "quote", "rustversion", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2736,7 +2736,7 @@ dependencies = [ "proc-macro2", "quote", "strsim 0.11.1", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2758,7 +2758,7 @@ checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806" dependencies = [ "darling_core 0.20.10", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2868,7 +2868,7 @@ checksum = "2cdc8d50f426189eef89dac62fabfa0abb27d5cc008f25bf4156a0203325becc" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2879,7 +2879,7 @@ checksum = "30542c1ad912e0e3d22a1935c290e12e8a29d704a420177a31faad4a601a0800" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2900,7 +2900,7 @@ dependencies = [ "darling 0.20.10", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2910,7 +2910,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ab63b0e2bf4d5928aff72e83a7dace85d7bba5fe12dcc3c5a572d78caffd3f3c" dependencies = [ "derive_builder_core", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -2921,7 +2921,7 @@ checksum = "3da29a38df43d6f156149c9b43ded5e018ddff2a855cf2cfd62e8cd7d079c69f" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3032,7 +3032,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3245,8 +3245,8 @@ name = "dora-message" version = "0.4.4" dependencies = [ "aligned-vec", - "arrow-data 54.3.0", - "arrow-schema 54.3.0", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", "bincode", "eyre", "log", @@ -3266,10 +3266,10 @@ name = "dora-metrics" version = "0.3.11" dependencies = [ "eyre", - "opentelemetry 0.28.0", + "opentelemetry 0.29.1", "opentelemetry-otlp", "opentelemetry-system-metrics", - "opentelemetry_sdk 0.28.0", + "opentelemetry_sdk 0.29.0", ] [[package]] @@ -3425,7 +3425,7 @@ version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", - "arrow-schema 54.3.0", + "arrow-schema 54.3.1", "dora-node-api", "eyre", "flume 0.10.14", @@ -3914,7 +3914,7 @@ dependencies = [ "heck 0.5.0", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3935,7 +3935,7 @@ checksum = "f282cfdfe92516eb26c2af8589c274c7c17681f5ecc03c18255fe741c6aa64eb" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3956,7 +3956,7 @@ checksum = "fc4caf64a58d7a6d65ab00639b046ff54399a39f5f2554728895ace4b297cd79" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3967,7 +3967,7 @@ checksum = "2f9ed6b3789237c8a0c1c505af1c7eb2c560df6186f01b098c3a1064ea532f38" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -3988,7 +3988,7 @@ dependencies = [ "darling 0.20.10", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -4106,9 +4106,9 @@ dependencies = [ [[package]] name = "ethnum" -version = "1.5.0" +version = "1.5.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b90ca2580b73ab6a1f724b76ca11ab632df820fd6040c336200d2c1df7b3c82c" +checksum = "ca81e6b4777c89fd810c25a4be2b1bd93ea034fbe58e6a75216a34c6b82c539b" [[package]] name = "event-listener" @@ -4402,7 +4402,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -4564,7 +4564,7 @@ checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -4835,7 +4835,7 @@ checksum = "53010ccb100b96a67bc32c0175f0ed1426b31b655d562898e57325f81c023ac0" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -4939,7 +4939,7 @@ dependencies = [ "inflections", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -5647,7 +5647,7 @@ checksum = "1ec89e9337638ecdc08744df490b221a7399bf8d164eb52a665454e60e075ad6" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -5860,14 +5860,12 @@ dependencies = [ [[package]] name = "insta" -version = "1.42.2" +version = "1.43.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "50259abbaa67d11d2bcafc7ba1d094ed7a0c70e3ce893f0d0997f73558cb3084" +checksum = "154934ea70c58054b556dd430b99a98c2a7ff5309ac9891597e339b5c28f4371" dependencies = [ "console", - "linked-hash-map", "once_cell", - "pin-project", "similar", ] @@ -5894,7 +5892,7 @@ checksum = "c34819042dc3d3971c46c2190835914dfbe0c3c13f61449b2997f4e9722dfa60" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -6086,7 +6084,7 @@ checksum = "8d16e75759ee0aa64c57a56acbf43916987b20c77373cb7e808979e02b93c9f9" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -6750,7 +6748,7 @@ checksum = "49e7bc1560b95a3c4a25d03de42fe76ca718ab92d1a22a55b9b4cf67b3ae635c" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -7046,7 +7044,7 @@ checksum = "c402a4092d5e204f32c9e155431046831fa712637043c58cb73bc6bc6c9663b5" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -7506,7 +7504,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -7579,7 +7577,7 @@ dependencies = [ "proc-macro-crate", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -7954,9 +7952,9 @@ dependencies = [ [[package]] name = "opentelemetry" -version = "0.28.0" +version = "0.29.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "236e667b670a5cdf90c258f5a55794ec5ac5027e960c224bff8367a59e1e6426" +checksum = "9e87237e2775f74896f9ad219d26a2081751187eb7c9f5c58dde20a23b95d16c" dependencies = [ "futures-core", "futures-sink", @@ -7968,14 +7966,14 @@ dependencies = [ [[package]] name = "opentelemetry-http" -version = "0.28.0" +version = "0.29.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a8863faf2910030d139fb48715ad5ff2f35029fc5f244f6d5f689ddcf4d26253" +checksum = "46d7ab32b827b5b495bd90fa95a6cb65ccc293555dcc3199ae2937d2d237c8ed" dependencies = [ "async-trait", "bytes", "http 1.3.1", - "opentelemetry 0.28.0", + "opentelemetry 0.29.1", "reqwest 0.12.15", "tracing", ] @@ -7999,17 +7997,16 @@ dependencies = [ [[package]] name = "opentelemetry-otlp" -version = "0.28.0" +version = "0.29.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5bef114c6d41bea83d6dc60eb41720eedd0261a67af57b66dd2b84ac46c01d91" +checksum = "d899720fe06916ccba71c01d04ecd77312734e2de3467fd30d9d580c8ce85656" dependencies = [ - "async-trait", "futures-core", "http 1.3.1", - "opentelemetry 0.28.0", + "opentelemetry 0.29.1", "opentelemetry-http", "opentelemetry-proto", - "opentelemetry_sdk 0.28.0", + "opentelemetry_sdk 0.29.0", "prost", "reqwest 0.12.15", "thiserror 2.0.12", @@ -8020,12 +8017,12 @@ dependencies = [ [[package]] name = "opentelemetry-proto" -version = "0.28.0" +version = "0.29.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "56f8870d3024727e99212eb3bb1762ec16e255e3e6f58eeb3dc8db1aa226746d" +checksum = "8c40da242381435e18570d5b9d50aca2a4f4f4d8e146231adb4e7768023309b3" dependencies = [ - "opentelemetry 0.28.0", - "opentelemetry_sdk 0.28.0", + "opentelemetry 0.29.1", + "opentelemetry_sdk 0.29.0", "prost", "tonic", ] @@ -8041,15 +8038,14 @@ dependencies = [ [[package]] name = "opentelemetry-system-metrics" -version = "0.3.1" +version = "0.4.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "febe29a01146e142a724009278d86d80e6924acc91cedb0f508e7e14ddd06670" +checksum = "a54d9d46d8a7380cd3e84840aa56681b55cf9f5c8fd65fe5f9c4b1e0d87a5d68" dependencies = [ "eyre", - "indexmap 2.8.0", "nvml-wrapper", - "opentelemetry 0.28.0", - "sysinfo 0.33.1", + "opentelemetry 0.29.1", + "sysinfo 0.34.2", "tokio", "tracing", ] @@ -8094,18 +8090,17 @@ dependencies = [ [[package]] name = "opentelemetry_sdk" -version = "0.28.0" +version = "0.29.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "84dfad6042089c7fc1f6118b7040dc2eb4ab520abbf410b79dc481032af39570" +checksum = "afdefb21d1d47394abc1ba6c57363ab141be19e27cc70d0e422b7f303e4d290b" dependencies = [ - "async-trait", "futures-channel", "futures-executor", "futures-util", "glob", - "opentelemetry 0.28.0", + "opentelemetry 0.29.1", "percent-encoding", - "rand 0.8.5", + "rand 0.9.0", "serde_json", "thiserror 2.0.12", "tokio", @@ -8270,11 +8265,11 @@ checksum = "f88838dca3b84d41444a0341b19f347e8098a3898b0f21536654b8b799e11abd" dependencies = [ "ahash", "arrow-array 54.2.1", - "arrow-buffer 54.3.0", + "arrow-buffer 54.3.1", "arrow-cast 54.2.1", - "arrow-data 54.3.0", + "arrow-data 54.3.1", "arrow-ipc 54.2.1", - "arrow-schema 54.3.0", + "arrow-schema 54.3.1", "arrow-select 54.2.1", "base64 0.22.1", "brotli", @@ -8401,7 +8396,7 @@ dependencies = [ "pest_meta", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -8455,7 +8450,7 @@ dependencies = [ "phf_shared", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -8490,7 +8485,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -8829,7 +8824,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "5316f57387668042f561aae71480de936257848f9c43ce528e311d89a07cadeb" dependencies = [ "proc-macro2", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -8867,9 +8862,9 @@ dependencies = [ [[package]] name = "proc-macro2" -version = "1.0.94" +version = "1.0.95" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a31971752e70b8b2686d7e46ec17fb38dad4051d94024c88df49b667caea9c84" +checksum = "02b3e5e68a3a1a02aad3ec490a98007cbc13c37cbe84a3cd7b8e406d76e7f778" dependencies = [ "unicode-ident", ] @@ -8891,7 +8886,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a65f2e60fbf1063868558d69c6beacf412dc755f9fc020f514b7955fc914fe30" dependencies = [ "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -8914,7 +8909,7 @@ dependencies = [ "itertools 0.14.0", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -9032,7 +9027,7 @@ dependencies = [ "proc-macro2", "pyo3-macros-backend", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -9045,7 +9040,7 @@ dependencies = [ "proc-macro2", "pyo3-build-config", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -10429,7 +10424,7 @@ dependencies = [ "re_tracing", "rust-format", "serde", - "syn 2.0.100", + "syn 2.0.101", "tempfile", "toml", "unindent", @@ -11076,7 +11071,7 @@ checksum = "1165225c21bff1f3bbce98f5a1f889949bc902d3575308cc7b0de30b4f6d27c7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -11923,7 +11918,7 @@ dependencies = [ "proc-macro2", "quote", "serde_derive_internals", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12142,7 +12137,7 @@ checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12153,7 +12148,7 @@ checksum = "18d26a20a969b9e3fdf2fc2d9f21eda6c40e2de84c9408bb5d3b05d499aae711" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12186,7 +12181,7 @@ checksum = "175ee3e80ae9982737ca543e96133087cbd9a485eecc3bc4de9c1a37b47ea59c" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12237,7 +12232,7 @@ dependencies = [ "darling 0.20.10", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12719,7 +12714,7 @@ checksum = "658f2ca5276b92c3dfd65fa88316b4e032ace68f88d7570b43967784c0bac5ac" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12939,7 +12934,7 @@ dependencies = [ "proc-macro2", "quote", "rustversion", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12952,7 +12947,7 @@ dependencies = [ "proc-macro2", "quote", "rustversion", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -12990,9 +12985,9 @@ dependencies = [ [[package]] name = "syn" -version = "2.0.100" +version = "2.0.101" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b09a44accad81e1ba1cd74a32461ba89dee89095ba17b32f5d03683b1b1fc2a0" +checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf" dependencies = [ "proc-macro2", "quote", @@ -13022,7 +13017,7 @@ checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -13090,6 +13085,19 @@ dependencies = [ "windows 0.57.0", ] +[[package]] +name = "sysinfo" +version = "0.34.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a4b93974b3d3aeaa036504b8eefd4c039dced109171c1ae973f1dc63b2c7e4b2" +dependencies = [ + "libc", + "memchr", + "ntapi", + "objc2-core-foundation", + "windows 0.57.0", +] + [[package]] name = "system-configuration" version = "0.5.1" @@ -13276,7 +13284,7 @@ checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -13287,7 +13295,7 @@ checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -13565,7 +13573,7 @@ checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -13829,7 +13837,7 @@ checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -14267,7 +14275,7 @@ checksum = "72dcd78c4f979627a754f5522cea6e6a25e55139056535fe6e69c506cd64a862" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -14302,7 +14310,7 @@ checksum = "dcba0282a9f9297af06b91ff22615e7f77f0ab66f75fc95898960d1604fc7fd7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "unzip-n", ] @@ -14464,7 +14472,7 @@ dependencies = [ "log", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "wasm-bindgen-shared", ] @@ -14499,7 +14507,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "wasm-bindgen-backend", "wasm-bindgen-shared", ] @@ -15072,7 +15080,7 @@ checksum = "9107ddc059d5b6fbfbffdfa7a7fe3e22a226def0b2608f72e9d552763d3e1ad7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15083,7 +15091,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15094,7 +15102,7 @@ checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15105,7 +15113,7 @@ checksum = "29bee4b38ea3cde66011baa44dba677c432a78593e202392d1e9070cf2a7fca7" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15116,7 +15124,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15127,7 +15135,7 @@ checksum = "bd9211b69f8dcdfa817bfd14bf1c97c9188afa36f4750130fcdf3f400eca9fa8" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15643,7 +15651,7 @@ dependencies = [ "darling 0.20.10", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -15830,7 +15838,7 @@ checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "synstructure", ] @@ -15926,7 +15934,7 @@ checksum = "709ab20fc57cb22af85be7b360239563209258430bccf38d8b979c5a2ae3ecce" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zbus-lockstep", "zbus_xml", "zvariant 4.2.0", @@ -15941,7 +15949,7 @@ dependencies = [ "proc-macro-crate", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zvariant_utils 2.1.0", ] @@ -15954,7 +15962,7 @@ dependencies = [ "proc-macro-crate", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zbus_names 4.2.0", "zvariant 5.4.0", "zvariant_utils 3.2.0", @@ -16601,7 +16609,7 @@ checksum = "5a0108f9d378a698967038d96e30f42b3bb9b111acd34102d70d8b4a4dea1b83" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zenoh-keyexpr", ] @@ -16889,7 +16897,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -16900,7 +16908,7 @@ checksum = "a996a8f63c5c4448cd959ac1bab0aaa3306ccfd060472f85943ee0750f0169be" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -16920,7 +16928,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "synstructure", ] @@ -16949,7 +16957,7 @@ checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -17069,7 +17077,7 @@ dependencies = [ "proc-macro-crate", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zvariant_utils 2.1.0", ] @@ -17082,7 +17090,7 @@ dependencies = [ "proc-macro-crate", "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", "zvariant_utils 3.2.0", ] @@ -17094,7 +17102,7 @@ checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340" dependencies = [ "proc-macro2", "quote", - "syn 2.0.100", + "syn 2.0.101", ] [[package]] @@ -17107,6 +17115,6 @@ dependencies = [ "quote", "serde", "static_assertions", - "syn 2.0.100", + "syn 2.0.101", "winnow", ] diff --git a/libraries/extensions/telemetry/metrics/Cargo.toml b/libraries/extensions/telemetry/metrics/Cargo.toml index a5929d2a..8d52fac3 100644 --- a/libraries/extensions/telemetry/metrics/Cargo.toml +++ b/libraries/extensions/telemetry/metrics/Cargo.toml @@ -10,12 +10,12 @@ repository.workspace = true # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [dependencies] -opentelemetry = { version = "0.28.0", features = ["metrics"] } -opentelemetry-otlp = { version = "0.28.0", features = [ +opentelemetry = { version = "0.29.1", features = ["metrics"] } +opentelemetry-otlp = { version = "0.29.0", features = [ "tonic", "metrics", "grpc-tonic", ] } -opentelemetry_sdk = { version = "0.28.0", features = ["rt-tokio", "metrics"] } +opentelemetry_sdk = { version = "0.29.0", features = ["rt-tokio", "metrics"] } eyre = "0.6.12" -opentelemetry-system-metrics = { version = "0.3.1" } +opentelemetry-system-metrics = { version = "0.4.1" } From cf3c8c3ddb1c74019ea7fc16be2bead6a5deee61 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 17:19:49 +0200 Subject: [PATCH 087/135] Downgrade transfromers version as of https://github.com/huggingface/transformers/issues/38283 --- node-hub/dora-qwen/pyproject.toml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index c78728e9..bb93acd2 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -8,22 +8,22 @@ readme = "README.md" requires-python = ">=3.9" dependencies = [ - "dora-rs >= 0.3.9", - "torch == 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", - "opencv-python >= 4.1.1", - "modelscope >= 1.18.1", - "accelerate>=1.3.0", - "transformers", - "mlx-lm>=0.21.1; sys_platform == 'darwin'", - "llama-cpp-python", + "dora-rs >= 0.3.9", + "torch == 2.4.0", + "torchvision >= 0.19", + "torchaudio >= 2.1.0", + "opencv-python >= 4.1.1", + "modelscope >= 1.18.1", + "accelerate>=1.3.0", + "transformers <= 4.52.2", + "mlx-lm>=0.21.1; sys_platform == 'darwin'", + "llama-cpp-python", ] [tool.uv.sources] llama-cpp-python = [ - { index = "llama_cpp_python_metal", marker = "sys_platform == 'darwin'" }, - { index = "llama_cpp_python_cu121", marker = "sys_platform == 'linux'" }, + { index = "llama_cpp_python_metal", marker = "sys_platform == 'darwin'" }, + { index = "llama_cpp_python_cu121", marker = "sys_platform == 'linux'" }, ] [dependency-groups] From 9226dc7c8e777369a08ae5a605d8d22f47c53258 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 17:35:13 +0200 Subject: [PATCH 088/135] Downgrade transformers to 4.52.1 --- node-hub/dora-qwen/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index bb93acd2..b7cda1b7 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -15,7 +15,7 @@ dependencies = [ "opencv-python >= 4.1.1", "modelscope >= 1.18.1", "accelerate>=1.3.0", - "transformers <= 4.52.2", + "transformers <= 4.52.1", "mlx-lm>=0.21.1; sys_platform == 'darwin'", "llama-cpp-python", ] From 53b41822950abc54835827f5e702dc578b8143a8 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 17:54:19 +0200 Subject: [PATCH 089/135] Downgrade transformers 4.52.1 --- node-hub/dora-transformers/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/node-hub/dora-transformers/pyproject.toml b/node-hub/dora-transformers/pyproject.toml index a6c77034..36659200 100644 --- a/node-hub/dora-transformers/pyproject.toml +++ b/node-hub/dora-transformers/pyproject.toml @@ -15,7 +15,7 @@ dependencies = [ "opencv-python >= 4.1.1", "modelscope >= 1.18.1", "accelerate >= 1.3.0", - "transformers", + "transformers <= 4.52.1", "bitsandbytes>=0.41.1", ] From de864b533b30c02a75ad868f9832bc1e765caca5 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 18:17:39 +0200 Subject: [PATCH 090/135] Rm dora-magma from ci/cd --- .github/workflows/node_hub_test.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 4b4a7336..71564fe1 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -2,7 +2,7 @@ set -euo # List of ignored modules -ignored_folders=("dora-parler") +ignored_folders=("dora-parler" "dora-magma") # Skip test skip_test_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input") From 51190788baa98228c616fc3ab4f11850feb83773 Mon Sep 17 00:00:00 2001 From: sjfhsjfh Date: Tue, 27 May 2025 19:49:28 +0800 Subject: [PATCH 091/135] refactor: use builder style fix: logging thread block --- apis/rust/node/src/node/mod.rs | 39 +++---- binaries/cli/src/lib.rs | 47 ++++---- binaries/runtime/src/lib.rs | 14 ++- .../extensions/telemetry/metrics/src/lib.rs | 4 +- .../extensions/telemetry/tracing/src/lib.rs | 101 +++++++++++++----- 5 files changed, 131 insertions(+), 74 deletions(-) diff --git a/apis/rust/node/src/node/mod.rs b/apis/rust/node/src/node/mod.rs index 541e8759..47890d46 100644 --- a/apis/rust/node/src/node/mod.rs +++ b/apis/rust/node/src/node/mod.rs @@ -32,9 +32,10 @@ use std::{ use tracing::{info, warn}; #[cfg(feature = "metrics")] -use dora_metrics::init_meter_provider; +use dora_metrics::run_metrics_monitor; #[cfg(feature = "tracing")] -use dora_tracing::set_up_tracing; +use dora_tracing::TracingBuilder; + use tokio::runtime::{Handle, Runtime}; pub mod arrow_utils; @@ -81,8 +82,12 @@ impl DoraNode { serde_yaml::from_str(&raw).context("failed to deserialize node config")? }; #[cfg(feature = "tracing")] - set_up_tracing(node_config.node_id.as_ref()) - .context("failed to set up tracing subscriber")?; + { + TracingBuilder::new(node_config.node_id.as_ref()) + .build() + .wrap_err("failed to set up tracing subscriber")?; + } + Self::init(node_config) } @@ -156,24 +161,20 @@ impl DoraNode { let id = format!("{}/{}", dataflow_id, node_id); #[cfg(feature = "metrics")] - match &rt { - TokioRuntime::Runtime(rt) => rt.spawn(async { - if let Err(e) = init_meter_provider(id) - .await - .context("failed to init metrics provider") - { - warn!("could not create metric provider with err: {:#?}", e); - } - }), - TokioRuntime::Handle(handle) => handle.spawn(async { - if let Err(e) = init_meter_provider(id) + { + let monitor_task = async move { + if let Err(e) = run_metrics_monitor(id.clone()) .await - .context("failed to init metrics provider") + .wrap_err("metrics monitor exited unexpectedly") { - warn!("could not create metric provider with err: {:#?}", e); + warn!("metrics monitor failed: {:#?}", e); } - }), - }; + }; + match &rt { + TokioRuntime::Runtime(rt) => rt.spawn(monitor_task), + TokioRuntime::Handle(handle) => handle.spawn(monitor_task), + }; + } let event_stream = EventStream::init( dataflow_id, diff --git a/binaries/cli/src/lib.rs b/binaries/cli/src/lib.rs index 94b48718..cfe9e41b 100644 --- a/binaries/cli/src/lib.rs +++ b/binaries/cli/src/lib.rs @@ -16,8 +16,7 @@ use dora_message::{ coordinator_to_cli::{ControlRequestReply, DataflowList, DataflowResult, DataflowStatus}, }; #[cfg(feature = "tracing")] -use dora_tracing::set_up_tracing; -use dora_tracing::{set_up_tracing_opts, FileLogging}; +use dora_tracing::TracingBuilder; use duration_str::parse; use eyre::{bail, Context}; use formatting::FormatDataflowError; @@ -311,34 +310,42 @@ fn run(args: Args) -> eyre::Result<()> { .as_ref() .map(|id| format!("{name}-{id}")) .unwrap_or(name.to_string()); - let stdout = (!quiet).then_some("info,zenoh=warn"); - let file = Some(FileLogging { - file_name: filename, - filter: LevelFilter::INFO, - }); - set_up_tracing_opts(name, stdout, file) - .context("failed to set up tracing subscriber")?; + + let mut builder = TracingBuilder::new(name); + if !quiet { + builder = builder.with_stdout("info,zenoh=warn"); + } + builder = builder.with_file(filename, LevelFilter::INFO)?; + builder + .build() + .wrap_err("failed to set up tracing subscriber")?; } Command::Runtime => { // Do not set the runtime in the cli. } Command::Coordinator { quiet, .. } => { let name = "dora-coordinator"; - let stdout = (!quiet).then_some("info"); - let file = Some(FileLogging { - file_name: name.to_owned(), - filter: LevelFilter::INFO, - }); - set_up_tracing_opts(name, stdout, file) - .context("failed to set up tracing subscriber")?; + let mut builder = TracingBuilder::new(name); + if !quiet { + builder = builder.with_stdout("info"); + } + builder = builder.with_file(name, LevelFilter::INFO)?; + builder + .build() + .wrap_err("failed to set up tracing subscriber")?; } Command::Run { .. } => { - let log_level = std::env::var("RUST_LOG").ok().or(Some("info".to_string())); - set_up_tracing_opts("run", log_level.as_deref(), None) - .context("failed to set up tracing subscriber")?; + let log_level = std::env::var("RUST_LOG").ok().unwrap_or("info".to_string()); + TracingBuilder::new("run") + .with_stdout(log_level) + .build() + .wrap_err("failed to set up tracing subscriber")?; } _ => { - set_up_tracing("dora-cli").context("failed to set up tracing subscriber")?; + TracingBuilder::new("dora-cli") + .with_stdout("warn") + .build() + .wrap_err("failed to set up tracing subscriber")?; } }; diff --git a/binaries/runtime/src/lib.rs b/binaries/runtime/src/lib.rs index 244f8f7a..ea949bf4 100644 --- a/binaries/runtime/src/lib.rs +++ b/binaries/runtime/src/lib.rs @@ -5,15 +5,14 @@ use dora_core::{ descriptor::OperatorConfig, }; use dora_message::daemon_to_node::{NodeConfig, RuntimeConfig}; -use dora_metrics::init_meter_provider; +use dora_metrics::run_metrics_monitor; use dora_node_api::{DoraNode, Event}; +use dora_tracing::TracingBuilder; use eyre::{bail, Context, Result}; use futures::{Stream, StreamExt}; use futures_concurrency::stream::Merge; use operator::{run_operator, OperatorEvent, StopReason}; -#[cfg(feature = "tracing")] -use dora_tracing::set_up_tracing; use std::{ collections::{BTreeMap, BTreeSet, HashMap}, mem, @@ -37,7 +36,12 @@ pub fn main() -> eyre::Result<()> { } = config; let node_id = config.node_id.clone(); #[cfg(feature = "tracing")] - set_up_tracing(node_id.as_ref()).context("failed to set up tracing subscriber")?; + { + TracingBuilder::new(node_id.as_ref()) + .with_stdout("warn") + .build() + .wrap_err("failed to set up tracing subscriber")?; + } let dataflow_descriptor = config.dataflow_descriptor.clone(); @@ -123,7 +127,7 @@ async fn run( init_done: oneshot::Receiver>, ) -> eyre::Result<()> { #[cfg(feature = "metrics")] - let _meter_provider = init_meter_provider(config.node_id.to_string()); + let _meter_provider = run_metrics_monitor(config.node_id.to_string()); init_done .await .wrap_err("the `init_done` channel was closed unexpectedly")? diff --git a/libraries/extensions/telemetry/metrics/src/lib.rs b/libraries/extensions/telemetry/metrics/src/lib.rs index 0d57f7c1..933c79a6 100644 --- a/libraries/extensions/telemetry/metrics/src/lib.rs +++ b/libraries/extensions/telemetry/metrics/src/lib.rs @@ -31,7 +31,7 @@ pub fn init_metrics() -> SdkMeterProvider { .build() } -pub async fn init_meter_provider(meter_id: String) -> Result { +pub async fn run_metrics_monitor(meter_id: String) -> Result<()> { let meter_provider = init_metrics(); global::set_meter_provider(meter_provider.clone()); let scope = InstrumentationScope::builder(meter_id) @@ -40,5 +40,5 @@ pub async fn init_meter_provider(meter_id: String) -> Result { let meter = global::meter_with_scope(scope); init_process_observer(meter).await.unwrap(); - Ok(meter_provider) + Ok(()) } diff --git a/libraries/extensions/telemetry/tracing/src/lib.rs b/libraries/extensions/telemetry/tracing/src/lib.rs index 67b0544d..6aa1ca49 100644 --- a/libraries/extensions/telemetry/tracing/src/lib.rs +++ b/libraries/extensions/telemetry/tracing/src/lib.rs @@ -11,38 +11,61 @@ use tracing_subscriber::{ filter::FilterExt, prelude::__tracing_subscriber_SubscriberExt, EnvFilter, Layer, }; -use eyre::ContextCompat; use tracing_subscriber::Registry; pub mod telemetry; +/// Setup tracing with a default configuration. +/// +/// This will set up a global subscriber that logs to stdout with a filter level of "warn". +/// +/// Should **ONLY** be used in `DoraNode` implementations. pub fn set_up_tracing(name: &str) -> eyre::Result<()> { - set_up_tracing_opts(name, Some("warn"), None) + TracingBuilder::new(name) + .with_stdout("warn") + .build() + .wrap_err(format!( + "failed to set tracing global subscriber for {name}" + ))?; + Ok(()) } -pub struct FileLogging { - pub file_name: String, - pub filter: LevelFilter, +#[must_use = "call `build` to finalize the tracing setup"] +pub struct TracingBuilder { + name: String, + layers: Vec + Send + Sync>>, } -pub fn set_up_tracing_opts( - name: &str, - stdout_filter: Option>, - file: Option, -) -> eyre::Result<()> { - let mut layers = Vec::new(); +impl TracingBuilder { + pub fn new(name: impl Into) -> Self { + Self { + name: name.into(), + layers: Vec::new(), + } + } - if let Some(filter) = stdout_filter { + /// Add a layer that write logs to the [std::io::stdout] with the given filter. + /// + /// **DO NOT** use this in `DoraNode` implementations, + /// it uses [std::io::stdout] which is synchronous + /// and might block the logging thread. + pub fn with_stdout(mut self, filter: impl AsRef) -> Self { let parsed = EnvFilter::builder().parse_lossy(filter); - // Filter log using `RUST_LOG`. More useful for CLI. let env_filter = EnvFilter::from_default_env().or(parsed); let layer = tracing_subscriber::fmt::layer() .compact() + .with_writer(std::io::stdout) .with_filter(env_filter); - layers.push(layer.boxed()); + self.layers.push(layer.boxed()); + self } - if let Some(file) = file { - let FileLogging { file_name, filter } = file; + /// Add a layer that write logs to a file with the given name and filter. + pub fn with_file( + mut self, + file_name: impl Into, + filter: LevelFilter, + ) -> eyre::Result { + let file_name = file_name.into(); let out_dir = Path::new("out"); std::fs::create_dir_all(out_dir).context("failed to create `out` directory")?; let path = out_dir.join(file_name).with_extension("txt"); @@ -51,26 +74,48 @@ pub fn set_up_tracing_opts( .append(true) .open(path) .context("failed to create log file")?; - // Filter log using `RUST_LOG`. More useful for CLI. let layer = tracing_subscriber::fmt::layer() .with_ansi(false) .with_writer(file) .with_filter(filter); - layers.push(layer.boxed()); + self.layers.push(layer.boxed()); + Ok(self) } - if let Some(endpoint) = std::env::var_os("DORA_JAEGER_TRACING") { - let endpoint = endpoint - .to_str() - .wrap_err("Could not parse env variable: DORA_JAEGER_TRACING")?; - let tracer = crate::telemetry::init_jaeger_tracing(name, endpoint) + pub fn with_jaeger_tracing(mut self) -> eyre::Result { + let endpoint = std::env::var("DORA_JAEGER_TRACING") + .wrap_err("DORA_JAEGER_TRACING environment variable not set")?; + let tracer = crate::telemetry::init_jaeger_tracing(&self.name, &endpoint) .wrap_err("Could not instantiate tracing")?; let telemetry = tracing_opentelemetry::layer().with_tracer(tracer); - layers.push(telemetry.boxed()); + self.layers.push(telemetry.boxed()); + Ok(self) + } + + pub fn add_layer(mut self, layer: L) -> Self + where + L: Layer + Send + Sync + 'static, + { + self.layers.push(layer.boxed()); + self } - let registry = Registry::default().with(layers); - tracing::subscriber::set_global_default(registry).context(format!( - "failed to set tracing global subscriber for {name}" - )) + pub fn with_layers(mut self, layers: I) -> Self + where + I: IntoIterator, + L: Layer + Send + Sync + 'static, + { + for layer in layers { + self.layers.push(layer.boxed()); + } + self + } + + pub fn build(self) -> eyre::Result<()> { + let registry = Registry::default().with(self.layers); + tracing::subscriber::set_global_default(registry).context(format!( + "failed to set tracing global subscriber for {}", + self.name + )) + } } From 42b3509aa98cdd5198cd2659be2320567c65bff0 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 27 May 2025 15:17:27 +0200 Subject: [PATCH 092/135] Fix spawning runtime through python when it is installed with pip --- binaries/daemon/src/spawn.rs | 43 ++++++++++++++++++++++++++++++------ 1 file changed, 36 insertions(+), 7 deletions(-) diff --git a/binaries/daemon/src/spawn.rs b/binaries/daemon/src/spawn.rs index db7c7bbd..f1e6568d 100644 --- a/binaries/daemon/src/spawn.rs +++ b/binaries/daemon/src/spawn.rs @@ -27,7 +27,7 @@ use dora_node_api::{ arrow_utils::{copy_array_into_sample, required_data_size}, Metadata, }; -use eyre::{ContextCompat, WrapErr}; +use eyre::{bail, ContextCompat, WrapErr}; use std::{ path::{Path, PathBuf}, process::Stdio, @@ -301,14 +301,43 @@ pub async fn spawn_node( cmd } } else if python_operators.is_empty() && other_operators { - let mut cmd = tokio::process::Command::new( - std::env::current_exe().wrap_err("failed to get current executable path")?, - ); - cmd.arg("runtime"); - cmd + let current_exe = + std::env::current_exe().wrap_err("failed to get current executable path")?; + + // Check if the current executable is a dora binary + if current_exe.ends_with("dora") { + let mut cmd = tokio::process::Command::new( + std::env::current_exe() + .wrap_err("failed to get current executable path")?, + ); + cmd.arg("runtime"); + cmd + + // Check if the current executable is a python binary meaning that dora is installed within the python environment + } else if current_exe.ends_with("python") || current_exe.ends_with("python3") { + // Use the current executable to spawn runtime + let mut cmd = tokio::process::Command::new( + std::env::current_exe() + .wrap_err("failed to get current executable path")?, + ); + + tracing::info!( + "spawning: python -uc import dora; dora.start_runtime() # {}", + node.id + ); + + cmd.args([ + "-c", + format!("import dora; dora.start_runtime() # {}", node.id).as_str(), + ]); + cmd + } else { + bail!("Could not figure out dora installation. Could you try to reinstall dora or run it with `dora` command?"); + } } else { - eyre::bail!("Runtime can not mix Python Operator with other type of operator."); + bail!("Could not figure out dora installation. Could you try to reinstall dora or run it with `dora` command?"); }; + command.current_dir(working_dir); let runtime_config = RuntimeConfig { From 8c112e8079910e9c0c0285221e6cf4aca8b3d25b Mon Sep 17 00:00:00 2001 From: haixuantao Date: Thu, 24 Apr 2025 10:10:10 +0200 Subject: [PATCH 093/135] add so-100 remote example --- examples/so100-remote/follower.right.json | 50 + examples/so100-remote/so100.urdf | 405 +++++ examples/so100-remote/so100_2.urdf | 365 +++++ examples/so100-remote/test.yml | 34 + node-hub/dora-pytorch-kinematics/README.md | 40 + .../dora_pytorch_kinematics/__init__.py | 13 + .../dora_pytorch_kinematics/__main__.py | 6 + .../dora_pytorch_kinematics/main.py | 253 +++ .../dora-pytorch-kinematics/pyproject.toml | 25 + .../tests/test_dora_pytorch_kinematics.py | 13 + node-hub/dora-pytorch-kinematics/uv.lock | 1397 +++++++++++++++++ node-hub/feetech-client/feetech_client/bus.py | 9 +- .../feetech_client/configure.py | 200 +++ .../feetech-client/feetech_client/main.py | 21 +- node-hub/feetech-client/pyproject.toml | 14 +- node-hub/feetech-client/uv.lock | 183 +-- 16 files changed, 2920 insertions(+), 108 deletions(-) create mode 100644 examples/so100-remote/follower.right.json create mode 100644 examples/so100-remote/so100.urdf create mode 100644 examples/so100-remote/so100_2.urdf create mode 100644 examples/so100-remote/test.yml create mode 100644 node-hub/dora-pytorch-kinematics/README.md create mode 100644 node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__init__.py create mode 100644 node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__main__.py create mode 100644 node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py create mode 100644 node-hub/dora-pytorch-kinematics/pyproject.toml create mode 100644 node-hub/dora-pytorch-kinematics/tests/test_dora_pytorch_kinematics.py create mode 100644 node-hub/dora-pytorch-kinematics/uv.lock create mode 100644 node-hub/feetech-client/feetech_client/configure.py diff --git a/examples/so100-remote/follower.right.json b/examples/so100-remote/follower.right.json new file mode 100644 index 00000000..6219a71b --- /dev/null +++ b/examples/so100-remote/follower.right.json @@ -0,0 +1,50 @@ +{ + "shoulder_pan": { + "id": 1, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "90": 0, "180": 90, "0": -90, "270": 180, "360": -90 }, + "logical_to_pwm": { "0": 90, "90": 180, "-180": -90, "-90": 0, "180": 270 } + }, + "shoulder_lift": { + "id": 2, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "270": -90, "180": 0, "0": 180, "90": 90, "360": -180 }, + "logical_to_pwm": { "-90": 270, "0": 180, "-180": 360, "90": 90, "180": 0 } + }, + "elbow_flex": { + "id": 3, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "90": 90, "180": 0, "0": 180, "270": -90, "360": -180 }, + "logical_to_pwm": { "90": 90, "0": 180, "-180": 360, "-90": 270, "180": 0 } + }, + "wrist_flex": { + "id": 4, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "180": 0, "270": 90, "0": -180, "90": -90, "360": 180 }, + "logical_to_pwm": { "0": 180, "90": 270, "-180": 0, "-90": 90, "180": 360 } + }, + "wrist_roll": { + "id": 5, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "270": -90, "0": 0, "90": -90, "180": -180, "360": 0 }, + "logical_to_pwm": { + "-90": 270, + "0": 360, + "-180": 180, + "90": 450, + "180": 540 + } + }, + "gripper": { + "id": 6, + "model": "sts3215", + "torque": true, + "pwm_to_logical": { "180": 0, "270": -90, "0": 180, "90": 90, "360": -180 }, + "logical_to_pwm": { "0": 180, "-90": 270, "-180": 360, "90": 90, "180": 0 } + } +} diff --git a/examples/so100-remote/so100.urdf b/examples/so100-remote/so100.urdf new file mode 100644 index 00000000..4c4805ed --- /dev/null +++ b/examples/so100-remote/so100.urdf @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/so100-remote/so100_2.urdf b/examples/so100-remote/so100_2.urdf new file mode 100644 index 00000000..53556528 --- /dev/null +++ b/examples/so100-remote/so100_2.urdf @@ -0,0 +1,365 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml new file mode 100644 index 00000000..13f189d4 --- /dev/null +++ b/examples/so100-remote/test.yml @@ -0,0 +1,34 @@ +nodes: + - id: so100 + build: pip install -e ../../node-hub/feetech-client + path: feetech-client + inputs: + pull_position: dora/timer/millis/33 + outputs: + - position + env: + PORT: /dev/tty.usbmodem585A0080971 + CONFIG: follower.right.json + + - id: pytorch-kinematics + build: pip install -e ../../node-hub/dora-pytorch-kinematics + path: dora-pytorch-kinematics + inputs: + pose: so100/position + outputs: + - pose + env: + URDF_PATH: so100_2.urdf + END_EFFECTOR_LINK: "Moving Jaw" + so100_transform: 0 -0.3 0 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + inputs: + # series_so100: so100/position + series_pose: pytorch-kinematics/pose + #jointstate_so100: so100/position + env: + so100_urdf: so100_2.urdf + so100_transform: 0 -0.3 0 diff --git a/node-hub/dora-pytorch-kinematics/README.md b/node-hub/dora-pytorch-kinematics/README.md new file mode 100644 index 00000000..aa82f9dc --- /dev/null +++ b/node-hub/dora-pytorch-kinematics/README.md @@ -0,0 +1,40 @@ +# dora-pytorch-kinematics + +## Getting started + +- Install it with uv: + +```bash +uv venv -p 3.11 --seed +uv pip install -e . +``` + +## Contribution Guide + +- Format with [ruff](https://docs.astral.sh/ruff/): + +```bash +uv pip install ruff +uv run ruff check . --fix +``` + +- Lint with ruff: + +```bash +uv run ruff check . +``` + +- Test with [pytest](https://github.com/pytest-dev/pytest) + +```bash +uv pip install pytest +uv run pytest . # Test +``` + +## YAML Specification + +## Examples + +## License + +dora-pytorch-kinematics's code are released under the MIT License diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__init__.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__init__.py new file mode 100644 index 00000000..79cbf370 --- /dev/null +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__init__.py @@ -0,0 +1,13 @@ +"""TODO: Add docstring.""" + +import os + +# Define the path to the README file relative to the package directory +readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md") + +# Read the content of the README file +try: + with open(readme_path, encoding="utf-8") as f: + __doc__ = f.read() +except FileNotFoundError: + __doc__ = "README file not found." diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__main__.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__main__.py new file mode 100644 index 00000000..51a1554d --- /dev/null +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/__main__.py @@ -0,0 +1,6 @@ +"""TODO: Add docstring.""" + +from .main import main + +if __name__ == "__main__": + main() diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py new file mode 100644 index 00000000..f4191461 --- /dev/null +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -0,0 +1,253 @@ +"""TODO: Add docstring.""" + +import os +from typing import List, Optional, Tuple, Union + +import numpy as np +import pyarrow as pa +import pytorch_kinematics as pk +import torch +from dora import Node +from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles + + +def get_xyz_rpy_array_from_transform3d( + transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ" +) -> torch.Tensor: + """Extracts translation (xyz) and rotation (RPY Euler angles in radians) + from a pytorch_kinematics Transform3d object and returns them concatenated + into a single tensor. + + Args: + transform: A Transform3d object or a batch of Transform3d objects. + Expected to have a method like get_matrix() or directly + access attributes like .R and .T. + convention: The Euler angle convention (e.g., "XYZ", "ZYX"). + RPY typically corresponds to "XYZ" (roll around X, + pitch around Y, yaw around Z). Adjust if needed. + + Returns: + A single tensor of shape (..., 6) where the last dimension contains + [x, y, z, roll, pitch, yaw] in radians. + + """ + # Attempt to get the full 4x4 transformation matrix + # Common methods are get_matrix() or accessing internal properties. + # This might need adjustment based on the specific API version. + matrix = transform.get_matrix() # Shape (..., 4, 4) + + # Extract translation (first 3 elements of the last column) + xyz = matrix[..., :3, 3] + + # Extract rotation matrix (top-left 3x3 submatrix) + rotation_matrix = matrix[..., :3, :3] + + # Convert the rotation matrix to Euler angles in radians + # The matrix_to_euler_angles function likely exists based on pytorch3d's structure + rpy = matrix_to_euler_angles( + rotation_matrix, convention=convention + ) # Shape (..., 3) + + # Concatenate xyz and rpy along the last dimension + return torch.cat((xyz, rpy), dim=-1) # Shape (..., 6) + + +class RobotKinematics: + """Concise wrapper for pytorch_kinematics FK and IK operations, + closely mirroring library usage patterns. + """ + + def __init__( + self, + urdf_path: str, + end_effector_link: str, + device: Union[str, torch.device] = "cpu", + ): + """Initializes the kinematic chain from a URDF. + + Args: + urdf_path (str): Path to the URDF file. + end_effector_link (str): Name of the end-effector link. + device (Union[str, torch.device]): Computation device ('cpu' or 'cuda'). + + """ + self.device = torch.device(device) + try: + # Load kinematic chain (core pytorch_kinematics object) + self.chain = pk.build_serial_chain_from_urdf( + open(urdf_path, mode="rb").read(), end_effector_link + ).to(device=self.device) + except Exception as e: + raise RuntimeError(f"Failed to build chain from URDF: {urdf_path}") from e + + self.num_joints = len(self.chain.get_joint_parameter_names(exclude_fixed=True)) + # Default initial guess for IK if none provided + self._default_q = torch.zeros( + (1, self.num_joints), device=self.device, dtype=torch.float32 + ) + # print(f"Initialized RobotKinematicsConcise: {self.num_joints} joints, EE='{end_effector_link}', device='{self.device}'") # Optional print + + def _prepare_joint_tensor( + self, joints: Union[List[float], torch.Tensor], batch_dim_required: bool = True + ) -> torch.Tensor: + """Validates and formats joint angles input tensor.""" + if isinstance(joints, list): + j = torch.tensor(joints, dtype=torch.float32, device=self.device) + elif isinstance(joints, np.ndarray): + j = torch.tensor(joints, device=self.device, dtype=torch.float32) + elif isinstance(joints, torch.Tensor): + j = joints.to(device=self.device, dtype=torch.float32) + else: + raise TypeError("Joints must be a list or torch.Tensor") + + if j.ndim == 1: + if j.shape[0] != self.num_joints: + raise ValueError(f"Expected {self.num_joints} joints, got {j.shape[0]}") + if batch_dim_required: + j = j.unsqueeze(0) # Add batch dimension if needed (e.g., shape (1, N)) + elif j.ndim == 2: + if j.shape[1] != self.num_joints: + raise ValueError( + f"Expected {self.num_joints} joints (dim 1), got {j.shape[1]}" + ) + if batch_dim_required and j.shape[0] != 1: + # Most common IK solvers expect batch=1 for initial guess, FK can handle batches + # Relaxing this check slightly, but user should be aware for IK + pass + else: + raise ValueError(f"Joint tensor must have 1 or 2 dimensions, got {j.ndim}") + return j + + def compute_fk( + self, joint_angles: Union[List[float], torch.Tensor] + ) -> pk.Transform3d: + """Computes Forward Kinematics (FK). + + Args: + joint_angles (Union[List[float], torch.Tensor]): Joint angles (radians). + Shape (num_joints,) or (B, num_joints). + + Returns: + pk.Transform3d: End-effector pose(s). Batched if input is batched. + + """ + angles_tensor = self._prepare_joint_tensor( + joint_angles, batch_dim_required=False + ) # FK handles batches naturally + # Direct call to pytorch_kinematics FK + return self.chain.forward_kinematics(angles_tensor, end_only=True) + + def compute_ik( + self, + target_pose: pk.Transform3d, + initial_guess: Optional[Union[List[float], torch.Tensor]] = None, + iterations: int = 100, + lr: float = 0.1, + error_tolerance: float = 1e-4, + ) -> Tuple[torch.Tensor, bool]: + """Computes Inverse Kinematics (IK) using PseudoInverseIK. + + Args: + target_pose (pk.Transform3d): Target end-effector pose (batch size 1). + initial_guess (Optional): Initial joint angles guess. Uses zeros if None. + Shape (num_joints,) or (1, num_joints). + iterations (int): Max solver iterations. + lr (float): Solver learning rate. + error_tolerance (float): Solver convergence tolerance. + + Returns: + Tuple[torch.Tensor, bool]: Solution joint angles (1, num_joints), convergence status. + + """ + if not isinstance(target_pose, pk.Transform3d): + raise TypeError("target_pose must be a pk.Transform3d") + target_pose = target_pose.to(device=self.device) + if target_pose.get_matrix().shape[0] != 1: + raise ValueError( + "target_pose must have batch size 1 for this IK method." + ) # Common limitation + + # Prepare initial guess (q_init) + q_init = self._prepare_joint_tensor( + initial_guess if initial_guess is not None else self._default_q, + batch_dim_required=True, + ) + if q_init.shape[0] != 1: + raise ValueError( + "initial_guess must result in batch size 1 for this IK setup." + ) # Enforce batch=1 for guess + + q_init = ( + q_init.clone().detach().requires_grad_(True) + ) # Need gradient for solver + + # Instantiate and run the IK solver (core pytorch_kinematics objects/methods) + ik_solver = pk.PseudoInverseIK( + chain=self.chain, + max_iterations=iterations, + ftol=error_tolerance, + lr=lr, + num_retries=1, + line_search=pk.BacktrackingLineSearch(max_lr=lr), + early_stopping_any_converged=True, + ) + solution_angles, converged = ik_solver.solve(target_pose, q_init) + + converged_bool = converged.item() # Get single boolean status + # Optional: Minimalist status print + # if not converged_bool: print(f"IK did not converge.") + + return solution_angles.detach(), converged_bool + + +def main(): + """TODO: Add docstring.""" + node = Node() + + urdf_path = os.getenv("URDF_PATH") + end_effector_link = os.getenv("END_EFFECTOR_LINK") + robot = RobotKinematics(urdf_path, end_effector_link) + last_known_state = None + + for event in node: + if event["type"] == "INPUT": + if event["id"] == "pose": + metadata = event["metadata"] + + match metadata["encoding"]: + case "xyzrpy": + # Apply Inverse Kinematics + if last_known_state is not None: + target = event["value"].to_numpy() + target = pk.Transform3d( + translation=target[:3], + rotation=pk.Rotation.from_euler_angles( + target[3:6], degrees=False + ), + ) + solution, convergence = robot.compute_ik( + target, last_known_state + ) + metadata["encoding"] = "jointstate" + node.send_output("pose", solution, metadata=metadata) + last_known_state = solution + case "jointstate": + target = event["value"].to_numpy() + last_known_state = target + # Apply Forward Kinematics + target = robot.compute_fk(target) + target = np.array(get_xyz_rpy_array_from_transform3d(target)) + target = pa.array(target.ravel()) + metadata["encoding"] = "xyzrpy" + node.send_output("pose", target, metadata=metadata) + + # Warning: Make sure to add my_output_id and my_input_id within the dataflow. + node.send_output( + output_id="my_output_id", + data=pa.array([1, 2, 3]), + metadata={}, + ) + + +if __name__ == "__main__": + main() diff --git a/node-hub/dora-pytorch-kinematics/pyproject.toml b/node-hub/dora-pytorch-kinematics/pyproject.toml new file mode 100644 index 00000000..f98922c3 --- /dev/null +++ b/node-hub/dora-pytorch-kinematics/pyproject.toml @@ -0,0 +1,25 @@ +[project] +name = "dora-pytorch-kinematics" +version = "0.0.0" +authors = [{ name = "Your Name", email = "email@email.com" }] +description = "dora-pytorch-kinematics" +license = { text = "MIT" } +readme = "README.md" +requires-python = ">=3.8" + +dependencies = [ + "dora-rs >= 0.3.9", + "pytorch-kinematics>=0.7.5", +] + +[dependency-groups] +dev = ["pytest >=8.1.1", "ruff >=0.9.1"] + +[project.scripts] +dora-pytorch-kinematics = "dora_pytorch_kinematics.main:main" + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP" +] diff --git a/node-hub/dora-pytorch-kinematics/tests/test_dora_pytorch_kinematics.py b/node-hub/dora-pytorch-kinematics/tests/test_dora_pytorch_kinematics.py new file mode 100644 index 00000000..d3c32072 --- 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packet_bytes_size, ) for idx in motor_ids ], diff --git a/node-hub/feetech-client/feetech_client/configure.py b/node-hub/feetech-client/feetech_client/configure.py new file mode 100644 index 00000000..e386bf8e --- /dev/null +++ b/node-hub/feetech-client/feetech_client/configure.py @@ -0,0 +1,200 @@ +"""Module for configuring and setting up the SO100 robot hardware. + +This module provides functionality for initializing and configuring the SO100 robot's +servo motors and other hardware components. + +The program will: +1. Disable all torque motors of provided SO100. +2. Ask the user to move the SO100 to the position 1 (see CONFIGURING.md for more details). +3. Record the position of the SO100. +4. Ask the user to move the SO100 to the position 2 (see CONFIGURING.md for more details). +5. Record the position of the SO100. +8. Calculate the offset and inverted mode of the SO100. +9. Let the user verify in real time that the SO100 is working properly. + +It will also enable all appropriate operating modes for the SO100. +""" + +import argparse +import json +import time + +import pyarrow as pa +from pwm_position_control.functions import construct_control_table +from pwm_position_control.tables import ( + construct_logical_to_pwm_conversion_table_arrow, + construct_pwm_to_logical_conversion_table_arrow, +) +from pwm_position_control.transform import pwm_to_logical_arrow, wrap_joints_and_values + +from .bus import FeetechBus, OperatingMode, TorqueMode + +FULL_ARM = pa.array( + [ + "shoulder_pan", + "shoulder_lift", + "elbow_flex", + "wrist_flex", + "wrist_roll", + "gripper", + ], + type=pa.string(), +) + +ARM_WITHOUT_GRIPPER = pa.array( + ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll"], + type=pa.string(), +) + +GRIPPER = pa.array(["gripper"], type=pa.string()) + + +def pause(): + """Pause execution and wait for user input.""" + input("Press Enter to continue...") + + +def configure_servos(bus: FeetechBus): + """Configure the servos with default settings. + + Args: + bus: The FeetechBus instance to configure. + + """ + bus.write_torque_enable( + wrap_joints_and_values(FULL_ARM, [TorqueMode.DISABLED.value] * 6), + ) + + bus.write_operating_mode( + wrap_joints_and_values(FULL_ARM, [OperatingMode.ONE_TURN.value] * 6), + ) + + bus.write_max_angle_limit( + wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6), + ) + + bus.write_min_angle_limit( + wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6), + ) + + +def main(): + """Run the servo configuration process.""" + parser = argparse.ArgumentParser( + description="SO100 Auto Configure: This program is used to automatically configure the Low Cost Robot (SO100) " + "for the user.", + ) + + parser.add_argument( + "--port", + type=str, + required=True, + help="The port of the SO100.", + ) + parser.add_argument( + "--right", + action="store_true", + help="If the SO100 is on the right side of the user.", + ) + parser.add_argument( + "--left", + action="store_true", + help="If the SO100 is on the left side of the user.", + ) + + args = parser.parse_args() + + if args.right and args.left: + raise ValueError("You cannot specify both --right and --left.") + + args = parser.parse_args() + + targets = ( + wrap_joints_and_values(FULL_ARM, [0, -90, 90, 0, -90, 0]), + wrap_joints_and_values(FULL_ARM, [90, 0, 0, 90, 0, -90]), + ) + + arm = FeetechBus( + args.port, + { + "shoulder_pan": (1, "st3215"), + "shoulder_lift": (2, "st3215"), + "elbow_flex": (3, "st3215"), + "wrist_flex": (4, "st3215"), + "wrist_roll": (5, "st3215"), + "gripper": (6, "st3215"), + }, + ) + + configure_servos(arm) + + print("Please move the SO100 to the first position.") + pause() + pwm_position_1 = arm.read_position(FULL_ARM) + print(pwm_position_1) + + print("Please move the SO100 to the second position.") + pause() + pwm_position_2 = arm.read_position(FULL_ARM) + print(pwm_position_2) + + print("Configuration completed.") + + pwm_positions = (pwm_position_1, pwm_position_2) + + pwm_to_logical_conversion_table = construct_pwm_to_logical_conversion_table_arrow( + pwm_positions, + targets, + ) + logical_to_pwm_conversion_table = construct_logical_to_pwm_conversion_table_arrow( + pwm_positions, + targets, + ) + + control_table_json = {} + for i in range(len(FULL_ARM)): + control_table_json[FULL_ARM[i].as_py()] = { + "id": i + 1, + "model": "sts3215", + "torque": True, + "pwm_to_logical": pwm_to_logical_conversion_table[FULL_ARM[i].as_py()], + "logical_to_pwm": logical_to_pwm_conversion_table[FULL_ARM[i].as_py()], + } + + left = "left" if args.left else "right" + path = ( + input( + f"Please enter the path of the configuration file (default is follower.{left}.json): ", + ) + or f"follower.{left}.json" + ) + + with open(path, "w") as file: + json.dump(control_table_json, file) + + control_table = construct_control_table( + pwm_to_logical_conversion_table, + logical_to_pwm_conversion_table, + ) + + while True: + try: + pwm_position = arm.read_position(FULL_ARM) + logical_position = pwm_to_logical_arrow( + pwm_position, + control_table, + ranged=True, + ).field("values") + + print(f"Logical Position: {logical_position}") + + except ConnectionError: + print( + "Connection error occurred. Please check the connection and try again.", + ) + + time.sleep(0.5) + + +if __name__ == "__main__": + main() diff --git a/node-hub/feetech-client/feetech_client/main.py b/node-hub/feetech-client/feetech_client/main.py index 14203334..51dc7891 100644 --- a/node-hub/feetech-client/feetech_client/main.py +++ b/node-hub/feetech-client/feetech_client/main.py @@ -4,6 +4,7 @@ import argparse import json import os +import numpy as np import pyarrow as pa from dora import Node @@ -65,9 +66,16 @@ class Client: def pull_position(self, node, metadata): """TODO: Add docstring.""" try: + struct = self.bus.read_position(self.config["joints"]) + metadata["encoding"] = "jointstate" node.send_output( "position", - self.bus.read_position(self.config["joints"]), + pa.array( + np.deg2rad( + ((struct.flatten()[1].to_numpy() - 2048) / 4096.0) * 360 + ), + type=pa.float32(), + ), metadata, ) @@ -166,21 +174,12 @@ def main(): "torque": wrap_joints_and_values( pa.array(config.keys(), pa.string()), pa.array( - [ - ( - TorqueMode.ENABLED.value - if config[joint]["torque"] - else TorqueMode.DISABLED.value - ) - for joint in joints - ], + [(TorqueMode.DISABLED.value) for joint in joints], type=pa.uint32(), ), ), } - print("Feetech Client Configuration: ", bus, flush=True) - client = Client(bus) client.run() client.close() diff --git a/node-hub/feetech-client/pyproject.toml b/node-hub/feetech-client/pyproject.toml index 678ef90d..c5f3426a 100644 --- a/node-hub/feetech-client/pyproject.toml +++ b/node-hub/feetech-client/pyproject.toml @@ -1,16 +1,17 @@ [project] name = "feetech-client" version = "0.1" -authors = [{ name = "Hennzau", email = ""}] +authors = [{ name = "Hennzau", email = "" }] description = "Dora Node client for feetech motors." license = { text = "MIT" } readme = "README.md" requires-python = ">=3.9" dependencies = [ -"dora-rs == 0.3.5", -"numpy <= 2.0.0", -"feetech-servo-sdk == 1.0.0", + "dora-rs == 0.3.11", + "numpy <= 2.0.0", + "feetech-servo-sdk == 1.0.0", + "pwm-position-control", ] [dependency-groups] @@ -18,7 +19,7 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"] [project.scripts] feetech-client = "feetech_client.main:main" - +feetech-configure = "feetech_client.configure:main" [build-system] requires = ["poetry-core>=1.8.0"] build-backend = "poetry.core.masonry.api" @@ -34,3 +35,6 @@ extend-select = [ "N", # Ruff's N rule "I", # Ruff's I rule ] + +[tool.uv.sources] +pwm-position-control = { git = "https://github.com/Hennzau/pwm-position-control" } diff --git a/node-hub/feetech-client/uv.lock b/node-hub/feetech-client/uv.lock index 42258f9a..63ef0446 100644 --- a/node-hub/feetech-client/uv.lock +++ b/node-hub/feetech-client/uv.lock @@ -1,5 +1,4 @@ version = 1 -revision = 1 requires-python = ">=3.9" [[package]] @@ -31,6 +30,17 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/de/d8/a6bfeb961b8a15c8e73a51a839482783154a2f8927fef267d57d039043dc/dora_rs-0.3.5-cp37-abi3-win_amd64.whl", hash = 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definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +dora-node-api = "0.3.11" +eyre = "0.6.12" +rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" } +serialport = "4.7.1" diff --git a/node-hub/dora-rustypot/src/main.rs b/node-hub/dora-rustypot/src/main.rs new file mode 100644 index 00000000..dfdfc2e6 --- /dev/null +++ b/node-hub/dora-rustypot/src/main.rs @@ -0,0 +1,76 @@ +use dora_node_api::dora_core::config::DataId; +use dora_node_api::{into_vec, DoraNode, Event, IntoArrow, Parameter}; +use eyre::{Context, Result}; +use rustypot::servo::feetech::sts3215::Sts3215Controller; +use std::collections::BTreeMap; +use std::time::Duration; + +fn main() -> Result<()> { + let (mut node, mut events) = DoraNode::init_from_env()?; + let serialportname: String = std::env::var("PORT").context("Serial port name not provided")?; + let baudrate: u32 = std::env::var("BAUDRATE") + .unwrap_or_else(|_| "1000000".to_string()) + .parse() + .context("Invalid baudrate")?; + let ids = std::env::var("IDS") + .unwrap_or_else(|_| "1,2,3,4,5,6".to_string()) + .split(&[',', ' '][..]) + .map(|s| s.parse::().unwrap()) + .collect::>(); + let torque = std::env::var("TORQUE") + .unwrap_or_else(|_| "false".to_string()) + .parse::() + .context("Invalid torque")?; + + let serial_port = serialport::new(serialportname, baudrate) + .timeout(Duration::from_millis(1000)) + .open()?; + + let mut c = Sts3215Controller::new() + .with_protocol_v1() + .with_serial_port(serial_port); + + if torque { + let truthies = vec![true; ids.len()]; + c.write_torque_enable(&ids, &truthies) + .expect("could not enable torque"); + } else { + let falsies = vec![false; ids.len()]; + c.write_torque_enable(&ids, &falsies) + .expect("could not enable torque"); + } + + while let Some(event) = events.recv() { + match event { + Event::Input { + id, + metadata: _, + data, + } => match id.as_str() { + "tick" => { + if let Ok(joints) = c.read_present_position(&ids) { + let mut parameter = BTreeMap::new(); + parameter.insert( + "encoding".to_string(), + Parameter::String("jointstate".to_string()), + ); + node.send_output( + DataId::from("pose".to_string()), + parameter, + joints.into_arrow(), + ) + .unwrap(); + }; + } + "pose" => { + let data: Vec = into_vec(&data).expect("could not cast values"); + c.write_goal_position(&ids, &data).unwrap(); + } + other => eprintln!("Received input `{other}`"), + }, + _ => {} + } + } + + Ok(()) +} From 5e9f9cfafbce1e09181dcd195ad225a132d168b7 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sat, 26 Apr 2025 11:13:54 +0200 Subject: [PATCH 095/135] fix pytorch kinematics --- .../dora_pytorch_kinematics/main.py | 104 +++++++++--------- 1 file changed, 51 insertions(+), 53 deletions(-) diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index f4191461..6e7c33b9 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -98,7 +98,9 @@ class RobotKinematics: elif isinstance(joints, torch.Tensor): j = joints.to(device=self.device, dtype=torch.float32) else: - raise TypeError("Joints must be a list or torch.Tensor") + raise TypeError( + "Joints must be a list or torch.Tensor and got: ", joints.type + ) if j.ndim == 1: if j.shape[0] != self.num_joints: @@ -131,11 +133,20 @@ class RobotKinematics: pk.Transform3d: End-effector pose(s). Batched if input is batched. """ + # robot frame + pos = torch.tensor([0.0, 0.0, 0.0]) + rot = torch.tensor([0.0, 0.0, 0.0]) + rob_tf = pk.Transform3d(pos=pos, rot=rot) + angles_tensor = self._prepare_joint_tensor( joint_angles, batch_dim_required=False ) # FK handles batches naturally # Direct call to pytorch_kinematics FK - return self.chain.forward_kinematics(angles_tensor, end_only=True) + goal_in_rob_frame_tf = self.chain.forward_kinematics( + angles_tensor, end_only=True + ) + goal_tf = rob_tf.compose(goal_in_rob_frame_tf) + return goal_tf def compute_ik( self, @@ -177,27 +188,21 @@ class RobotKinematics: "initial_guess must result in batch size 1 for this IK setup." ) # Enforce batch=1 for guess - q_init = ( - q_init.clone().detach().requires_grad_(True) - ) # Need gradient for solver + q_init = q_init.requires_grad_(True) # Need gradient for solver # Instantiate and run the IK solver (core pytorch_kinematics objects/methods) ik_solver = pk.PseudoInverseIK( - chain=self.chain, - max_iterations=iterations, - ftol=error_tolerance, - lr=lr, - num_retries=1, - line_search=pk.BacktrackingLineSearch(max_lr=lr), + self.chain, + max_iterations=300, + retry_configs=q_init, + joint_limits=torch.tensor(self.chain.get_joint_limits()), early_stopping_any_converged=True, + early_stopping_no_improvement="all", + debug=False, + lr=0.05, ) - solution_angles, converged = ik_solver.solve(target_pose, q_init) - - converged_bool = converged.item() # Get single boolean status - # Optional: Minimalist status print - # if not converged_bool: print(f"IK did not converge.") - - return solution_angles.detach(), converged_bool + solution_angles = ik_solver.solve(target_pose) + return solution_angles.solutions.detach() def main(): @@ -211,42 +216,35 @@ def main(): for event in node: if event["type"] == "INPUT": - if event["id"] == "pose": - metadata = event["metadata"] - - match metadata["encoding"]: - case "xyzrpy": - # Apply Inverse Kinematics - if last_known_state is not None: - target = event["value"].to_numpy() - target = pk.Transform3d( - translation=target[:3], - rotation=pk.Rotation.from_euler_angles( - target[3:6], degrees=False - ), - ) - solution, convergence = robot.compute_ik( - target, last_known_state - ) - metadata["encoding"] = "jointstate" - node.send_output("pose", solution, metadata=metadata) - last_known_state = solution - case "jointstate": + metadata = event["metadata"] + + match metadata["encoding"]: + case "xyzrpy": + # Apply Inverse Kinematics + if last_known_state is not None: target = event["value"].to_numpy() - last_known_state = target - # Apply Forward Kinematics - target = robot.compute_fk(target) - target = np.array(get_xyz_rpy_array_from_transform3d(target)) - target = pa.array(target.ravel()) - metadata["encoding"] = "xyzrpy" - node.send_output("pose", target, metadata=metadata) - - # Warning: Make sure to add my_output_id and my_input_id within the dataflow. - node.send_output( - output_id="my_output_id", - data=pa.array([1, 2, 3]), - metadata={}, - ) + target = target.astype(np.float32) + target = pk.Transform3d( + pos=target[:3], + rot=pk.transforms.euler_angles_to_matrix( + torch.tensor(target[3:6]), convention="XYZ" + ), + ) + solution = robot.compute_ik(target, last_known_state) + metadata["encoding"] = "jointstate" + last_known_state = solution.numpy().ravel() + solution = pa.array(last_known_state) + node.send_output(event["id"], solution, metadata=metadata) + print(solution) + case "jointstate": + target = event["value"].to_numpy() + last_known_state = target + # Apply Forward Kinematics + target = robot.compute_fk(target) + target = np.array(get_xyz_rpy_array_from_transform3d(target)) + target = pa.array(target.ravel()) + metadata["encoding"] = "xyzrpy" + node.send_output(event["id"], target, metadata=metadata) if __name__ == "__main__": From f63bb4d7088579fc195917c6078017323c356522 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 27 Apr 2025 11:50:46 +0200 Subject: [PATCH 096/135] Adding example dataflow --- examples/so100-remote/no_torque.yml | 36 +++++++++++++++++++++++++ examples/so100-remote/parse_keyboard.py | 22 +++++++++++++++ examples/so100-remote/test.yml | 20 +++++++++----- 3 files changed, 72 insertions(+), 6 deletions(-) create mode 100644 examples/so100-remote/no_torque.yml create mode 100644 examples/so100-remote/parse_keyboard.py diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml new file mode 100644 index 00000000..4bd94644 --- /dev/null +++ b/examples/so100-remote/no_torque.yml @@ -0,0 +1,36 @@ +nodes: + - id: so100 + path: dora-rustypot + inputs: + tick: dora/timer/millis/33 + pose: pytorch-kinematics/action + outputs: + - pose + env: + PORT: /dev/tty.usbmodem585A0080971 + IDS: 1 2 3 4 5 + TORQUE: false + + - id: pytorch-kinematics + build: pip install -e ../../node-hub/dora-pytorch-kinematics + path: dora-pytorch-kinematics + inputs: + pose: so100/pose + outputs: + - pose + - action + env: + URDF_PATH: so100_2.urdf + END_EFFECTOR_LINK: "Fixed_Jaw" + so100_transform: 0 -0.3 0 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + inputs: + # series_so100: so100/pose + series_pose: pytorch-kinematics/pose + #jointstate_so100: so100/position + env: + so100_urdf: so100_2.urdf + so100_transform: 0 -0.3 0 diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py new file mode 100644 index 00000000..8483916e --- /dev/null +++ b/examples/so100-remote/parse_keyboard.py @@ -0,0 +1,22 @@ +"""TODO: Add docstring.""" + +import time + +import pyarrow as pa +from dora import Node + +node = Node() + + +now = time.time() + +for j in range(100): + for i in range(110): + time.sleep(0.033) + + print("Sending action") + node.send_output( + "action", + pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, -1.8, 0.45]), + metadata={"encoding": "xyzrpy"}, + ) diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml index 13f189d4..f40c772a 100644 --- a/examples/so100-remote/test.yml +++ b/examples/so100-remote/test.yml @@ -1,22 +1,30 @@ nodes: - id: so100 - build: pip install -e ../../node-hub/feetech-client - path: feetech-client + path: dora-rustypot inputs: - pull_position: dora/timer/millis/33 + tick: dora/timer/millis/33 + pose: pytorch-kinematics/action outputs: - - position + - pose env: PORT: /dev/tty.usbmodem585A0080971 CONFIG: follower.right.json + TORQUE: true + + - id: parse_keyboard + path: parse_keyboard.py + outputs: + - action - id: pytorch-kinematics build: pip install -e ../../node-hub/dora-pytorch-kinematics path: dora-pytorch-kinematics inputs: - pose: so100/position + pose: so100/pose + action: parse_keyboard/action outputs: - pose + - action env: URDF_PATH: so100_2.urdf END_EFFECTOR_LINK: "Moving Jaw" @@ -26,7 +34,7 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - # series_so100: so100/position + # series_so100: so100/pose series_pose: pytorch-kinematics/pose #jointstate_so100: so100/position env: From 7f96c65e93659c7fa86e2344e748bac94ffe5538 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Sun, 27 Apr 2025 11:51:04 +0200 Subject: [PATCH 097/135] Adding rustypot to cargo.toml --- Cargo.lock | 465 +++++++++++++++++++++++++++++++++++++++++++---------- Cargo.toml | 1 + 2 files changed, 378 insertions(+), 88 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 12cf8e40..38ba4ec2 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1492,7 +1492,7 @@ dependencies = [ name = "benchmark-example-node" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "futures", "rand 0.8.5", @@ -1505,7 +1505,7 @@ dependencies = [ name = "benchmark-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "tracing", "tracing-subscriber", @@ -3070,6 +3070,19 @@ dependencies = [ "num", ] +[[package]] +name = "dora-arrow-convert" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d65f654a79d32d436400dd15ef5b6ef02bf4913037e61d0de5a037118b6c2a02" +dependencies = [ + "arrow 54.2.1", + "chrono", + "eyre", + "half", + "num", +] + [[package]] name = "dora-cli" version = "0.3.11" @@ -3080,16 +3093,16 @@ dependencies = [ "communication-layer-request-reply", "ctrlc", "dora-coordinator", - "dora-core", + "dora-core 0.3.11", "dora-daemon", "dora-download", - "dora-message", + "dora-message 0.4.4", "dora-node-api-c", "dora-operator-api-c", "dora-runtime", - "dora-tracing", + "dora-tracing 0.3.11", "duration-str", - "env_logger 0.11.7", + "env_logger 0.11.6", "eyre", "futures", "inquire", @@ -3115,9 +3128,9 @@ name = "dora-coordinator" version = "0.3.11" dependencies = [ "ctrlc", - "dora-core", - "dora-message", - "dora-tracing", + "dora-core 0.3.11", + "dora-message 0.4.4", + "dora-tracing 0.3.11", "eyre", "futures", "futures-concurrency", @@ -3135,7 +3148,28 @@ dependencies = [ name = "dora-core" version = "0.3.11" dependencies = [ - "dora-message", + "dora-message 0.4.4", + "eyre", + "log", + "once_cell", + "schemars", + "serde", + "serde-with-expand-env", + "serde_json", + "serde_yaml 0.9.34+deprecated", + "tokio", + "tracing", + "uuid 1.16.0", + "which", +] + +[[package]] +name = "dora-core" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f0b2d224efda6e1439574b56f85cf2b2ad02c821a8de64f427ac0390c4317dc1" +dependencies = [ + "dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)", "eyre", "log", "once_cell", @@ -3160,19 +3194,19 @@ dependencies = [ "crossbeam", "crossbeam-skiplist", "ctrlc", - "dora-arrow-convert", - "dora-core", + "dora-arrow-convert 0.3.11", + "dora-core 0.3.11", "dora-download", - "dora-message", - "dora-node-api", - "dora-tracing", + "dora-message 0.4.4", + "dora-node-api 0.3.11", + "dora-tracing 0.3.11", "eyre", "flume 0.10.14", "futures", "futures-concurrency", "serde_json", "serde_yaml 0.8.26", - "shared-memory-server", + "shared-memory-server 0.3.11", "sysinfo 0.30.13", "tokio", "tokio-stream", @@ -3190,7 +3224,7 @@ dependencies = [ "bitstream-io", "bytemuck", "dav1d", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "log", "pyo3", @@ -3212,10 +3246,10 @@ name = "dora-examples" version = "0.0.0" dependencies = [ "dora-coordinator", - "dora-core", + "dora-core 0.3.11", "dora-download", - "dora-message", - "dora-tracing", + "dora-message 0.4.4", + "dora-tracing 0.3.11", "dunce", "eyre", "futures", @@ -3230,7 +3264,7 @@ dependencies = [ name = "dora-kit-car" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "dotenv", "eyre", "pyo3", @@ -3261,22 +3295,58 @@ dependencies = [ "uuid 1.16.0", ] +[[package]] +name = "dora-message" +version = "0.4.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f1115e6526977ec91e61d5bb282af26c398cc7002317b3842176dff9dbd6961b" +dependencies = [ + "aligned-vec", + "arrow-data 54.3.1", + "arrow-schema 54.3.1", + "bincode", + "eyre", + "log", + "once_cell", + "schemars", + "semver 1.0.26", + "serde", + "serde-with-expand-env", + "serde_yaml 0.9.34+deprecated", + "tokio", + "uhlc 0.5.2", + "uuid 1.16.0", +] + [[package]] name = "dora-metrics" version = "0.3.11" dependencies = [ "eyre", "opentelemetry 0.29.1", - "opentelemetry-otlp", - "opentelemetry-system-metrics", + "opentelemetry-otlp 0.29.0", + "opentelemetry-system-metrics 0.4.1", "opentelemetry_sdk 0.29.0", ] +[[package]] +name = "dora-metrics" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7339d7be2f4cd7544cff7b30069514609fab4fb418a4ff9273ca1c6069db0f8c" +dependencies = [ + "eyre", + "opentelemetry 0.28.0", + "opentelemetry-otlp 0.28.0", + "opentelemetry-system-metrics 0.3.1", + "opentelemetry_sdk 0.28.0", +] + [[package]] name = "dora-mistral-rs" version = "0.1.0" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "mistralrs", "tokio", @@ -3289,11 +3359,11 @@ dependencies = [ "aligned-vec", "arrow 54.2.1", "bincode", - "dora-arrow-convert", - "dora-core", - "dora-message", - "dora-metrics", - "dora-tracing", + "dora-arrow-convert 0.3.11", + "dora-core 0.3.11", + "dora-message 0.4.4", + "dora-metrics 0.3.11", + "dora-tracing 0.3.11", "eyre", "flume 0.10.14", "futures", @@ -3301,7 +3371,34 @@ dependencies = [ "futures-timer", "serde_json", "serde_yaml 0.8.26", - "shared-memory-server", + "shared-memory-server 0.3.11", + "shared_memory_extended", + "tokio", + "tracing", +] + +[[package]] +name = "dora-node-api" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b82429c204a8d22d3561980f14c7a10b746eebcfda57f5b63b2459488dcee2ec" +dependencies = [ + "aligned-vec", + "arrow 54.2.1", + "bincode", + "dora-arrow-convert 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-core 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-metrics 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-tracing 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "eyre", + "flume 0.10.14", + "futures", + "futures-concurrency", + "futures-timer", + "serde_json", + "serde_yaml 0.8.26", + "shared-memory-server 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", "shared_memory_extended", "tokio", "tracing", @@ -3312,7 +3409,7 @@ name = "dora-node-api-c" version = "0.3.11" dependencies = [ "arrow-array 54.2.1", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "tracing", ] @@ -3324,7 +3421,7 @@ dependencies = [ "arrow 54.2.1", "cxx", "cxx-build", - "dora-node-api", + "dora-node-api 0.3.11", "dora-ros2-bridge", "dora-ros2-bridge-msg-gen", "eyre", @@ -3342,7 +3439,7 @@ dependencies = [ "arrow 54.2.1", "dora-daemon", "dora-download", - "dora-node-api", + "dora-node-api 0.3.11", "dora-operator-api-python", "dora-ros2-bridge-python", "dora-runtime", @@ -3359,7 +3456,7 @@ dependencies = [ name = "dora-object-to-pose" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "pyo3", ] @@ -3369,7 +3466,7 @@ name = "dora-openai-proxy-server" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "futures", "hyper 0.14.32", @@ -3389,7 +3486,7 @@ dependencies = [ name = "dora-operator-api" version = "0.3.11" dependencies = [ - "dora-arrow-convert", + "dora-arrow-convert 0.3.11", "dora-operator-api-macros", "dora-operator-api-types", ] @@ -3426,7 +3523,7 @@ dependencies = [ "aligned-vec", "arrow 54.2.1", "arrow-schema 54.3.1", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "flume 0.10.14", "futures", @@ -3440,7 +3537,7 @@ name = "dora-operator-api-types" version = "0.3.11" dependencies = [ "arrow 54.2.1", - "dora-arrow-convert", + "dora-arrow-convert 0.3.11", "safer-ffi", ] @@ -3450,7 +3547,7 @@ version = "0.3.11+fix1" dependencies = [ "avif-serialize", "bytemuck", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "log", "pyo3", @@ -3462,8 +3559,8 @@ name = "dora-record" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api", - "dora-tracing", + "dora-node-api 0.3.11", + "dora-tracing 0.3.11", "eyre", "parquet 54.2.1", "tokio", @@ -3475,7 +3572,7 @@ version = "0.3.11" dependencies = [ "bytemuck", "chrono", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "k", "ndarray 0.15.6", @@ -3543,14 +3640,14 @@ version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", - "dora-core", + "dora-core 0.3.11", "dora-download", - "dora-message", - "dora-metrics", - "dora-node-api", + "dora-message 0.4.4", + "dora-metrics 0.3.11", + "dora-node-api 0.3.11", "dora-operator-api-python", "dora-operator-api-types", - "dora-tracing", + "dora-tracing 0.3.11", "eyre", "flume 0.10.14", "futures", @@ -3565,6 +3662,16 @@ dependencies = [ "tracing-opentelemetry", ] +[[package]] +name = "dora-rustypot" +version = "0.1.0" +dependencies = [ + "dora-node-api 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "eyre", + "rustypot", + "serialport", +] + [[package]] name = "dora-tracing" version = "0.3.11" @@ -3577,6 +3684,20 @@ dependencies = [ "tracing-subscriber", ] +[[package]] +name = "dora-tracing" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e50b8839c08b2ab87fd299b76d5a741647a76a22681a855d37ae099bdd77003f" +dependencies = [ + "eyre", + "opentelemetry 0.18.0", + "opentelemetry-jaeger", + "tracing", + "tracing-opentelemetry", + "tracing-subscriber", +] + [[package]] name = "dotenv" version = "0.15.0" @@ -4016,14 +4137,14 @@ dependencies = [ [[package]] name = "env_logger" -version = "0.11.7" +version = "0.11.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c3716d7a920fb4fac5d84e9d4bce8ceb321e9414b4409da61b07b75c1e3d0697" +checksum = "dcaee3d8e3cfc3fd92428d477bc97fc29ec8716d180c0d74c643bb26166660e0" dependencies = [ "anstream", "anstyle", "env_filter", - "jiff", + "humantime", "log", ] @@ -5927,6 +6048,16 @@ dependencies = [ "windows-sys 0.59.0", ] +[[package]] +name = "io-kit-sys" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b" +dependencies = [ + "core-foundation-sys", + "mach2", +] + [[package]] name = "io-lifetimes" version = "1.0.11" @@ -6063,30 +6194,6 @@ dependencies = [ "bitstream-io", ] -[[package]] -name = "jiff" -version = "0.2.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d699bc6dfc879fb1bf9bdff0d4c56f0884fc6f0d0eb0fba397a6d00cd9a6b85e" -dependencies = [ - "jiff-static", - "log", - "portable-atomic", - "portable-atomic-util", - "serde", -] - -[[package]] -name = "jiff-static" -version = "0.2.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8d16e75759ee0aa64c57a56acbf43916987b20c77373cb7e808979e02b93c9f9" -dependencies = [ - "proc-macro2", - "quote", - "syn 2.0.101", -] - [[package]] name = "jni" version = "0.21.1" @@ -6397,6 +6504,26 @@ dependencies = [ "redox_syscall 0.5.10", ] +[[package]] +name = "libudev" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0" +dependencies = [ + "libc", + "libudev-sys", +] + +[[package]] +name = "libudev-sys" +version = "0.1.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324" +dependencies = [ + "libc", + "pkg-config", +] + [[package]] name = "libz-sys" version = "1.1.22" @@ -6554,6 +6681,15 @@ dependencies = [ "twox-hash", ] +[[package]] +name = "mach2" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709" +dependencies = [ + "libc", +] + [[package]] name = "macro_rules_attribute" version = "0.1.3" @@ -7051,7 +7187,7 @@ dependencies = [ name = "multiple-daemons-example-node" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "futures", "rand 0.8.5", @@ -7069,7 +7205,7 @@ dependencies = [ name = "multiple-daemons-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -7950,6 +8086,20 @@ dependencies = [ "opentelemetry_sdk 0.18.0", ] +[[package]] +name = "opentelemetry" +version = "0.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "236e667b670a5cdf90c258f5a55794ec5ac5027e960c224bff8367a59e1e6426" +dependencies = [ + "futures-core", + "futures-sink", + "js-sys", + "pin-project-lite", + "thiserror 2.0.12", + "tracing", +] + [[package]] name = "opentelemetry" version = "0.29.1" @@ -7964,6 +8114,20 @@ dependencies = [ "tracing", ] +[[package]] +name = "opentelemetry-http" +version = "0.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a8863faf2910030d139fb48715ad5ff2f35029fc5f244f6d5f689ddcf4d26253" +dependencies = [ + "async-trait", + "bytes", + "http 1.3.1", + "opentelemetry 0.28.0", + "reqwest 0.12.15", + "tracing", +] + [[package]] name = "opentelemetry-http" version = "0.29.0" @@ -7995,6 +8159,27 @@ dependencies = [ "tokio", ] +[[package]] +name = "opentelemetry-otlp" +version = "0.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5bef114c6d41bea83d6dc60eb41720eedd0261a67af57b66dd2b84ac46c01d91" +dependencies = [ + "async-trait", + "futures-core", + "http 1.3.1", + "opentelemetry 0.28.0", + "opentelemetry-http 0.28.0", + "opentelemetry-proto 0.28.0", + "opentelemetry_sdk 0.28.0", + "prost", + "reqwest 0.12.15", + "thiserror 2.0.12", + "tokio", + "tonic", + "tracing", +] + [[package]] name = "opentelemetry-otlp" version = "0.29.0" @@ -8004,8 +8189,8 @@ dependencies = [ "futures-core", "http 1.3.1", "opentelemetry 0.29.1", - "opentelemetry-http", - "opentelemetry-proto", + "opentelemetry-http 0.29.0", + "opentelemetry-proto 0.29.0", "opentelemetry_sdk 0.29.0", "prost", "reqwest 0.12.15", @@ -8015,6 +8200,18 @@ dependencies = [ "tracing", ] +[[package]] +name = "opentelemetry-proto" +version = "0.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "56f8870d3024727e99212eb3bb1762ec16e255e3e6f58eeb3dc8db1aa226746d" +dependencies = [ + "opentelemetry 0.28.0", + "opentelemetry_sdk 0.28.0", + "prost", + "tonic", +] + [[package]] name = "opentelemetry-proto" version = "0.29.0" @@ -8036,6 +8233,21 @@ dependencies = [ "opentelemetry 0.18.0", ] +[[package]] +name = "opentelemetry-system-metrics" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "febe29a01146e142a724009278d86d80e6924acc91cedb0f508e7e14ddd06670" +dependencies = [ + "eyre", + "indexmap 2.8.0", + "nvml-wrapper", + "opentelemetry 0.28.0", + "sysinfo 0.33.1", + "tokio", + "tracing", +] + [[package]] name = "opentelemetry-system-metrics" version = "0.4.1" @@ -8088,6 +8300,27 @@ dependencies = [ "tokio-stream", ] +[[package]] +name = "opentelemetry_sdk" +version = "0.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "84dfad6042089c7fc1f6118b7040dc2eb4ab520abbf410b79dc481032af39570" +dependencies = [ + "async-trait", + "futures-channel", + "futures-executor", + "futures-util", + "glob", + "opentelemetry 0.28.0", + "percent-encoding", + "rand 0.8.5", + "serde_json", + "thiserror 2.0.12", + "tokio", + "tokio-stream", + "tracing", +] + [[package]] name = "opentelemetry_sdk" version = "0.29.0" @@ -8819,9 +9052,9 @@ dependencies = [ [[package]] name = "prettyplease" -version = "0.2.31" +version = "0.2.25" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5316f57387668042f561aae71480de936257848f9c43ce528e311d89a07cadeb" +checksum = "64d1ec885c64d0457d564db4ec299b2dae3f9c02808b8ad9c3a089c591b18033" dependencies = [ "proc-macro2", "syn 2.0.101", @@ -10412,7 +10645,7 @@ dependencies = [ "flatbuffers", "indent", "itertools 0.13.0", - "prettyplease 0.2.31", + "prettyplease 0.2.25", "proc-macro2", "quote", "rayon", @@ -11015,7 +11248,7 @@ name = "receive_data" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -11483,7 +11716,7 @@ dependencies = [ name = "rust-dataflow-example-node" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", "futures", "rand 0.8.5", @@ -11494,7 +11727,7 @@ dependencies = [ name = "rust-dataflow-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -11502,7 +11735,7 @@ dependencies = [ name = "rust-dataflow-example-sink-dynamic" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -11510,7 +11743,7 @@ dependencies = [ name = "rust-dataflow-example-status-node" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -11529,7 +11762,7 @@ dependencies = [ name = "rust-ros2-dataflow-example-node" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "dora-ros2-bridge", "eyre", "futures", @@ -11815,6 +12048,20 @@ version = "1.0.20" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2" +[[package]] +name = "rustypot" +version = "1.0.0" +source = "git+https://github.com/pollen-robotics/rustypot?branch=next-release-1.0#473571e88541af21040836a6b68665cb2448da45" +dependencies = [ + "clap 4.5.32", + "log", + "num_enum", + "paste", + "proc-macro2", + "serialport", + "signal-hook", +] + [[package]] name = "ryu" version = "1.0.20" @@ -12302,6 +12549,25 @@ dependencies = [ "serial-core", ] +[[package]] +name = "serialport" +version = "4.7.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2daa7abb9b965493e3c8f4184c6f46435484ff2538a332b886788cf6768b927b" +dependencies = [ + "bitflags 2.9.0", + "cfg-if 1.0.0", + "core-foundation 0.10.0", + "core-foundation-sys", + "io-kit-sys", + "libudev", + "mach2", + "nix 0.26.4", + "scopeguard", + "unescaper", + "winapi 0.3.9", +] + [[package]] name = "sha-1" version = "0.10.1" @@ -12372,6 +12638,20 @@ dependencies = [ "tracing", ] +[[package]] +name = "shared-memory-server" +version = "0.3.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f7bc3a6490bf74045c4eb9fce4374ca217ec0363ee6a76ba9b2dbc7c1f87da88" +dependencies = [ + "bincode", + "eyre", + "raw_sync_2", + "serde", + "shared_memory_extended", + "tracing", +] + [[package]] name = "shared_memory_extended" version = "0.13.0" @@ -13220,7 +13500,7 @@ dependencies = [ name = "terminal-print" version = "0.3.11" dependencies = [ - "dora-node-api", + "dora-node-api 0.3.11", "eyre", ] @@ -14024,6 +14304,15 @@ version = "0.2.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "eeba86d422ce181a719445e51872fa30f1f7413b62becb52e95ec91aa262d85c" +[[package]] +name = "unescaper" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c878a167baa8afd137494101a688ef8c67125089ff2249284bd2b5f9bfedb815" +dependencies = [ + "thiserror 1.0.69", +] + [[package]] name = "unicase" version = "2.8.1" diff --git a/Cargo.toml b/Cargo.toml index 0f574c55..93f68c33 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -39,6 +39,7 @@ members = [ "node-hub/dora-mistral-rs", "node-hub/dora-rav1e", "node-hub/dora-dav1d", + "node-hub/dora-rustypot", "libraries/extensions/ros2-bridge", "libraries/extensions/ros2-bridge/msg-gen", "libraries/extensions/ros2-bridge/python", From e34cecfd6a43f3ee881812c406e2391f34fcf076 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 17:56:28 +0200 Subject: [PATCH 098/135] draft: add arctan to anfgle computation --- examples/so100-remote/parse_keyboard.py | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py index 8483916e..95ba3435 100644 --- a/examples/so100-remote/parse_keyboard.py +++ b/examples/so100-remote/parse_keyboard.py @@ -2,6 +2,7 @@ import time +import numpy as np import pyarrow as pa from dora import Node @@ -10,13 +11,19 @@ node = Node() now = time.time() -for j in range(100): +for j in range(0, 100): for i in range(110): time.sleep(0.033) + x = 0.0 + (j * 0.005) + y = -0.1 - (i * 0.001) + if x == 0: + theta = -1.8 + else: + theta = np.arctan(y / x) - print("Sending action") + print("Sending action: ", x, y, theta) node.send_output( "action", - pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, -1.8, 0.45]), + pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, theta, 0.45]), metadata={"encoding": "xyzrpy"}, ) From 9650b60ddc9a7cd4da13885c84f545715f758bd4 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 17:56:48 +0200 Subject: [PATCH 099/135] Use default linux port --- examples/so100-remote/no_torque.yml | 6 +++--- examples/so100-remote/test.yml | 3 ++- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 4bd94644..a3c2ff1d 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -7,7 +7,7 @@ nodes: outputs: - pose env: - PORT: /dev/tty.usbmodem585A0080971 + PORT: /dev/ttyACM0 IDS: 1 2 3 4 5 TORQUE: false @@ -20,7 +20,7 @@ nodes: - pose - action env: - URDF_PATH: so100_2.urdf + URDF_PATH: so100.urdf END_EFFECTOR_LINK: "Fixed_Jaw" so100_transform: 0 -0.3 0 @@ -32,5 +32,5 @@ nodes: series_pose: pytorch-kinematics/pose #jointstate_so100: so100/position env: - so100_urdf: so100_2.urdf + so100_urdf: so100.urdf so100_transform: 0 -0.3 0 diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml index f40c772a..6f3b17b3 100644 --- a/examples/so100-remote/test.yml +++ b/examples/so100-remote/test.yml @@ -7,7 +7,7 @@ nodes: outputs: - pose env: - PORT: /dev/tty.usbmodem585A0080971 + PORT: /dev/ttyACM0 CONFIG: follower.right.json TORQUE: true @@ -36,6 +36,7 @@ nodes: inputs: # series_so100: so100/pose series_pose: pytorch-kinematics/pose + # series_action: pytorch-kinematics/action #jointstate_so100: so100/position env: so100_urdf: so100_2.urdf From 15a263ea3644c1dd491eecc61c2dfabb3b48e833 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 17:57:47 +0200 Subject: [PATCH 100/135] Improve convergence --- .../dora_pytorch_kinematics/main.py | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index 6e7c33b9..d0dc3a24 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -193,13 +193,15 @@ class RobotKinematics: # Instantiate and run the IK solver (core pytorch_kinematics objects/methods) ik_solver = pk.PseudoInverseIK( self.chain, - max_iterations=300, + max_iterations=1_000, retry_configs=q_init, joint_limits=torch.tensor(self.chain.get_joint_limits()), early_stopping_any_converged=True, early_stopping_no_improvement="all", debug=False, lr=0.05, + rot_tolerance=1e-4, + pos_tolerance=1e-3, ) solution_angles = ik_solver.solve(target_pose) return solution_angles.solutions.detach() @@ -219,6 +221,19 @@ def main(): metadata = event["metadata"] match metadata["encoding"]: + case "xyzquat": + # Apply Inverse Kinematics + if last_known_state is not None: + target = event["value"].to_numpy() + target = target.astype(np.float32) + target = pk.Transform3d( + pos=target[:3], rot=torch.tensor(target[3:7]) + ) + solution = robot.compute_ik(target, last_known_state) + metadata["encoding"] = "jointstate" + last_known_state = solution.numpy().ravel() + solution = pa.array(last_known_state) + node.send_output(event["id"], solution, metadata=metadata) case "xyzrpy": # Apply Inverse Kinematics if last_known_state is not None: @@ -231,11 +246,11 @@ def main(): ), ) solution = robot.compute_ik(target, last_known_state) + metadata["encoding"] = "jointstate" last_known_state = solution.numpy().ravel() solution = pa.array(last_known_state) node.send_output(event["id"], solution, metadata=metadata) - print(solution) case "jointstate": target = event["value"].to_numpy() last_known_state = target From b86a91e0576f2c1f543ba07c275e08546b3fd75b Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 22:24:25 +0200 Subject: [PATCH 101/135] Add visualization alternative for rerun urdf --- node-hub/dora-rerun/src/lib.rs | 31 +++++++++++++++++--------- node-hub/dora-rerun/src/urdf.rs | 39 ++++++++++++++++++++++++++------- 2 files changed, 52 insertions(+), 18 deletions(-) diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index 2da325ac..e33bce50 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -3,12 +3,14 @@ use std::{collections::HashMap, env::VarError, path::Path}; use dora_node_api::{ - arrow::array::{Array, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array}, - arrow::{array::AsArray, datatypes::Float32Type}, + arrow::{ + array::{Array, AsArray, Float64Array, StringArray, UInt16Array, UInt8Array}, + datatypes::Float32Type, + }, dora_core::config::DataId, - DoraNode, Event, Parameter, + into_vec, DoraNode, Event, Parameter, }; -use eyre::{eyre, Context, ContextCompat, Result}; +use eyre::{eyre, Context, Result}; use rerun::{ components::ImageBuffer, @@ -315,12 +317,21 @@ pub fn lib_main() -> Result<()> { continue; }; mask_cache.insert(id.clone(), masks.clone()); - } else if id.as_str().contains("jointstate") { - let buffer: &Float32Array = data - .as_any() - .downcast_ref() - .context("jointstate is not float32")?; - let mut positions: Vec = buffer.values().to_vec(); + } else if id.as_str().contains("jointstate") || id.as_str().contains("pose") { + let encoding = if let Some(Parameter::String(encoding)) = + metadata.parameters.get("encoding") + { + encoding + } else { + "jointstate" + }; + if encoding != "jointstate" { + warn!("Got unexpected encoding: {} on position pose", encoding); + continue; + } + // Convert to Vec + let mut positions: Vec = + into_vec(&data).context("Could not parse jointstate as vec32")?; // Match file name let mut id = id.as_str().replace("jointstate_", ""); diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index 796a4a90..ddde9cd7 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -2,7 +2,10 @@ use std::collections::HashMap; use eyre::{Context, ContextCompat, Result}; use k::Chain; -use rerun::{components::RotationAxisAngle, Angle, RecordingStream, Rotation3D, Vec3D}; +use rerun::{ + components::RotationAxisAngle, external::log::warn, transform, Angle, LineStrips3D, Points3D, + RecordingStream, Rotation3D, Vec3D, +}; pub struct MyIntersperse { iterator: I, sep: T, @@ -56,11 +59,11 @@ fn get_entity_path(link: &k::Node, urdf_path: &str) -> String { pub fn init_urdf(rec: &RecordingStream) -> Result>> { // Get all env variable that end with urdf let urdfs = std::env::vars() - .filter(|(key, _)| key.ends_with("_urdf")) + .filter(|(key, _)| key.ends_with("_urdf") || key.ends_with("_URDF")) .collect::>(); let mut chains = HashMap::new(); for (key, urdf_path) in urdfs { - let path = key.replace("_urdf", ".urdf"); + let path = key.replace("_urdf", ".urdf").replace("_URDF", ".urdf"); let chain = k::Chain::::from_urdf_file(&urdf_path).context("Could not load URDF")?; let transform = key.replace("_urdf", "_transform"); @@ -126,14 +129,34 @@ pub fn update_visualization( let trans = link_to_parent_mat.column(3); let trans = trans.as_slice(); let quat = link_to_parent.rotation.quaternion(); + let point_transform = rerun::Transform3D::from_translation_rotation( + Vec3D::new(trans[0], trans[1], trans[2]), + rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]), + ); + rec.log(entity_path.clone(), &point_transform) + .context("Could not log transform")?; + let child = link.world_transform().unwrap(); + } + + let mut last_transform = [0.0; 3]; + + for joint in chain.iter_joints() { + let transform = joint.world_transform().unwrap(); + let transform = transform.to_matrix(); + let transform = transform.column(3); + if last_transform == [0.0; 3] { + last_transform = [transform[0], transform[1], transform[2]]; + } rec.log( - entity_path, - &rerun::Transform3D::from_translation_rotation( - Vec3D::new(trans[0], trans[1], trans[2]), - rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]), - ), + format!("link/{}", joint.name), + &LineStrips3D::new(&[[ + [last_transform[0], last_transform[1], last_transform[2]], + [transform[0], transform[1], transform[2]], + ] + .to_vec()]), ) .context("Could not log transform")?; + last_transform = [transform[0], transform[1], transform[2]]; } Ok(()) } From 25eda8dd3dc83da0fdd7396f26599521cc07c2ab Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Mon, 28 Apr 2025 14:16:05 +0200 Subject: [PATCH 102/135] Use fixed urdf to do ik --- examples/so100-remote/no_torque.yml | 8 ++++---- examples/so100-remote/parse_keyboard.py | 11 +++-------- examples/so100-remote/so100.urdf | 2 +- examples/so100-remote/so100_2.urdf | 12 ++++++------ examples/so100-remote/test.yml | 4 ++-- 5 files changed, 16 insertions(+), 21 deletions(-) diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index a3c2ff1d..75c0a9cf 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -3,7 +3,7 @@ nodes: path: dora-rustypot inputs: tick: dora/timer/millis/33 - pose: pytorch-kinematics/action + #pose: pytorch-kinematics/action outputs: - pose env: @@ -20,7 +20,7 @@ nodes: - pose - action env: - URDF_PATH: so100.urdf + URDF_PATH: so100_2.urdf END_EFFECTOR_LINK: "Fixed_Jaw" so100_transform: 0 -0.3 0 @@ -30,7 +30,7 @@ nodes: inputs: # series_so100: so100/pose series_pose: pytorch-kinematics/pose - #jointstate_so100: so100/position + jointstate_so100: so100/pose env: - so100_urdf: so100.urdf + so100_urdf: so100_2.urdf so100_transform: 0 -0.3 0 diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py index 95ba3435..21322ae4 100644 --- a/examples/so100-remote/parse_keyboard.py +++ b/examples/so100-remote/parse_keyboard.py @@ -14,16 +14,11 @@ now = time.time() for j in range(0, 100): for i in range(110): time.sleep(0.033) - x = 0.0 + (j * 0.005) - y = -0.1 - (i * 0.001) - if x == 0: - theta = -1.8 - else: - theta = np.arctan(y / x) + y = 0.0 + (j * 0.1) + x = -0.1 - (i * 0.01) - print("Sending action: ", x, y, theta) node.send_output( "action", - pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, theta, 0.45]), + pa.array([0.0 + (j * 0.05), -0.1 - (i * 0.001), 0.1, -1.6, -0.9, -3.14]), metadata={"encoding": "xyzrpy"}, ) diff --git a/examples/so100-remote/so100.urdf b/examples/so100-remote/so100.urdf index 4c4805ed..f13689fb 100644 --- a/examples/so100-remote/so100.urdf +++ b/examples/so100-remote/so100.urdf @@ -95,7 +95,7 @@ + xyz="0 1 0" /> + name="base_link"> + link="base_link" /> + xyz="0 -1 0" /> @@ -248,7 +248,7 @@ type="continuous"> + rpy="-1.57 0 0" /> + rpy="0 1.57 0" /> + rpy="0 0 0" /> Date: Mon, 28 Apr 2025 22:23:09 +0200 Subject: [PATCH 103/135] Add checks on IK to avoid breakage --- examples/so100-remote/parse_keyboard.py | 96 ++++++++++++++++--- examples/so100-remote/test.yml | 3 +- .../dora_pytorch_kinematics/main.py | 20 +++- 3 files changed, 105 insertions(+), 14 deletions(-) diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py index 21322ae4..9670ad7e 100644 --- a/examples/so100-remote/parse_keyboard.py +++ b/examples/so100-remote/parse_keyboard.py @@ -2,23 +2,95 @@ import time -import numpy as np import pyarrow as pa from dora import Node node = Node() +target_x = -0.08 +target_y = -0.20 + +place_x = -0.08 +place_y = 0.20 now = time.time() +time.sleep(1.5) + +node.send_output( + "action", + pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(0.8) + +node.send_output( + "action", + pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(0.5) + +node.send_output( + "action", + pa.array([target_y, target_x, 0.09, -1.6, -0.0, -1]), + metadata={"encoding": "xyzrpy"}, +) +time.sleep(0.2) + + +node.send_output( + "action", + pa.array([target_y, target_x, 0.09, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) + + +time.sleep(1.0) + +node.send_output( + "action", + pa.array([target_y, target_x, 0.15, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(0.3) + + +node.send_output( + "action", + pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(1.0) + +node.send_output( + "action", + pa.array([place_y, place_x, 0.10, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(0.2) + +node.send_output( + "action", + pa.array([place_y, place_x, 0.10, -1.6, -0.0, -1]), + metadata={"encoding": "xyzrpy"}, +) +time.sleep(1.0) + +node.send_output( + "action", + pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) + +time.sleep(1.0) -for j in range(0, 100): - for i in range(110): - time.sleep(0.033) - y = 0.0 + (j * 0.1) - x = -0.1 - (i * 0.01) - - node.send_output( - "action", - pa.array([0.0 + (j * 0.05), -0.1 - (i * 0.001), 0.1, -1.6, -0.9, -3.14]), - metadata={"encoding": "xyzrpy"}, - ) +node.send_output( + "action", + pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + metadata={"encoding": "xyzrpy"}, +) diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml index 1d25e9f8..74061f04 100644 --- a/examples/so100-remote/test.yml +++ b/examples/so100-remote/test.yml @@ -10,6 +10,7 @@ nodes: PORT: /dev/ttyACM0 CONFIG: follower.right.json TORQUE: true + IDS: 1 2 3 4 5 6 - id: parse_keyboard path: parse_keyboard.py @@ -34,7 +35,7 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - # series_so100: so100/pose + series_so100: so100/pose series_pose: pytorch-kinematics/pose series_action: pytorch-kinematics/action jointstate_so100: so100/pose diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index d0dc3a24..15f5643f 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -204,6 +204,11 @@ class RobotKinematics: pos_tolerance=1e-3, ) solution_angles = ik_solver.solve(target_pose) + if solution_angles.err_rot > 1e-4 or solution_angles.err_pos > 1e-3: + print( + f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot}" + ) + return None return solution_angles.solutions.detach() @@ -246,9 +251,22 @@ def main(): ), ) solution = robot.compute_ik(target, last_known_state) + if solution is None: + continue + + solution = solution.numpy().ravel() + delta_angles = solution - last_known_state + valid = np.all( + (delta_angles >= -np.pi) & (delta_angles <= np.pi) + ) + if not valid: + print( + "IK solution is not valid, as the rotation are too wide. skipping." + ) + continue metadata["encoding"] = "jointstate" - last_known_state = solution.numpy().ravel() + last_known_state = solution solution = pa.array(last_known_state) node.send_output(event["id"], solution, metadata=metadata) case "jointstate": From 5a8106ff6867509cb16f5fd26a36c823b45dcec4 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Tue, 29 Apr 2025 16:46:17 +0200 Subject: [PATCH 104/135] Update chain with env variable transform --- node-hub/dora-rerun/src/urdf.rs | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index ddde9cd7..1812a384 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -1,10 +1,9 @@ use std::collections::HashMap; use eyre::{Context, ContextCompat, Result}; -use k::Chain; +use k::{Chain, Translation3}; use rerun::{ - components::RotationAxisAngle, external::log::warn, transform, Angle, LineStrips3D, Points3D, - RecordingStream, Rotation3D, Vec3D, + components::RotationAxisAngle, Angle, LineStrips3D, RecordingStream, Rotation3D, Vec3D, }; pub struct MyIntersperse { iterator: I, @@ -91,6 +90,14 @@ pub fn init_urdf(rec: &RecordingStream) -> Result>> { ), ) .unwrap(); + let mut pose = chain.origin(); + pose.append_translation_mut(&Translation3::new( + transform[0], + transform[1], + transform[2], + )); + + chain.set_origin(pose); chains.insert(path, chain); } } @@ -135,7 +142,6 @@ pub fn update_visualization( ); rec.log(entity_path.clone(), &point_transform) .context("Could not log transform")?; - let child = link.world_transform().unwrap(); } let mut last_transform = [0.0; 3]; From b24a4539f976f734191429a7a781c69c7ab7599a Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 30 Apr 2025 14:52:10 +0200 Subject: [PATCH 105/135] Fix rerun urdf loader --- node-hub/dora-rerun/src/urdf.rs | 47 ++++++++------------------------- 1 file changed, 11 insertions(+), 36 deletions(-) diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index 1812a384..62d96f6b 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -1,10 +1,8 @@ use std::collections::HashMap; use eyre::{Context, ContextCompat, Result}; -use k::{Chain, Translation3}; -use rerun::{ - components::RotationAxisAngle, Angle, LineStrips3D, RecordingStream, Rotation3D, Vec3D, -}; +use k::{nalgebra::Quaternion, Chain, Translation3, UnitQuaternion}; +use rerun::{RecordingStream, Vec3D}; pub struct MyIntersperse { iterator: I, sep: T, @@ -79,24 +77,21 @@ pub fn init_urdf(rec: &RecordingStream) -> Result>> { .split(' ') .map(|x| x.parse::().unwrap()) .collect::>(); - rec.log( - path.clone(), - &rerun::Transform3D::from_translation_rotation( - [transform[0], transform[1], transform[2]], - Rotation3D::AxisAngle(RotationAxisAngle::new( - [0., 0., 0.], - Angle::from_degrees(0.0), - )), - ), - ) - .unwrap(); + let mut pose = chain.origin(); + + if transform.len() == 7 { + let quaternion = + Quaternion::new(transform[3], transform[4], transform[5], transform[6]) + .normalize(); // Example quaternion + let rot = UnitQuaternion::from_quaternion(quaternion); + pose.append_rotation_mut(&rot); + } pose.append_translation_mut(&Translation3::new( transform[0], transform[1], transform[2], )); - chain.set_origin(pose); chains.insert(path, chain); } @@ -144,25 +139,5 @@ pub fn update_visualization( .context("Could not log transform")?; } - let mut last_transform = [0.0; 3]; - - for joint in chain.iter_joints() { - let transform = joint.world_transform().unwrap(); - let transform = transform.to_matrix(); - let transform = transform.column(3); - if last_transform == [0.0; 3] { - last_transform = [transform[0], transform[1], transform[2]]; - } - rec.log( - format!("link/{}", joint.name), - &LineStrips3D::new(&[[ - [last_transform[0], last_transform[1], last_transform[2]], - [transform[0], transform[1], transform[2]], - ] - .to_vec()]), - ) - .context("Could not log transform")?; - last_transform = [transform[0], transform[1], transform[2]]; - } Ok(()) } From 8644cb1b246ef67396bef4435c584c75903e2b4f Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 30 Apr 2025 14:54:30 +0200 Subject: [PATCH 106/135] Add path check --- examples/so100-remote/no_torque.yml | 30 ++++++++++++++++++++--------- 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 75c0a9cf..05aaf191 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -7,10 +7,19 @@ nodes: outputs: - pose env: - PORT: /dev/ttyACM0 - IDS: 1 2 3 4 5 + PORT: /dev/ttyACM1 + IDS: 1 2 3 4 5 6 TORQUE: false + - 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 @@ -20,17 +29,20 @@ nodes: - pose - action env: - URDF_PATH: so100_2.urdf - END_EFFECTOR_LINK: "Fixed_Jaw" - so100_transform: 0 -0.3 0 + URDF_PATH: so100.urdf + END_EFFECTOR_LINK: "Moving Jaw" + so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 - id: plot build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - # series_so100: so100/pose - series_pose: pytorch-kinematics/pose + series_so100: so100/pose + series_fk: pytorch-kinematics/pose jointstate_so100: so100/pose + camera/image: camera/image + camera/depth: camera/depth env: - so100_urdf: so100_2.urdf - so100_transform: 0 -0.3 0 + so100_urdf: so100.urdf + so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + CAMERA_PITCH: -3.1415 From 39f3e72454e7621319c993aba83515a5754ccc9a Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Wed, 30 Apr 2025 20:54:36 +0200 Subject: [PATCH 107/135] Fix CI/CD And improve example --- .github/workflows/node-hub-ci-cd.yml | 2 +- Cargo.lock | 21 - examples/so100-remote/no_torque.yml | 5 +- examples/so100-remote/parse_keyboard.py | 36 +- examples/so100-remote/so100.urdf | 43 +-- examples/so100-remote/so100_2.urdf | 365 ------------------ examples/so100-remote/test.yml | 29 +- .../dora_pytorch_kinematics/main.py | 22 +- node-hub/dora-rerun/src/urdf.rs | 9 +- node-hub/dora-rustypot/Cargo.toml | 2 +- 10 files changed, 82 insertions(+), 452 deletions(-) delete mode 100644 examples/so100-remote/so100_2.urdf diff --git a/.github/workflows/node-hub-ci-cd.yml b/.github/workflows/node-hub-ci-cd.yml index eee7ed1e..a6d34027 100644 --- a/.github/workflows/node-hub-ci-cd.yml +++ b/.github/workflows/node-hub-ci-cd.yml @@ -54,7 +54,7 @@ jobs: run: | sudo apt update sudo apt-get install portaudio19-dev - sudo apt-get install libdav1d-dev nasm + sudo apt-get install libdav1d-dev nasm libudev-dev mkdir -p $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib ln -s /lib/x86_64-linux-gnu/libdav1d.so $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libdav1d.so diff --git a/Cargo.lock b/Cargo.lock index 38ba4ec2..88fb6004 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -6504,26 +6504,6 @@ dependencies = [ "redox_syscall 0.5.10", ] -[[package]] -name = "libudev" -version = "0.3.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0" -dependencies = [ - "libc", - "libudev-sys", -] - -[[package]] -name = "libudev-sys" -version = "0.1.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324" -dependencies = [ - "libc", - "pkg-config", -] - [[package]] name = "libz-sys" version = "1.1.22" @@ -12560,7 +12540,6 @@ dependencies = [ "core-foundation 0.10.0", "core-foundation-sys", "io-kit-sys", - "libudev", "mach2", "nix 0.26.4", "scopeguard", diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 05aaf191..2e622176 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -7,7 +7,7 @@ nodes: outputs: - pose env: - PORT: /dev/ttyACM1 + PORT: /dev/ttyACM0 IDS: 1 2 3 4 5 6 TORQUE: false @@ -31,13 +31,12 @@ nodes: env: URDF_PATH: so100.urdf END_EFFECTOR_LINK: "Moving Jaw" - so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 - id: plot build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - series_so100: so100/pose series_fk: pytorch-kinematics/pose jointstate_so100: so100/pose camera/image: camera/image diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py index 9670ad7e..ed085c42 100644 --- a/examples/so100-remote/parse_keyboard.py +++ b/examples/so100-remote/parse_keyboard.py @@ -7,18 +7,26 @@ from dora import Node node = Node() -target_x = -0.08 -target_y = -0.20 +target_y = -0.02 +target_x = 0.00 -place_x = -0.08 -place_y = 0.20 +place_x = -0.02 +place_y = -0.1 + +top_z = -0.50 +low_z = -0.57 + +roll = 1.86 +pitch = 1.43 +yaw_closed = 0.8 +yaw_opened = -0.5 now = time.time() time.sleep(1.5) node.send_output( "action", - pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]), + pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]), metadata={"encoding": "xyzrpy"}, ) @@ -26,7 +34,7 @@ time.sleep(0.8) node.send_output( "action", - pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]), + pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]), metadata={"encoding": "xyzrpy"}, ) @@ -34,7 +42,7 @@ time.sleep(0.5) node.send_output( "action", - pa.array([target_y, target_x, 0.09, -1.6, -0.0, -1]), + pa.array([target_x, target_y, low_z, roll, pitch, yaw_closed]), metadata={"encoding": "xyzrpy"}, ) time.sleep(0.2) @@ -42,7 +50,7 @@ time.sleep(0.2) node.send_output( "action", - pa.array([target_y, target_x, 0.09, -1.6, -0.0, -3]), + pa.array([target_x, target_y, low_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) @@ -51,7 +59,7 @@ time.sleep(1.0) node.send_output( "action", - pa.array([target_y, target_x, 0.15, -1.6, -0.0, -3]), + pa.array([target_x, target_y, top_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) @@ -60,7 +68,7 @@ time.sleep(0.3) node.send_output( "action", - pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) @@ -68,7 +76,7 @@ time.sleep(1.0) node.send_output( "action", - pa.array([place_y, place_x, 0.10, -1.6, -0.0, -3]), + pa.array([place_x, place_y, low_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) @@ -76,14 +84,14 @@ time.sleep(0.2) node.send_output( "action", - pa.array([place_y, place_x, 0.10, -1.6, -0.0, -1]), + pa.array([place_x, place_y, low_z, roll, pitch, yaw_closed]), metadata={"encoding": "xyzrpy"}, ) time.sleep(1.0) node.send_output( "action", - pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) @@ -91,6 +99,6 @@ time.sleep(1.0) node.send_output( "action", - pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]), + pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), metadata={"encoding": "xyzrpy"}, ) diff --git a/examples/so100-remote/so100.urdf b/examples/so100-remote/so100.urdf index f13689fb..c993f6b5 100644 --- a/examples/so100-remote/so100.urdf +++ b/examples/so100-remote/so100.urdf @@ -95,13 +95,9 @@ + xyz="0 -1 0" /> - + @@ -148,18 +144,14 @@ type="revolute"> + rpy="0 0 0" /> - + xyz="1 0 0" /> + @@ -206,18 +198,13 @@ type="revolute"> + rpy="-0.1 0 0" /> - @@ -322,7 +309,7 @@ rpy="0 0 0" /> + filename="Wrist_Roll_Follower_SO101.STL" /> @@ -337,12 +324,8 @@ - + xyz="0 1 0" /> + @@ -380,7 +363,7 @@ rpy="0 0 0" /> + filename="Moving_Jaw_SO101.STL" /> @@ -396,10 +379,6 @@ link="Moving Jaw" /> - + \ No newline at end of file diff --git a/examples/so100-remote/so100_2.urdf b/examples/so100-remote/so100_2.urdf deleted file mode 100644 index 3c574412..00000000 --- a/examples/so100-remote/so100_2.urdf +++ /dev/null @@ -1,365 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml index 74061f04..a7bf9740 100644 --- a/examples/so100-remote/test.yml +++ b/examples/so100-remote/test.yml @@ -8,7 +8,6 @@ nodes: - pose env: PORT: /dev/ttyACM0 - CONFIG: follower.right.json TORQUE: true IDS: 1 2 3 4 5 6 @@ -17,6 +16,15 @@ nodes: outputs: - action + - 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 @@ -27,18 +35,21 @@ nodes: - pose - action env: - URDF_PATH: so100_2.urdf + URDF_PATH: so100.urdf END_EFFECTOR_LINK: "Moving Jaw" - so100_transform: 0 -0.3 0 + TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 - id: plot build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - series_so100: so100/pose - series_pose: pytorch-kinematics/pose - series_action: pytorch-kinematics/action - jointstate_so100: so100/pose + #series_so100: so100/pose + # series_pose: pytorch-kinematics/pose + series_so100: pytorch-kinematics/action + jointstate_so100: pytorch-kinematics/action + camera/image: camera/image + camera/depth: camera/depth env: - so100_urdf: so100_2.urdf - so100_transform: 0 -0.3 0 + so100_urdf: so100.urdf + so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + CAMERA_PITCH: -3.1415 diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index 15f5643f..d5994075 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -10,6 +10,20 @@ import torch from dora import Node from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles +TRANSFORM = np.array(os.getenv("TRANSFORM", "0. 0. 0. 0. 0. 0. 1.").split(" ")).astype( + np.float32 +) +pos = torch.tensor([TRANSFORM[0], TRANSFORM[1], TRANSFORM[2]]) +rot = torch.tensor( + [ + TRANSFORM[3], + TRANSFORM[4], + TRANSFORM[5], + TRANSFORM[6], + ], +) +ROB_TF = pk.Transform3d(pos=pos, rot=rot) + def get_xyz_rpy_array_from_transform3d( transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ" @@ -134,9 +148,6 @@ class RobotKinematics: """ # robot frame - pos = torch.tensor([0.0, 0.0, 0.0]) - rot = torch.tensor([0.0, 0.0, 0.0]) - rob_tf = pk.Transform3d(pos=pos, rot=rot) angles_tensor = self._prepare_joint_tensor( joint_angles, batch_dim_required=False @@ -145,7 +156,7 @@ class RobotKinematics: goal_in_rob_frame_tf = self.chain.forward_kinematics( angles_tensor, end_only=True ) - goal_tf = rob_tf.compose(goal_in_rob_frame_tf) + goal_tf = ROB_TF.compose(goal_in_rob_frame_tf) return goal_tf def compute_ik( @@ -250,6 +261,7 @@ def main(): torch.tensor(target[3:6]), convention="XYZ" ), ) + target = ROB_TF.inverse().compose(target) solution = robot.compute_ik(target, last_known_state) if solution is None: continue @@ -275,7 +287,7 @@ def main(): # Apply Forward Kinematics target = robot.compute_fk(target) target = np.array(get_xyz_rpy_array_from_transform3d(target)) - target = pa.array(target.ravel()) + target = pa.array(target.ravel(), type=pa.float32()) metadata["encoding"] = "xyzrpy" node.send_output(event["id"], target, metadata=metadata) diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index 62d96f6b..b3de8fc0 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -1,4 +1,4 @@ -use std::collections::HashMap; +use std::{collections::HashMap, path::PathBuf}; use eyre::{Context, ContextCompat, Result}; use k::{nalgebra::Quaternion, Chain, Translation3, UnitQuaternion}; @@ -64,6 +64,12 @@ pub fn init_urdf(rec: &RecordingStream) -> Result>> { let chain = k::Chain::::from_urdf_file(&urdf_path).context("Could not load URDF")?; let transform = key.replace("_urdf", "_transform"); + + if PathBuf::from(&urdf_path).file_name() != PathBuf::from(&path).file_name() { + return Err(eyre::eyre!( + "URDF path should be the same as the key without _urdf or _URDF. Got {} instead of {}", urdf_path, path + )); + } if let Err(err) = rec.log_file_from_path(&urdf_path, None, false) { println!("Could not log file: {}. Errored with {}", urdf_path, err); println!("Make sure to install urdf loader with:"); @@ -71,6 +77,7 @@ pub fn init_urdf(rec: &RecordingStream) -> Result>> { "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git" ) }; + // Get transform by replacing URDF_ with TRANSFORM_ if let Ok(transform) = std::env::var(transform) { let transform = transform diff --git a/node-hub/dora-rustypot/Cargo.toml b/node-hub/dora-rustypot/Cargo.toml index 0b619bed..26ef058b 100644 --- a/node-hub/dora-rustypot/Cargo.toml +++ b/node-hub/dora-rustypot/Cargo.toml @@ -9,4 +9,4 @@ edition = "2021" dora-node-api = "0.3.11" eyre = "0.6.12" rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" } -serialport = "4.7.1" +serialport = { version = "4.7.1", default-features = false } From 39b96bd4b71418f86cc7b9cd4738c3f2b1bcd4cc Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 1 May 2025 21:13:57 +0200 Subject: [PATCH 108/135] working so100 inference code with qwenvl --- examples/so100-remote/parse_bbox.py | 69 ++++ examples/so100-remote/parse_keyboard.py | 127 ++++--- examples/so100-remote/parse_pose.py | 152 ++++++++ examples/so100-remote/parse_whisper.py | 32 ++ examples/so100-remote/qwenvl.yml | 141 ++++++++ examples/so100-remote/so100_inference.urdf | 384 +++++++++++++++++++++ examples/so100-remote/test.yml | 8 +- 7 files changed, 842 insertions(+), 71 deletions(-) create mode 100644 examples/so100-remote/parse_bbox.py create mode 100644 examples/so100-remote/parse_pose.py create mode 100644 examples/so100-remote/parse_whisper.py create mode 100644 examples/so100-remote/qwenvl.yml create mode 100644 examples/so100-remote/so100_inference.urdf diff --git a/examples/so100-remote/parse_bbox.py b/examples/so100-remote/parse_bbox.py new file mode 100644 index 00000000..6a6af454 --- /dev/null +++ b/examples/so100-remote/parse_bbox.py @@ -0,0 +1,69 @@ +"""TODO: Add docstring.""" + +import json +import os + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + +IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0")) + + +def extract_bboxes(json_text): + """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array. + + Parameters + ---------- + json_text : str + JSON string containing bounding box data, including ```json markers. + + Returns + ------- + np.ndarray: NumPy array of bounding boxes. + + """ + # Ensure all lines are stripped of whitespace and markers + lines = json_text.strip().splitlines() + + # Filter out lines that are markdown markers + clean_lines = [line for line in lines if not line.strip().startswith("```")] + + # Join the lines back into a single string + clean_text = "\n".join(clean_lines) + # Parse the cleaned JSON text + try: + data = json.loads(clean_text) + + # Extract bounding boxes + bboxes = [item["bbox_2d"] for item in data] + labels = [item["label"] for item in data] + + return np.array(bboxes), np.array(labels) + except Exception as _e: # noqa + pass + return None, None + + +for event in node: + if event["type"] == "INPUT": + if len(event["value"]) == 0: + node.send_output("bbox_track", pa.array([])) + continue + + text = event["value"][0].as_py() + metadata = event["metadata"] + image_id = event["metadata"]["image_id"] + + bboxes, labels = extract_bboxes(text) + if bboxes is not None and len(bboxes) > 0: + bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO) + metadata["image_id"] = image_id + metadata["encoding"] = "xyxy" + node.send_output( + "bbox", + pa.array(bboxes.ravel()), + metadata, + ) diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py index ed085c42..2e0d84cb 100644 --- a/examples/so100-remote/parse_keyboard.py +++ b/examples/so100-remote/parse_keyboard.py @@ -11,94 +11,85 @@ target_y = -0.02 target_x = 0.00 place_x = -0.02 -place_y = -0.1 - -top_z = -0.50 +place_y = 0.2 +place_z = -0.48 +top_z = -0.44 low_z = -0.57 roll = 1.86 pitch = 1.43 -yaw_closed = 0.8 -yaw_opened = -0.5 - -now = time.time() -time.sleep(1.5) - -node.send_output( - "action", - pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]), - metadata={"encoding": "xyzrpy"}, -) +yaw_open = 0.8 +yaw_close = -0.5 -time.sleep(0.8) -node.send_output( - "action", - pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]), - metadata={"encoding": "xyzrpy"}, -) +def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close): + node.send_output( + "action", + pa.array([target_x, target_y, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) -time.sleep(0.5) + time.sleep(0.8) -node.send_output( - "action", - pa.array([target_x, target_y, low_z, roll, pitch, yaw_closed]), - metadata={"encoding": "xyzrpy"}, -) -time.sleep(0.2) + node.send_output( + "action", + pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + time.sleep(0.2) -node.send_output( - "action", - pa.array([target_x, target_y, low_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) + node.send_output( + "action", + pa.array([target_x, target_y, low_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + time.sleep(1.0) -time.sleep(1.0) + node.send_output( + "action", + pa.array([target_x, target_y, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) -node.send_output( - "action", - pa.array([target_x, target_y, top_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) -time.sleep(0.3) +def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close): + node.send_output( + "action", + pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) -node.send_output( - "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) + time.sleep(1.0) -time.sleep(1.0) + node.send_output( + "action", + pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) -node.send_output( - "action", - pa.array([place_x, place_y, low_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) + time.sleep(1.0) -time.sleep(0.2) + node.send_output( + "action", + pa.array([place_x, place_y, place_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + time.sleep(0.5) -node.send_output( - "action", - pa.array([place_x, place_y, low_z, roll, pitch, yaw_closed]), - metadata={"encoding": "xyzrpy"}, -) -time.sleep(1.0) + node.send_output( + "action", + pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) -node.send_output( - "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) + time.sleep(0.5) -time.sleep(1.0) + node.send_output( + "action", + pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) -node.send_output( - "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]), - metadata={"encoding": "xyzrpy"}, -) diff --git a/examples/so100-remote/parse_pose.py b/examples/so100-remote/parse_pose.py new file mode 100644 index 00000000..5e3d702f --- /dev/null +++ b/examples/so100-remote/parse_pose.py @@ -0,0 +1,152 @@ +"""TODO: Add docstring.""" + +import time +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() +top_z = -0.48 +low_z = -0.57 + +roll = 1.86 +pitch = 1.43 +yaw_open = 0.8 +yaw_close = -0.5 + + +def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, last_x, last_y): + + node.send_output( + "action", + pa.array([target_x, target_y, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.6) + + node.send_output( + "action", + pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + time.sleep(0.5) + + + node.send_output( + "action", + pa.array([target_x, target_y, low_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.5) + + node.send_output( + "action", + pa.array([target_x, target_y, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + + node.send_output( + "action", + pa.array([0.05, 0.04, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + + +def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, last_x, last_y): + + + node.send_output( + "action", + pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.6) + + node.send_output( + "action", + pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.5) + + + node.send_output( + "action", + pa.array([place_x, place_y, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.7) + + + node.send_output( + "action", + pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + + + +node.send_output( + "action", + pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, +) + +last_x = 0 +last_y = 0 +last_z = 0 + +for event in node: + if event["type"] == "INPUT": + if event["id"] == "pose": + values = event["value"] + values = values.to_numpy() + print(values) + if len(values) == 0: + continue + x = values[0] + y = values[1] + z = values[2] + action = event["metadata"]["action"] + + + # Adjust z with the size of the gripper + z = z + 0.073 + # y = y - 0.01 + x = x - 0.01 + match action: + case "grab": + grab( + x, + y, + z, + top_z, + roll, + pitch, + yaw_open, + yaw_close, + last_x, + last_y + ) + case "release": + y = y - 0.02 + place( + x, + y, + z, + top_z, + roll, + pitch, + yaw_open, + yaw_close, + last_x, + last_y + ) + last_x = -0.05 + last_y = 0.04 + last_z = z diff --git a/examples/so100-remote/parse_whisper.py b/examples/so100-remote/parse_whisper.py new file mode 100644 index 00000000..a667760c --- /dev/null +++ b/examples/so100-remote/parse_whisper.py @@ -0,0 +1,32 @@ +"""TODO: Add docstring.""" + +import json +import os +import time + +import numpy as np +import pyarrow as pa +from dora import Node + +node = Node() + + +last_prompt = "" +for event in node: + if event["type"] == "INPUT": + if event["id"] == "text": + text = event["value"][0].as_py().lower() + + if "grab " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the given object" + node.send_output( + "text", pa.array([text]), {"image_id": "image", "action": "grab"} + ) + + elif "put " in text: + text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object" + node.send_output( + "text", + pa.array([text]), + {"image_id": "image", "action": "release"}, + ) diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml new file mode 100644 index 00000000..efa0cd97 --- /dev/null +++ b/examples/so100-remote/qwenvl.yml @@ -0,0 +1,141 @@ +nodes: + - id: so100 + path: dora-rustypot + inputs: + tick: dora/timer/millis/33 + pose: + source: pytorch-kinematics/action + queue_size: 100 + outputs: + - pose + env: + PORT: /dev/ttyACM0 + TORQUE: true + 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 + action: + source: parse_pose/action + queue_size: 100 + outputs: + - pose + - action + env: + URDF_PATH: so100.urdf + END_EFFECTOR_LINK: "Moving Jaw" + TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + inputs: + #series_so100: so100/pose + # series_pose: pytorch-kinematics/pose + jointstate_so100: so100/pose + jointstate_so100_inference: pytorch-kinematics/action + camera/image: camera/image + camera/depth: camera/depth + text_whisper: dora-distil-whisper/text + text_vlm: dora-qwenvl/text + camera/boxes2d: parse_bbox/bbox + camera/masks: sam2/masks + env: + so100_urdf: so100.urdf + so100_inference_urdf: so100_inference.urdf + so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + CAMERA_PITCH: -3.1415 + + - id: dora-microphone + build: pip install -e ../../node-hub/dora-microphone + path: dora-microphone + inputs: + tick: dora/timer/millis/2000 + outputs: + - audio + + - id: parse_whisper + path: parse_whisper.py + inputs: + text: dora-distil-whisper/text + outputs: + - text + + - id: dora-qwenvl + build: pip install -e ../../node-hub/dora-qwen2-5-vl + path: dora-qwen2-5-vl + inputs: + image: camera/image + text: parse_whisper/text + outputs: + - text + env: + DEFAULT_QUESTION: Output the bounding box of the suitcase. + IMAGE_RESIZE_RATIO: "1.0" + + - id: parse_bbox + path: parse_bbox.py + inputs: + text: dora-qwenvl/text + outputs: + - bbox + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: sam2 + build: pip install -e ../../node-hub/dora-sam2 + path: dora-sam2 + inputs: + image: camera/image + boxes2d: parse_bbox/bbox + outputs: + - masks + + - id: box_coordinates + build: pip install -e ../../node-hub/dora-object-to-pose + path: dora-object-to-pose + inputs: + depth: camera/depth + masks: sam2/masks + outputs: + - pose + env: + CAMERA_PITCH: -3.1415 + + - id: parse_pose + path: parse_pose.py + inputs: + pose: box_coordinates/pose + outputs: + - action + + - id: dora-vad + build: pip install -e ../../node-hub/dora-vad + path: dora-vad + inputs: + audio: dora-microphone/audio + outputs: + - audio + + - id: dora-distil-whisper + build: pip install -e ../../node-hub/dora-distil-whisper + path: dora-distil-whisper + inputs: + input: dora-vad/audio + outputs: + - text + env: + TARGET_LANGUAGE: english diff --git a/examples/so100-remote/so100_inference.urdf b/examples/so100-remote/so100_inference.urdf new file mode 100644 index 00000000..a72a7ebb --- /dev/null +++ b/examples/so100-remote/so100_inference.urdf @@ -0,0 +1,384 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml index a7bf9740..05cfb161 100644 --- a/examples/so100-remote/test.yml +++ b/examples/so100-remote/test.yml @@ -43,13 +43,15 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - #series_so100: so100/pose # series_pose: pytorch-kinematics/pose - series_so100: pytorch-kinematics/action - jointstate_so100: pytorch-kinematics/action + series_so100_inference: pytorch-kinematics/action + jointstate_so100: so100/pose + jointstate_so100_inference: pytorch-kinematics/action camera/image: camera/image camera/depth: camera/depth env: so100_urdf: so100.urdf + so100_inference_urdf: so100_inference.urdf so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 From 8a76d3f6ac56d19b111f2d69c43a1c6b222bb1c6 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Thu, 1 May 2025 21:14:49 +0200 Subject: [PATCH 109/135] Improved IK and positioning --- node-hub/dora-object-to-pose/src/lib.rs | 12 ++++-------- .../dora_pytorch_kinematics/main.py | 13 ++++++++----- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/node-hub/dora-object-to-pose/src/lib.rs b/node-hub/dora-object-to-pose/src/lib.rs index 652dec78..eaec70ae 100644 --- a/node-hub/dora-object-to-pose/src/lib.rs +++ b/node-hub/dora-object-to-pose/src/lib.rs @@ -14,7 +14,7 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { let ( _sum_x, _sum_y, - _sum_z, + sum_z, sum_xy, sum_x2, sum_y2, @@ -23,8 +23,8 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { x_max, y_min, y_max, - z_min, - z_max, + _z_min, + _z_max, ) = points.iter().fold( ( 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0, @@ -62,11 +62,7 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec { ) }, ); - let (mean_x, mean_y, mean_z) = ( - (x_max + x_min) / 2., - (y_max + y_min) / 2., - (z_max + z_min) / 2., - ); + let (mean_x, mean_y, mean_z) = ((x_max + x_min) / 2., (y_max + y_min) / 2., sum_z / n); // Compute covariance and standard deviations let cov = sum_xy / n - mean_x * mean_y; diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index d5994075..b6f20e2a 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -204,7 +204,7 @@ class RobotKinematics: # Instantiate and run the IK solver (core pytorch_kinematics objects/methods) ik_solver = pk.PseudoInverseIK( self.chain, - max_iterations=1_000, + max_iterations=5_000, retry_configs=q_init, joint_limits=torch.tensor(self.chain.get_joint_limits()), early_stopping_any_converged=True, @@ -215,9 +215,9 @@ class RobotKinematics: pos_tolerance=1e-3, ) solution_angles = ik_solver.solve(target_pose) - if solution_angles.err_rot > 1e-4 or solution_angles.err_pos > 1e-3: + if solution_angles.err_rot > 1e-3 or solution_angles.err_pos > 1e-2: print( - f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot}" + f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot} for target {target_pose}" ) return None return solution_angles.solutions.detach() @@ -261,9 +261,12 @@ def main(): torch.tensor(target[3:6]), convention="XYZ" ), ) - target = ROB_TF.inverse().compose(target) - solution = robot.compute_ik(target, last_known_state) + rob_target = ROB_TF.inverse().compose(target) + solution = robot.compute_ik(rob_target, last_known_state) if solution is None: + print( + "No IK Solution for :", target, "skipping this frame." + ) continue solution = solution.numpy().ravel() From 741406b28b16f534acd99d01dc7f08f165f66d65 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 2 May 2025 12:03:24 +0200 Subject: [PATCH 110/135] Minor improvement --- examples/so100-remote/no_torque.yml | 1 - examples/so100-remote/parse_pose.py | 28 ++++++++++++------- examples/so100-remote/qwenvl.yml | 2 +- .../dora_pytorch_kinematics/main.py | 2 +- node-hub/dora-rustypot/src/main.rs | 13 +++++---- 5 files changed, 28 insertions(+), 18 deletions(-) diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 2e622176..608ab774 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -9,7 +9,6 @@ nodes: env: PORT: /dev/ttyACM0 IDS: 1 2 3 4 5 6 - TORQUE: false - id: camera build: pip install -e ../../node-hub/dora-pyrealsense diff --git a/examples/so100-remote/parse_pose.py b/examples/so100-remote/parse_pose.py index 5e3d702f..24bad2f9 100644 --- a/examples/so100-remote/parse_pose.py +++ b/examples/so100-remote/parse_pose.py @@ -6,7 +6,7 @@ import pyarrow as pa from dora import Node node = Node() -top_z = -0.48 +top_z = -0.5 low_z = -0.57 roll = 1.86 @@ -30,7 +30,7 @@ def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, las pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]), metadata={"encoding": "xyzrpy"}, ) - time.sleep(0.5) + time.sleep(0.2) node.send_output( @@ -39,7 +39,7 @@ def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, las metadata={"encoding": "xyzrpy"}, ) - time.sleep(0.5) + time.sleep(0.4) node.send_output( "action", @@ -47,6 +47,8 @@ def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, las metadata={"encoding": "xyzrpy"}, ) + time.sleep(0.5) + node.send_output( "action", pa.array([0.05, 0.04, top_z, roll, pitch, yaw_close]), @@ -71,17 +73,25 @@ def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, la metadata={"encoding": "xyzrpy"}, ) - time.sleep(0.5) + time.sleep(0.2) node.send_output( "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_open]), + pa.array([place_x, place_y, place_z, roll, pitch, yaw_open]), metadata={"encoding": "xyzrpy"}, ) - time.sleep(0.7) + time.sleep(0.3) + + node.send_output( + "action", + pa.array([place_x, place_y, top_z, roll, pitch, yaw_open]), + metadata={"encoding": "xyzrpy"}, + ) + + time.sleep(0.3) node.send_output( "action", @@ -89,6 +99,7 @@ def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, la metadata={"encoding": "xyzrpy"}, ) +time.sleep(0.6) node.send_output( @@ -116,9 +127,7 @@ for event in node: # Adjust z with the size of the gripper - z = z + 0.073 - # y = y - 0.01 - x = x - 0.01 + z = z + 0.063 match action: case "grab": grab( @@ -134,7 +143,6 @@ for event in node: last_y ) case "release": - y = y - 0.02 place( x, y, diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml index efa0cd97..c29d0c5a 100644 --- a/examples/so100-remote/qwenvl.yml +++ b/examples/so100-remote/qwenvl.yml @@ -10,7 +10,7 @@ nodes: - pose env: PORT: /dev/ttyACM0 - TORQUE: true + TORQUE: 2000 IDS: 1 2 3 4 5 6 - id: camera diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index b6f20e2a..ca362cfd 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -204,7 +204,7 @@ class RobotKinematics: # Instantiate and run the IK solver (core pytorch_kinematics objects/methods) ik_solver = pk.PseudoInverseIK( self.chain, - max_iterations=5_000, + max_iterations=1_000, retry_configs=q_init, joint_limits=torch.tensor(self.chain.get_joint_limits()), early_stopping_any_converged=True, diff --git a/node-hub/dora-rustypot/src/main.rs b/node-hub/dora-rustypot/src/main.rs index dfdfc2e6..650e263c 100644 --- a/node-hub/dora-rustypot/src/main.rs +++ b/node-hub/dora-rustypot/src/main.rs @@ -17,10 +17,6 @@ fn main() -> Result<()> { .split(&[',', ' '][..]) .map(|s| s.parse::().unwrap()) .collect::>(); - let torque = std::env::var("TORQUE") - .unwrap_or_else(|_| "false".to_string()) - .parse::() - .context("Invalid torque")?; let serial_port = serialport::new(serialportname, baudrate) .timeout(Duration::from_millis(1000)) @@ -30,10 +26,17 @@ fn main() -> Result<()> { .with_protocol_v1() .with_serial_port(serial_port); - if torque { + if let Ok(torque) = std::env::var("TORQUE") { let truthies = vec![true; ids.len()]; + c.write_torque_enable(&ids, &truthies) .expect("could not enable torque"); + + if let Ok(torque_limit) = torque.parse::() { + let limits = vec![torque_limit; ids.len()]; + c.write_torque_limit(&ids, &limits) + .expect("could not enable torque"); + } } else { let falsies = vec![false; ids.len()]; c.write_torque_enable(&ids, &falsies) From 7b376d743de5bf1502db4173d462f0c23443aee1 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 2 May 2025 15:42:23 +0200 Subject: [PATCH 111/135] Fix pytorch kinematics --- .../dora_pytorch_kinematics/main.py | 54 +++++++++---------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py index ca362cfd..244787be 100644 --- a/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py +++ b/node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py @@ -11,7 +11,7 @@ from dora import Node from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles TRANSFORM = np.array(os.getenv("TRANSFORM", "0. 0. 0. 0. 0. 0. 1.").split(" ")).astype( - np.float32 + np.float32, ) pos = torch.tensor([TRANSFORM[0], TRANSFORM[1], TRANSFORM[2]]) rot = torch.tensor( @@ -26,9 +26,11 @@ ROB_TF = pk.Transform3d(pos=pos, rot=rot) def get_xyz_rpy_array_from_transform3d( - transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ" + transform: "pk.transforms.Transform3d", convention: str = "XYZ", ) -> torch.Tensor: - """Extracts translation (xyz) and rotation (RPY Euler angles in radians) + """XYZ-RPY conversion. + + Extract translation (xyz) and rotation (RPY Euler angles in radians) from a pytorch_kinematics Transform3d object and returns them concatenated into a single tensor. @@ -59,7 +61,7 @@ def get_xyz_rpy_array_from_transform3d( # Convert the rotation matrix to Euler angles in radians # The matrix_to_euler_angles function likely exists based on pytorch3d's structure rpy = matrix_to_euler_angles( - rotation_matrix, convention=convention + rotation_matrix, convention=convention, ) # Shape (..., 3) # Concatenate xyz and rpy along the last dimension @@ -67,9 +69,7 @@ def get_xyz_rpy_array_from_transform3d( class RobotKinematics: - """Concise wrapper for pytorch_kinematics FK and IK operations, - closely mirroring library usage patterns. - """ + """wrapper for pytorch_kinematics FK and IK operations.""" def __init__( self, @@ -77,7 +77,7 @@ class RobotKinematics: end_effector_link: str, device: Union[str, torch.device] = "cpu", ): - """Initializes the kinematic chain from a URDF. + """Initialize the kinematic chain from a URDF. Args: urdf_path (str): Path to the URDF file. @@ -89,7 +89,7 @@ class RobotKinematics: try: # Load kinematic chain (core pytorch_kinematics object) self.chain = pk.build_serial_chain_from_urdf( - open(urdf_path, mode="rb").read(), end_effector_link + open(urdf_path, mode="rb").read(), end_effector_link, ).to(device=self.device) except Exception as e: raise RuntimeError(f"Failed to build chain from URDF: {urdf_path}") from e @@ -97,14 +97,14 @@ class RobotKinematics: self.num_joints = len(self.chain.get_joint_parameter_names(exclude_fixed=True)) # Default initial guess for IK if none provided self._default_q = torch.zeros( - (1, self.num_joints), device=self.device, dtype=torch.float32 + (1, self.num_joints), device=self.device, dtype=torch.float32, ) # print(f"Initialized RobotKinematicsConcise: {self.num_joints} joints, EE='{end_effector_link}', device='{self.device}'") # Optional print def _prepare_joint_tensor( - self, joints: Union[List[float], torch.Tensor], batch_dim_required: bool = True + self, joints: Union[List[float], torch.Tensor], batch_dim_required: bool = True, ) -> torch.Tensor: - """Validates and formats joint angles input tensor.""" + """Validate and formats joint angles input tensor.""" if isinstance(joints, list): j = torch.tensor(joints, dtype=torch.float32, device=self.device) elif isinstance(joints, np.ndarray): @@ -113,7 +113,7 @@ class RobotKinematics: j = joints.to(device=self.device, dtype=torch.float32) else: raise TypeError( - "Joints must be a list or torch.Tensor and got: ", joints.type + "Joints must be a list or torch.Tensor and got: ", joints.type, ) if j.ndim == 1: @@ -124,7 +124,7 @@ class RobotKinematics: elif j.ndim == 2: if j.shape[1] != self.num_joints: raise ValueError( - f"Expected {self.num_joints} joints (dim 1), got {j.shape[1]}" + f"Expected {self.num_joints} joints (dim 1), got {j.shape[1]}", ) if batch_dim_required and j.shape[0] != 1: # Most common IK solvers expect batch=1 for initial guess, FK can handle batches @@ -135,9 +135,9 @@ class RobotKinematics: return j def compute_fk( - self, joint_angles: Union[List[float], torch.Tensor] + self, joint_angles: Union[List[float], torch.Tensor], ) -> pk.Transform3d: - """Computes Forward Kinematics (FK). + """Compute Forward Kinematics (FK). Args: joint_angles (Union[List[float], torch.Tensor]): Joint angles (radians). @@ -150,11 +150,11 @@ class RobotKinematics: # robot frame angles_tensor = self._prepare_joint_tensor( - joint_angles, batch_dim_required=False + joint_angles, batch_dim_required=False, ) # FK handles batches naturally # Direct call to pytorch_kinematics FK goal_in_rob_frame_tf = self.chain.forward_kinematics( - angles_tensor, end_only=True + angles_tensor, end_only=True, ) goal_tf = ROB_TF.compose(goal_in_rob_frame_tf) return goal_tf @@ -167,7 +167,7 @@ class RobotKinematics: lr: float = 0.1, error_tolerance: float = 1e-4, ) -> Tuple[torch.Tensor, bool]: - """Computes Inverse Kinematics (IK) using PseudoInverseIK. + """Compute Inverse Kinematics (IK) using PseudoInverseIK. Args: target_pose (pk.Transform3d): Target end-effector pose (batch size 1). @@ -186,7 +186,7 @@ class RobotKinematics: target_pose = target_pose.to(device=self.device) if target_pose.get_matrix().shape[0] != 1: raise ValueError( - "target_pose must have batch size 1 for this IK method." + "target_pose must have batch size 1 for this IK method.", ) # Common limitation # Prepare initial guess (q_init) @@ -196,7 +196,7 @@ class RobotKinematics: ) if q_init.shape[0] != 1: raise ValueError( - "initial_guess must result in batch size 1 for this IK setup." + "initial_guess must result in batch size 1 for this IK setup.", ) # Enforce batch=1 for guess q_init = q_init.requires_grad_(True) # Need gradient for solver @@ -217,7 +217,7 @@ class RobotKinematics: solution_angles = ik_solver.solve(target_pose) if solution_angles.err_rot > 1e-3 or solution_angles.err_pos > 1e-2: print( - f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot} for target {target_pose}" + f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot} for target {target_pose}", ) return None return solution_angles.solutions.detach() @@ -243,7 +243,7 @@ def main(): target = event["value"].to_numpy() target = target.astype(np.float32) target = pk.Transform3d( - pos=target[:3], rot=torch.tensor(target[3:7]) + pos=target[:3], rot=torch.tensor(target[3:7]), ) solution = robot.compute_ik(target, last_known_state) metadata["encoding"] = "jointstate" @@ -258,14 +258,14 @@ def main(): target = pk.Transform3d( pos=target[:3], rot=pk.transforms.euler_angles_to_matrix( - torch.tensor(target[3:6]), convention="XYZ" + torch.tensor(target[3:6]), convention="XYZ", ), ) rob_target = ROB_TF.inverse().compose(target) solution = robot.compute_ik(rob_target, last_known_state) if solution is None: print( - "No IK Solution for :", target, "skipping this frame." + "No IK Solution for :", target, "skipping this frame.", ) continue @@ -273,11 +273,11 @@ def main(): delta_angles = solution - last_known_state valid = np.all( - (delta_angles >= -np.pi) & (delta_angles <= np.pi) + (delta_angles >= -np.pi) & (delta_angles <= np.pi), ) if not valid: print( - "IK solution is not valid, as the rotation are too wide. skipping." + "IK solution is not valid, as the rotation are too wide. skipping.", ) continue metadata["encoding"] = "jointstate" From e02d1db2be4446edc2e8651ba6e47d686761df93 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Fri, 2 May 2025 18:06:28 +0200 Subject: [PATCH 112/135] Removve unnecessary files --- Cargo.lock | 338 ++++------------------ examples/so100-remote/follower.right.json | 50 ---- examples/so100-remote/parse_keyboard.py | 95 ------ examples/so100-remote/qwenvl-remote.yml | 185 ++++++++++++ examples/so100-remote/test.yml | 57 ---- node-hub/dora-rustypot/Cargo.toml | 2 +- node-hub/feetech-client/README.md | 6 +- 7 files changed, 249 insertions(+), 484 deletions(-) delete mode 100644 examples/so100-remote/follower.right.json delete mode 100644 examples/so100-remote/parse_keyboard.py create mode 100644 examples/so100-remote/qwenvl-remote.yml delete mode 100644 examples/so100-remote/test.yml diff --git a/Cargo.lock b/Cargo.lock index 88fb6004..02aef736 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -1492,7 +1492,7 @@ dependencies = [ name = "benchmark-example-node" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "futures", "rand 0.8.5", @@ -1505,7 +1505,7 @@ dependencies = [ name = "benchmark-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "tracing", "tracing-subscriber", @@ -3070,19 +3070,6 @@ dependencies = [ "num", ] -[[package]] -name = "dora-arrow-convert" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d65f654a79d32d436400dd15ef5b6ef02bf4913037e61d0de5a037118b6c2a02" -dependencies = [ - "arrow 54.2.1", - "chrono", - "eyre", - "half", - "num", -] - [[package]] name = "dora-cli" version = "0.3.11" @@ -3093,14 +3080,14 @@ dependencies = [ "communication-layer-request-reply", "ctrlc", "dora-coordinator", - "dora-core 0.3.11", + "dora-core", "dora-daemon", "dora-download", - "dora-message 0.4.4", + "dora-message", "dora-node-api-c", "dora-operator-api-c", "dora-runtime", - "dora-tracing 0.3.11", + "dora-tracing", "duration-str", "env_logger 0.11.6", "eyre", @@ -3128,9 +3115,9 @@ name = "dora-coordinator" version = "0.3.11" dependencies = [ "ctrlc", - "dora-core 0.3.11", - "dora-message 0.4.4", - "dora-tracing 0.3.11", + "dora-core", + "dora-message", + "dora-tracing", "eyre", "futures", "futures-concurrency", @@ -3148,28 +3135,7 @@ dependencies = [ name = "dora-core" version = "0.3.11" dependencies = [ - "dora-message 0.4.4", - "eyre", - "log", - "once_cell", - "schemars", - "serde", - "serde-with-expand-env", - "serde_json", - "serde_yaml 0.9.34+deprecated", - "tokio", - "tracing", - "uuid 1.16.0", - "which", -] - -[[package]] -name = "dora-core" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f0b2d224efda6e1439574b56f85cf2b2ad02c821a8de64f427ac0390c4317dc1" -dependencies = [ - "dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-message", "eyre", "log", "once_cell", @@ -3194,19 +3160,19 @@ dependencies = [ "crossbeam", "crossbeam-skiplist", "ctrlc", - "dora-arrow-convert 0.3.11", - "dora-core 0.3.11", + "dora-arrow-convert", + "dora-core", "dora-download", - "dora-message 0.4.4", - "dora-node-api 0.3.11", - "dora-tracing 0.3.11", + "dora-message", + "dora-node-api", + "dora-tracing", "eyre", "flume 0.10.14", "futures", "futures-concurrency", "serde_json", "serde_yaml 0.8.26", - "shared-memory-server 0.3.11", + "shared-memory-server", "sysinfo 0.30.13", "tokio", "tokio-stream", @@ -3224,7 +3190,7 @@ dependencies = [ "bitstream-io", "bytemuck", "dav1d", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "log", "pyo3", @@ -3246,10 +3212,10 @@ name = "dora-examples" version = "0.0.0" dependencies = [ "dora-coordinator", - "dora-core 0.3.11", + "dora-core", "dora-download", - "dora-message 0.4.4", - "dora-tracing 0.3.11", + "dora-message", + "dora-tracing", "dunce", "eyre", "futures", @@ -3264,7 +3230,7 @@ dependencies = [ name = "dora-kit-car" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "dotenv", "eyre", "pyo3", @@ -3295,58 +3261,22 @@ dependencies = [ "uuid 1.16.0", ] -[[package]] -name = "dora-message" -version = "0.4.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f1115e6526977ec91e61d5bb282af26c398cc7002317b3842176dff9dbd6961b" -dependencies = [ - "aligned-vec", - "arrow-data 54.3.1", - "arrow-schema 54.3.1", - "bincode", - "eyre", - "log", - "once_cell", - "schemars", - "semver 1.0.26", - "serde", - "serde-with-expand-env", - "serde_yaml 0.9.34+deprecated", - "tokio", - "uhlc 0.5.2", - "uuid 1.16.0", -] - [[package]] name = "dora-metrics" version = "0.3.11" dependencies = [ "eyre", "opentelemetry 0.29.1", - "opentelemetry-otlp 0.29.0", - "opentelemetry-system-metrics 0.4.1", + "opentelemetry-otlp", + "opentelemetry-system-metrics", "opentelemetry_sdk 0.29.0", ] -[[package]] -name = "dora-metrics" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7339d7be2f4cd7544cff7b30069514609fab4fb418a4ff9273ca1c6069db0f8c" -dependencies = [ - "eyre", - "opentelemetry 0.28.0", - "opentelemetry-otlp 0.28.0", - "opentelemetry-system-metrics 0.3.1", - "opentelemetry_sdk 0.28.0", -] - [[package]] name = "dora-mistral-rs" version = "0.1.0" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "mistralrs", "tokio", @@ -3359,11 +3289,11 @@ dependencies = [ "aligned-vec", "arrow 54.2.1", "bincode", - "dora-arrow-convert 0.3.11", - "dora-core 0.3.11", - "dora-message 0.4.4", - "dora-metrics 0.3.11", - "dora-tracing 0.3.11", + "dora-arrow-convert", + "dora-core", + "dora-message", + "dora-metrics", + "dora-tracing", "eyre", "flume 0.10.14", "futures", @@ -3371,34 +3301,7 @@ dependencies = [ "futures-timer", "serde_json", "serde_yaml 0.8.26", - "shared-memory-server 0.3.11", - "shared_memory_extended", - "tokio", - "tracing", -] - -[[package]] -name = "dora-node-api" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b82429c204a8d22d3561980f14c7a10b746eebcfda57f5b63b2459488dcee2ec" -dependencies = [ - "aligned-vec", - "arrow 54.2.1", - "bincode", - "dora-arrow-convert 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", - "dora-core 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", - "dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)", - "dora-metrics 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", - "dora-tracing 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", - "eyre", - "flume 0.10.14", - "futures", - "futures-concurrency", - "futures-timer", - "serde_json", - "serde_yaml 0.8.26", - "shared-memory-server 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "shared-memory-server", "shared_memory_extended", "tokio", "tracing", @@ -3409,7 +3312,7 @@ name = "dora-node-api-c" version = "0.3.11" dependencies = [ "arrow-array 54.2.1", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "tracing", ] @@ -3421,7 +3324,7 @@ dependencies = [ "arrow 54.2.1", "cxx", "cxx-build", - "dora-node-api 0.3.11", + "dora-node-api", "dora-ros2-bridge", "dora-ros2-bridge-msg-gen", "eyre", @@ -3439,7 +3342,7 @@ dependencies = [ "arrow 54.2.1", "dora-daemon", "dora-download", - "dora-node-api 0.3.11", + "dora-node-api", "dora-operator-api-python", "dora-ros2-bridge-python", "dora-runtime", @@ -3456,7 +3359,7 @@ dependencies = [ name = "dora-object-to-pose" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "pyo3", ] @@ -3466,7 +3369,7 @@ name = "dora-openai-proxy-server" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "futures", "hyper 0.14.32", @@ -3486,7 +3389,7 @@ dependencies = [ name = "dora-operator-api" version = "0.3.11" dependencies = [ - "dora-arrow-convert 0.3.11", + "dora-arrow-convert", "dora-operator-api-macros", "dora-operator-api-types", ] @@ -3523,7 +3426,7 @@ dependencies = [ "aligned-vec", "arrow 54.2.1", "arrow-schema 54.3.1", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "flume 0.10.14", "futures", @@ -3537,7 +3440,7 @@ name = "dora-operator-api-types" version = "0.3.11" dependencies = [ "arrow 54.2.1", - "dora-arrow-convert 0.3.11", + "dora-arrow-convert", "safer-ffi", ] @@ -3547,7 +3450,7 @@ version = "0.3.11+fix1" dependencies = [ "avif-serialize", "bytemuck", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "log", "pyo3", @@ -3559,8 +3462,8 @@ name = "dora-record" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api 0.3.11", - "dora-tracing 0.3.11", + "dora-node-api", + "dora-tracing", "eyre", "parquet 54.2.1", "tokio", @@ -3572,7 +3475,7 @@ version = "0.3.11" dependencies = [ "bytemuck", "chrono", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "k", "ndarray 0.15.6", @@ -3640,14 +3543,14 @@ version = "0.3.11" dependencies = [ "aligned-vec", "arrow 54.2.1", - "dora-core 0.3.11", + "dora-core", "dora-download", - "dora-message 0.4.4", - "dora-metrics 0.3.11", - "dora-node-api 0.3.11", + "dora-message", + "dora-metrics", + "dora-node-api", "dora-operator-api-python", "dora-operator-api-types", - "dora-tracing 0.3.11", + "dora-tracing", "eyre", "flume 0.10.14", "futures", @@ -3666,7 +3569,7 @@ dependencies = [ name = "dora-rustypot" version = "0.1.0" dependencies = [ - "dora-node-api 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)", + "dora-node-api", "eyre", "rustypot", "serialport", @@ -3684,20 +3587,6 @@ dependencies = [ "tracing-subscriber", ] -[[package]] -name = "dora-tracing" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e50b8839c08b2ab87fd299b76d5a741647a76a22681a855d37ae099bdd77003f" -dependencies = [ - "eyre", - "opentelemetry 0.18.0", - "opentelemetry-jaeger", - "tracing", - "tracing-opentelemetry", - "tracing-subscriber", -] - [[package]] name = "dotenv" version = "0.15.0" @@ -7167,7 +7056,7 @@ dependencies = [ name = "multiple-daemons-example-node" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "futures", "rand 0.8.5", @@ -7185,7 +7074,7 @@ dependencies = [ name = "multiple-daemons-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] @@ -8066,20 +7955,6 @@ dependencies = [ "opentelemetry_sdk 0.18.0", ] -[[package]] -name = "opentelemetry" -version = "0.28.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "236e667b670a5cdf90c258f5a55794ec5ac5027e960c224bff8367a59e1e6426" -dependencies = [ - "futures-core", - "futures-sink", - "js-sys", - "pin-project-lite", - "thiserror 2.0.12", - "tracing", -] - [[package]] name = "opentelemetry" version = "0.29.1" @@ -8094,20 +7969,6 @@ dependencies = [ "tracing", ] -[[package]] -name = "opentelemetry-http" -version = "0.28.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a8863faf2910030d139fb48715ad5ff2f35029fc5f244f6d5f689ddcf4d26253" -dependencies = [ - "async-trait", - "bytes", - "http 1.3.1", - "opentelemetry 0.28.0", - "reqwest 0.12.15", - "tracing", -] - [[package]] name = "opentelemetry-http" version = "0.29.0" @@ -8139,27 +8000,6 @@ dependencies = [ "tokio", ] -[[package]] -name = "opentelemetry-otlp" -version = "0.28.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5bef114c6d41bea83d6dc60eb41720eedd0261a67af57b66dd2b84ac46c01d91" -dependencies = [ - "async-trait", - "futures-core", - "http 1.3.1", - "opentelemetry 0.28.0", - "opentelemetry-http 0.28.0", - "opentelemetry-proto 0.28.0", - "opentelemetry_sdk 0.28.0", - "prost", - "reqwest 0.12.15", - "thiserror 2.0.12", - "tokio", - "tonic", - "tracing", -] - [[package]] name = "opentelemetry-otlp" version = "0.29.0" @@ -8169,8 +8009,8 @@ dependencies = [ "futures-core", "http 1.3.1", "opentelemetry 0.29.1", - "opentelemetry-http 0.29.0", - "opentelemetry-proto 0.29.0", + "opentelemetry-http", + "opentelemetry-proto", "opentelemetry_sdk 0.29.0", "prost", "reqwest 0.12.15", @@ -8180,18 +8020,6 @@ dependencies = [ "tracing", ] -[[package]] -name = "opentelemetry-proto" -version = "0.28.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "56f8870d3024727e99212eb3bb1762ec16e255e3e6f58eeb3dc8db1aa226746d" -dependencies = [ - "opentelemetry 0.28.0", - "opentelemetry_sdk 0.28.0", - "prost", - "tonic", -] - [[package]] name = "opentelemetry-proto" version = "0.29.0" @@ -8213,21 +8041,6 @@ dependencies = [ "opentelemetry 0.18.0", ] -[[package]] -name = "opentelemetry-system-metrics" -version = "0.3.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "febe29a01146e142a724009278d86d80e6924acc91cedb0f508e7e14ddd06670" -dependencies = [ - "eyre", - "indexmap 2.8.0", - "nvml-wrapper", - "opentelemetry 0.28.0", - "sysinfo 0.33.1", - "tokio", - "tracing", -] - [[package]] name = "opentelemetry-system-metrics" version = "0.4.1" @@ -8280,27 +8093,6 @@ dependencies = [ "tokio-stream", ] -[[package]] -name = "opentelemetry_sdk" -version = "0.28.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "84dfad6042089c7fc1f6118b7040dc2eb4ab520abbf410b79dc481032af39570" -dependencies = [ - "async-trait", - "futures-channel", - "futures-executor", - "futures-util", - "glob", - "opentelemetry 0.28.0", - "percent-encoding", - "rand 0.8.5", - "serde_json", - "thiserror 2.0.12", - "tokio", - "tokio-stream", - "tracing", -] - [[package]] name = "opentelemetry_sdk" version = "0.29.0" @@ -11228,7 +11020,7 @@ name = "receive_data" version = "0.3.11" dependencies = [ "chrono", - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] @@ -11696,7 +11488,7 @@ dependencies = [ name = "rust-dataflow-example-node" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", "futures", "rand 0.8.5", @@ -11707,7 +11499,7 @@ dependencies = [ name = "rust-dataflow-example-sink" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] @@ -11715,7 +11507,7 @@ dependencies = [ name = "rust-dataflow-example-sink-dynamic" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] @@ -11723,7 +11515,7 @@ dependencies = [ name = "rust-dataflow-example-status-node" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] @@ -11742,7 +11534,7 @@ dependencies = [ name = "rust-ros2-dataflow-example-node" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "dora-ros2-bridge", "eyre", "futures", @@ -12617,20 +12409,6 @@ dependencies = [ "tracing", ] -[[package]] -name = "shared-memory-server" -version = "0.3.11" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f7bc3a6490bf74045c4eb9fce4374ca217ec0363ee6a76ba9b2dbc7c1f87da88" -dependencies = [ - "bincode", - "eyre", - "raw_sync_2", - "serde", - "shared_memory_extended", - "tracing", -] - [[package]] name = "shared_memory_extended" version = "0.13.0" @@ -13479,7 +13257,7 @@ dependencies = [ name = "terminal-print" version = "0.3.11" dependencies = [ - "dora-node-api 0.3.11", + "dora-node-api", "eyre", ] diff --git a/examples/so100-remote/follower.right.json b/examples/so100-remote/follower.right.json deleted file mode 100644 index 6219a71b..00000000 --- a/examples/so100-remote/follower.right.json +++ /dev/null @@ -1,50 +0,0 @@ -{ - "shoulder_pan": { - "id": 1, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "90": 0, "180": 90, "0": -90, "270": 180, "360": -90 }, - "logical_to_pwm": { "0": 90, "90": 180, "-180": -90, "-90": 0, "180": 270 } - }, - "shoulder_lift": { - "id": 2, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "270": -90, "180": 0, "0": 180, "90": 90, "360": -180 }, - "logical_to_pwm": { "-90": 270, "0": 180, "-180": 360, "90": 90, "180": 0 } - }, - "elbow_flex": { - "id": 3, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "90": 90, "180": 0, "0": 180, "270": -90, "360": -180 }, - "logical_to_pwm": { "90": 90, "0": 180, "-180": 360, "-90": 270, "180": 0 } - }, - "wrist_flex": { - "id": 4, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "180": 0, "270": 90, "0": -180, "90": -90, "360": 180 }, - "logical_to_pwm": { "0": 180, "90": 270, "-180": 0, "-90": 90, "180": 360 } - }, - "wrist_roll": { - "id": 5, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "270": -90, "0": 0, "90": -90, "180": -180, "360": 0 }, - "logical_to_pwm": { - "-90": 270, - "0": 360, - "-180": 180, - "90": 450, - "180": 540 - } - }, - "gripper": { - "id": 6, - "model": "sts3215", - "torque": true, - "pwm_to_logical": { "180": 0, "270": -90, "0": 180, "90": 90, "360": -180 }, - "logical_to_pwm": { "0": 180, "-90": 270, "-180": 360, "90": 90, "180": 0 } - } -} diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py deleted file mode 100644 index 2e0d84cb..00000000 --- a/examples/so100-remote/parse_keyboard.py +++ /dev/null @@ -1,95 +0,0 @@ -"""TODO: Add docstring.""" - -import time - -import pyarrow as pa -from dora import Node - -node = Node() - -target_y = -0.02 -target_x = 0.00 - -place_x = -0.02 -place_y = 0.2 -place_z = -0.48 -top_z = -0.44 -low_z = -0.57 - -roll = 1.86 -pitch = 1.43 -yaw_open = 0.8 -yaw_close = -0.5 - - -def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close): - node.send_output( - "action", - pa.array([target_x, target_y, top_z, roll, pitch, yaw_open]), - metadata={"encoding": "xyzrpy"}, - ) - - time.sleep(0.8) - - node.send_output( - "action", - pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]), - metadata={"encoding": "xyzrpy"}, - ) - time.sleep(0.2) - - - node.send_output( - "action", - pa.array([target_x, target_y, low_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - - time.sleep(1.0) - - node.send_output( - "action", - pa.array([target_x, target_y, top_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - - -def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close): - - node.send_output( - "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - - time.sleep(1.0) - - node.send_output( - "action", - pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - - time.sleep(1.0) - - node.send_output( - "action", - pa.array([place_x, place_y, place_z, roll, pitch, yaw_open]), - metadata={"encoding": "xyzrpy"}, - ) - time.sleep(0.5) - - node.send_output( - "action", - pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - - time.sleep(0.5) - - node.send_output( - "action", - pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]), - metadata={"encoding": "xyzrpy"}, - ) - diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml new file mode 100644 index 00000000..38e3ce72 --- /dev/null +++ b/examples/so100-remote/qwenvl-remote.yml @@ -0,0 +1,185 @@ +nodes: + - id: so100 + path: dora-rustypot + _unstable_deploy: + machine: local + inputs: + tick: dora/timer/millis/33 + pose: + source: pytorch-kinematics/action + queue_size: 100 + outputs: + - pose + env: + PORT: /dev/ttyACM0 + TORQUE: 2000 + IDS: 1 2 3 4 5 6 + + - id: camera + build: pip install -e ../../node-hub/dora-pyrealsense + path: dora-pyrealsense + _unstable_deploy: + machine: local + inputs: + tick: dora/timer/millis/33 + outputs: + - image + - depth + + - id: pytorch-kinematics + build: pip install node-hub/dora-pytorch-kinematics + path: dora-pytorch-kinematics + _unstable_deploy: + machine: gpu + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + inputs: + pose: so100/pose + action: + source: parse_pose/action + queue_size: 100 + outputs: + - pose + - action + env: + URDF_PATH: so100.urdf + END_EFFECTOR_LINK: "Moving Jaw" + TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 + + - id: plot + build: pip install -e ../../node-hub/dora-rerun + path: dora-rerun + _unstable_deploy: + machine: local + inputs: + #series_so100: so100/pose + # series_pose: pytorch-kinematics/pose + jointstate_so100: so100/pose + jointstate_so100_inference: pytorch-kinematics/action + camera/image: camera/image + camera/depth: camera/depth + text_whisper: dora-distil-whisper/text + text_vlm: dora-qwenvl/text + camera/boxes2d: parse_bbox/bbox + camera/masks: sam2/masks + env: + so100_urdf: so100.urdf + so100_inference_urdf: so100_inference.urdf + so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + CAMERA_PITCH: -3.1415 + + - id: dora-microphone + build: pip install node-hub/dora-microphone + path: dora-microphone + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: local + inputs: + tick: dora/timer/millis/2000 + outputs: + - audio + + - id: parse_whisper + path: examples/remote-so100/parse_whisper.py + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + text: dora-distil-whisper/text + outputs: + - text + + - id: dora-qwenvl + build: pip install node-hub/dora-qwen2-5-vl + path: dora-qwen2-5-vl + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + image: camera/image + text: parse_whisper/text + outputs: + - text + env: + DEFAULT_QUESTION: Output the bounding box of the suitcase. + IMAGE_RESIZE_RATIO: "1.0" + + - id: parse_bbox + path: examples/remote-so100/parse_bbox.py + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + text: dora-qwenvl/text + outputs: + - bbox + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: sam2 + build: pip install node-hub/dora-sam2 + path: dora-sam2 + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpus + inputs: + image: camera/image + boxes2d: parse_bbox/bbox + outputs: + - masks + + - id: box_coordinates + build: pip install node-hub/dora-object-to-pose + path: dora-object-to-pose + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + depth: camera/depth + masks: sam2/masks + outputs: + - pose + env: + CAMERA_PITCH: -3.1415 + + - id: parse_pose + path: examples/remote-so100/parse_pose.py + _unstable_deploy: + machine: gpu + inputs: + pose: box_coordinates/pose + outputs: + - action + + - id: dora-vad + build: pip install node-hub/dora-vad + path: dora-vad + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + audio: dora-microphone/audio + outputs: + - audio + + - id: dora-distil-whisper + build: pip install node-hub/dora-distil-whisper + path: dora-distil-whisper + git: https://github.com/dora-rs/dora.git + rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + _unstable_deploy: + machine: gpu + inputs: + input: dora-vad/audio + outputs: + - text + env: + TARGET_LANGUAGE: english diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml deleted file mode 100644 index 05cfb161..00000000 --- a/examples/so100-remote/test.yml +++ /dev/null @@ -1,57 +0,0 @@ -nodes: - - id: so100 - path: dora-rustypot - inputs: - tick: dora/timer/millis/33 - pose: pytorch-kinematics/action - outputs: - - pose - env: - PORT: /dev/ttyACM0 - TORQUE: true - IDS: 1 2 3 4 5 6 - - - id: parse_keyboard - path: parse_keyboard.py - outputs: - - action - - - 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 - action: parse_keyboard/action - outputs: - - pose - - action - env: - URDF_PATH: so100.urdf - END_EFFECTOR_LINK: "Moving Jaw" - TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 - - - id: plot - build: pip install -e ../../node-hub/dora-rerun - path: dora-rerun - inputs: - # series_pose: pytorch-kinematics/pose - series_so100_inference: pytorch-kinematics/action - jointstate_so100: so100/pose - jointstate_so100_inference: pytorch-kinematics/action - camera/image: camera/image - camera/depth: camera/depth - env: - so100_urdf: so100.urdf - so100_inference_urdf: so100_inference.urdf - so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 - so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 - CAMERA_PITCH: -3.1415 diff --git a/node-hub/dora-rustypot/Cargo.toml b/node-hub/dora-rustypot/Cargo.toml index 26ef058b..995cd808 100644 --- a/node-hub/dora-rustypot/Cargo.toml +++ b/node-hub/dora-rustypot/Cargo.toml @@ -6,7 +6,7 @@ edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [dependencies] -dora-node-api = "0.3.11" +dora-node-api = { workspace = true } eyre = "0.6.12" rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" } serialport = { version = "4.7.1", default-features = false } diff --git a/node-hub/feetech-client/README.md b/node-hub/feetech-client/README.md index 1c878127..4665a122 100644 --- a/node-hub/feetech-client/README.md +++ b/node-hub/feetech-client/README.md @@ -1,5 +1,9 @@ ## FeetechClient for SCS/STS motors +> [!WARNING] +> As of 02.05.2025, this node is no more supported and is replaced in favor of dora-rustypot for higher performance +> with the possibility of being able to handle more servomotors. + This node is a client for the Feetech motors. It is based on the Dynamixel SDK and is used to control the motors. It is a Python node that communicates with the motors via the USB port. @@ -97,4 +101,4 @@ the goal current for the motor at the beginning, null if you don't want to set i ## License -This library is licensed under the [Apache License 2.0](../../LICENSE). \ No newline at end of file +This library is licensed under the [Apache License 2.0](../../LICENSE). From 54f4147934a6e1eabcec96b4f27c24164b8a15b8 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 14 May 2025 15:41:24 +0200 Subject: [PATCH 113/135] Skip test for dora magma --- .github/workflows/node_hub_test.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index 71564fe1..e9e42836 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -5,7 +5,7 @@ set -euo ignored_folders=("dora-parler" "dora-magma") # Skip test -skip_test_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input") +skip_test_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input" "dora-magma") # Get current working directory dir=$(pwd) From c8257baa1494563c39adf2e891217355733d625c Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 19 May 2025 00:44:06 +0200 Subject: [PATCH 114/135] Minor fix --- examples/so100-remote/parse_pose.py | 5 +++-- examples/so100-remote/parse_whisper.py | 24 ++++++++++++++++++++++++ 2 files changed, 27 insertions(+), 2 deletions(-) diff --git a/examples/so100-remote/parse_pose.py b/examples/so100-remote/parse_pose.py index 24bad2f9..db4f0634 100644 --- a/examples/so100-remote/parse_pose.py +++ b/examples/so100-remote/parse_pose.py @@ -6,7 +6,7 @@ import pyarrow as pa from dora import Node node = Node() -top_z = -0.5 +top_z = -0.43 low_z = -0.57 roll = 1.86 @@ -127,9 +127,10 @@ for event in node: # Adjust z with the size of the gripper - z = z + 0.063 + z = z + 0.075 match action: case "grab": + y = y + -0.01 grab( x, y, diff --git a/examples/so100-remote/parse_whisper.py b/examples/so100-remote/parse_whisper.py index a667760c..390f1454 100644 --- a/examples/so100-remote/parse_whisper.py +++ b/examples/so100-remote/parse_whisper.py @@ -30,3 +30,27 @@ for event in node: pa.array([text]), {"image_id": "image", "action": "release"}, ) + + elif "make a hot dog" in text: + text = f"Given the prompt: grab the sausage. Output the bounding boxes for the given object" + node.send_output( + "text", pa.array([text]), {"image_id": "image", "action": "grab"} + ) + time.sleep(4.0) + + text = f"Given the prompt: put it in the black cooking grill. Output the bounding boxes for the given object" + node.send_output( + "text", pa.array([text]), {"image_id": "image", "action": "release"} + ) + time.sleep(3.0) + + text = f"Given the prompt: grab the sausage. Output the bounding boxes for the given object" + node.send_output( + "text", pa.array([text]), {"image_id": "image", "action": "grab"} + ) + time.sleep(1.6) + + text = f"Given the prompt: put it in the slice of bread. Output the bounding boxes for the given object" + node.send_output( + "text", pa.array([text]), {"image_id": "image", "action": "release"} + ) From 32c2b8e87b90ff770f58f503ca1b13e9f51c0744 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 26 May 2025 18:45:45 +0200 Subject: [PATCH 115/135] Bump rustypot to latest version --- node-hub/dora-rustypot/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/node-hub/dora-rustypot/Cargo.toml b/node-hub/dora-rustypot/Cargo.toml index 995cd808..5f0f24e8 100644 --- a/node-hub/dora-rustypot/Cargo.toml +++ b/node-hub/dora-rustypot/Cargo.toml @@ -8,5 +8,5 @@ edition = "2021" [dependencies] dora-node-api = { workspace = true } eyre = "0.6.12" -rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" } +rustypot = { version = "1.0" } serialport = { version = "4.7.1", default-features = false } From e46bef47d0abe74e963674263430e7b58dd2b284 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 27 May 2025 17:16:42 +0200 Subject: [PATCH 116/135] Bump rerun version --- node-hub/dora-rerun/Cargo.toml | 3 +-- node-hub/dora-rerun/pyproject.toml | 10 +++++----- node-hub/dora-rerun/src/lib.rs | 10 ++-------- 3 files changed, 8 insertions(+), 15 deletions(-) diff --git a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml index 90028ee9..edc8916b 100644 --- a/node-hub/dora-rerun/Cargo.toml +++ b/node-hub/dora-rerun/Cargo.toml @@ -17,9 +17,8 @@ python = ["pyo3"] dora-node-api = { workspace = true, features = ["tracing"] } eyre = "0.6.8" tokio = { version = "1.24.2", features = ["rt"] } -rerun = { version = "0.22.0", features = ["web_viewer", "image"] } +rerun = { version = "0.23.1", features = ["web_viewer", "image"] } ndarray = "0.15.6" -chrono = "=0.4.39" k = "0.32" pyo3 = { workspace = true, features = [ "extension-module", diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml index e06c5c54..5ff72b99 100644 --- a/node-hub/dora-rerun/pyproject.toml +++ b/node-hub/dora-rerun/pyproject.toml @@ -6,12 +6,9 @@ build-backend = "maturin" name = "dora-rerun" dynamic = ["version"] license = { text = "MIT" } -requires-python = ">=3.8" +requires-python = ">=3.10" -dependencies = [ - 'rerun_sdk==0.22.0', - # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git", -] +dependencies = ["rerun-loader-urdf", 'rerun_sdk==0.23.1'] scripts = { "dora-rerun" = "dora_rerun:py_main" } @@ -29,3 +26,6 @@ extend-select = [ "N", # Ruff's N rule "I", # Ruff's I rule ] + +[tool.uv.sources] +rerun-loader-urdf = { git = "thttps://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" } diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index e33bce50..c5bac11c 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -12,11 +12,7 @@ use dora_node_api::{ }; use eyre::{eyre, Context, Result}; -use rerun::{ - components::ImageBuffer, - external::{log::warn, re_types::ArrowBuffer}, - ImageFormat, Points3D, SpawnOptions, -}; +use rerun::{components::ImageBuffer, external::log::warn, ImageFormat, Points3D, SpawnOptions}; pub mod boxes2d; pub mod series; pub mod urdf; @@ -56,7 +52,7 @@ pub fn lib_main() -> Result<()> { let opt = std::env::var("RERUN_SERVER_ADDR").unwrap_or("127.0.0.1:9876".to_string()); rerun::RecordingStreamBuilder::new("dora-rerun") - .connect_tcp_opts(std::net::SocketAddr::V4(opt.parse()?), None) + .connect_grpc_opts(opt, None) .context("Could not connect to rerun visualization")? } Ok("SAVE") => { @@ -132,7 +128,6 @@ pub fn lib_main() -> Result<()> { let buffer: Vec = buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect(); image_cache.insert(id.clone(), buffer.clone()); - let buffer = ArrowBuffer::from(buffer); let image_buffer = ImageBuffer::try_from(buffer) .context("Could not convert buffer to image buffer")?; // let tensordata = ImageBuffer(buffer); @@ -147,7 +142,6 @@ pub fn lib_main() -> Result<()> { let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap(); image_cache.insert(id.clone(), buffer.values().to_vec()); let buffer: &[u8] = buffer.values(); - let buffer = ArrowBuffer::from(buffer); let image_buffer = ImageBuffer::try_from(buffer) .context("Could not convert buffer to image buffer")?; From c197c1475caa316359082d880616333928122d3e Mon Sep 17 00:00:00 2001 From: haixuantao Date: Tue, 27 May 2025 19:18:39 +0200 Subject: [PATCH 117/135] Remove extension in filename --- binaries/daemon/src/spawn.rs | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/binaries/daemon/src/spawn.rs b/binaries/daemon/src/spawn.rs index f1e6568d..bdbabf48 100644 --- a/binaries/daemon/src/spawn.rs +++ b/binaries/daemon/src/spawn.rs @@ -303,9 +303,15 @@ pub async fn spawn_node( } else if python_operators.is_empty() && other_operators { let current_exe = std::env::current_exe().wrap_err("failed to get current executable path")?; + let mut file_name = current_exe.clone(); + file_name.set_extension(""); + let file_name = file_name + .file_name() + .and_then(|s| s.to_str()) + .context("failed to get file name from current executable")?; // Check if the current executable is a dora binary - if current_exe.ends_with("dora") { + if file_name.ends_with("dora") { let mut cmd = tokio::process::Command::new( std::env::current_exe() .wrap_err("failed to get current executable path")?, @@ -314,7 +320,7 @@ pub async fn spawn_node( cmd // Check if the current executable is a python binary meaning that dora is installed within the python environment - } else if current_exe.ends_with("python") || current_exe.ends_with("python3") { + } else if file_name.ends_with("python") || file_name.ends_with("python3") { // Use the current executable to spawn runtime let mut cmd = tokio::process::Command::new( std::env::current_exe() From 94001c989fd127570f0f195215dba9552a9c83e9 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 28 May 2025 14:00:49 +0200 Subject: [PATCH 118/135] Use current python interpreter instead of python interpreter for non python operators --- binaries/daemon/src/spawn.rs | 25 ++++++++++--------------- 1 file changed, 10 insertions(+), 15 deletions(-) diff --git a/binaries/daemon/src/spawn.rs b/binaries/daemon/src/spawn.rs index bdbabf48..8b5685cb 100644 --- a/binaries/daemon/src/spawn.rs +++ b/binaries/daemon/src/spawn.rs @@ -310,22 +310,12 @@ pub async fn spawn_node( .and_then(|s| s.to_str()) .context("failed to get file name from current executable")?; - // Check if the current executable is a dora binary - if file_name.ends_with("dora") { - let mut cmd = tokio::process::Command::new( - std::env::current_exe() - .wrap_err("failed to get current executable path")?, - ); - cmd.arg("runtime"); - cmd - // Check if the current executable is a python binary meaning that dora is installed within the python environment - } else if file_name.ends_with("python") || file_name.ends_with("python3") { + if file_name.ends_with("python") || file_name.ends_with("python3") { // Use the current executable to spawn runtime - let mut cmd = tokio::process::Command::new( - std::env::current_exe() - .wrap_err("failed to get current executable path")?, - ); + let python = get_python_path() + .wrap_err("Could not find python path when spawning custom node")?; + let mut cmd = tokio::process::Command::new(python); tracing::info!( "spawning: python -uc import dora; dora.start_runtime() # {}", @@ -338,7 +328,12 @@ pub async fn spawn_node( ]); cmd } else { - bail!("Could not figure out dora installation. Could you try to reinstall dora or run it with `dora` command?"); + let mut cmd = tokio::process::Command::new( + std::env::current_exe() + .wrap_err("failed to get current executable path")?, + ); + cmd.arg("runtime"); + cmd } } else { bail!("Could not figure out dora installation. Could you try to reinstall dora or run it with `dora` command?"); From 173018de38fb14d80240dbed42c77787379d346f Mon Sep 17 00:00:00 2001 From: Soham Kute Date: Thu, 29 May 2025 21:43:05 +0530 Subject: [PATCH 119/135] Fix issue #1006: [Brief description of the fix] --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index aa4be735..a033841e 100644 --- a/README.md +++ b/README.md @@ -344,7 +344,7 @@ This project is licensed under Apache-2.0. Check out [NOTICE.md](NOTICE.md) for ## Further Resources πŸ“š -- [Zenoh Documentation](https://zenoh.io/docs/) +- [Zenoh Documentation](https://zenoh.io/docs/getting-started/first-app/) - [DORA Zenoh Discussion (GitHub Issue #512)](https://github.com/dora-rs/dora/issues/512) - [Dora Autoware Localization Demo](https://github.com/dora-rs/dora-autoware-localization-demo) From 91af570b48849f05d3f3bb99737be0cedab61599 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 10:57:01 +0200 Subject: [PATCH 120/135] Fixing cargo.lock and removing urdf --- Cargo.lock | 1377 +++++++++--------- examples/so100-remote/no_torque.yml | 8 +- examples/so100-remote/parse_pose.py | 8 +- examples/so100-remote/qwenvl-compression.yml | 180 +++ examples/so100-remote/qwenvl-remote.yml | 52 +- examples/so100-remote/qwenvl.yml | 13 +- examples/so100-remote/so100.urdf | 384 ----- examples/so100-remote/so100_inference.urdf | 384 ----- node-hub/dora-rerun/pyproject.toml | 2 +- 9 files changed, 885 insertions(+), 1523 deletions(-) create mode 100644 examples/so100-remote/qwenvl-compression.yml delete mode 100644 examples/so100-remote/so100.urdf delete mode 100644 examples/so100-remote/so100_inference.urdf diff --git a/Cargo.lock b/Cargo.lock index 02aef736..fa4f7c5b 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -400,12 +400,6 @@ version = "2.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc" -[[package]] -name = "array-init-cursor" -version = "0.2.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ed51fe0f224d1d4ea768be38c51f9f831dee9d05c163c11fba0b8c44387b1fc3" - 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"arrow-array 53.4.1", - "arrow-buffer 53.4.1", - "arrow-data 53.4.1", - "arrow-schema 53.4.1", - "arrow-select 53.4.1", - "memchr", + "arrow-array", + "arrow-buffer", + "arrow-data", + "arrow-schema", "num", - "regex", - "regex-syntax 0.8.5", ] [[package]] name = "arrow-string" -version = "54.2.1" +version = "54.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "912e38bd6a7a7714c1d9b61df80315685553b7455e8a6045c27531d8ecd5b458" +checksum = "a21546b337ab304a32cfc0770f671db7411787586b45b78b4593ae78e64e2b03" dependencies = [ - "arrow-array 54.2.1", - "arrow-buffer 54.3.1", - "arrow-data 54.3.1", - "arrow-schema 54.3.1", - "arrow-select 54.2.1", + "arrow-array", + "arrow-buffer", + "arrow-data", + "arrow-schema", + "arrow-select", "memchr", "num", "regex", @@ -1749,9 +1562,9 @@ checksum = "2d2c12f985c78475a6b8d629afd0c360260ef34cfef52efccdcfd31972f81c2e" [[package]] name = "cacache" -version = "12.0.0" +version = "13.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "142316461ed3a3dfcba10417317472da5bfd0461e4d276bf7c07b330766d9490" +checksum = "5c5063741c7b2e260bbede781cf4679632dd90e2718e99f7715e46824b65670b" dependencies = [ "digest", "either", @@ -2035,9 +1848,9 @@ dependencies = [ [[package]] name = "chrono" -version = "0.4.39" +version = "0.4.41" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7e36cc9d416881d2e24f9a963be5fb1cd90966419ac844274161d10488b3e825" +checksum = "c469d952047f47f91b68d1cba3f10d63c11d73e4636f24f08daf0278abf01c4d" dependencies = [ "android-tzdata", "iana-time-zone", @@ -2045,7 +1858,7 @@ dependencies = [ "num-traits", "serde", "wasm-bindgen", - "windows-targets 0.52.6", + "windows-link", ] [[package]] @@ -2286,6 +2099,16 @@ dependencies = [ name = "communication-layer-request-reply" version = "0.3.11" +[[package]] +name = "concat-idents" +version = "1.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f76990911f2267d837d9d0ad060aa63aaad170af40904b29461734c339030d4d" +dependencies = [ + "quote", + "syn 2.0.101", +] + [[package]] name = "concurrent-queue" version = "2.5.0" @@ -3063,7 +2886,7 @@ dependencies = [ name = "dora-arrow-convert" version = "0.3.11" dependencies = [ - "arrow 54.2.1", + "arrow", "chrono", "eyre", "half", @@ -3245,8 +3068,8 @@ name = "dora-message" version = "0.4.4" dependencies = [ "aligned-vec", - "arrow-data 54.3.1", - "arrow-schema 54.3.1", + "arrow-data", + "arrow-schema", "bincode", "eyre", "log", @@ -3287,7 +3110,7 @@ name = "dora-node-api" version = "0.3.11" dependencies = [ "aligned-vec", - "arrow 54.2.1", + "arrow", "bincode", "dora-arrow-convert", "dora-core", @@ -3311,7 +3134,7 @@ dependencies = [ name = "dora-node-api-c" version = "0.3.11" dependencies = [ - "arrow-array 54.2.1", + "arrow-array", "dora-node-api", "eyre", "tracing", @@ -3321,7 +3144,7 @@ dependencies = [ name = "dora-node-api-cxx" version = "0.3.11" dependencies = [ - "arrow 54.2.1", + "arrow", "cxx", "cxx-build", "dora-node-api", @@ -3339,7 +3162,7 @@ dependencies = [ name = "dora-node-api-python" version = "0.3.11" dependencies = [ - "arrow 54.2.1", + "arrow", "dora-daemon", "dora-download", "dora-node-api", @@ -3424,8 +3247,8 @@ name = "dora-operator-api-python" version = "0.3.11" dependencies = [ "aligned-vec", - "arrow 54.2.1", - "arrow-schema 54.3.1", + "arrow", + "arrow-schema", "dora-node-api", "eyre", "flume 0.10.14", @@ -3439,7 +3262,7 @@ dependencies = [ name = "dora-operator-api-types" version = "0.3.11" dependencies = [ - "arrow 54.2.1", + "arrow", "dora-arrow-convert", "safer-ffi", ] @@ -3465,7 +3288,7 @@ dependencies = [ "dora-node-api", "dora-tracing", "eyre", - "parquet 54.2.1", + "parquet", "tokio", ] @@ -3474,7 +3297,6 @@ name = "dora-rerun" version = "0.3.11" dependencies = [ "bytemuck", - "chrono", "dora-node-api", "eyre", "k", @@ -3527,7 +3349,7 @@ dependencies = [ name = "dora-ros2-bridge-python" version = "0.3.11" dependencies = [ - "arrow 54.2.1", + "arrow", "dora-ros2-bridge", "dora-ros2-bridge-msg-gen", "eyre", @@ -3542,7 +3364,7 @@ name = "dora-runtime" version = "0.3.11" dependencies = [ "aligned-vec", - "arrow 54.2.1", + "arrow", "dora-core", "dora-download", "dora-message", @@ -3672,6 +3494,7 @@ dependencies = [ "egui-wgpu", "egui-winit", "egui_glow", + "glow", "glutin", "glutin-winit", "home", @@ -3759,6 +3582,17 @@ dependencies = [ "winit", ] +[[package]] +name = "egui_animation" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "46505945185b7ec0ecfac9aee8dfc824c7ab9aeecee89a0bc3cc80d072f5f73d" +dependencies = [ + "egui", + "hello_egui_utils", + "simple-easing", +] + [[package]] name = "egui_commonmark" version = "0.20.0" @@ -3782,6 +3616,18 @@ dependencies = [ "pulldown-cmark 0.12.2", ] +[[package]] +name = "egui_dnd" +version = "0.12.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "85cbf1f1f9276b83eedb1259495570b8608437270c5cc729b734530e7f20d634" +dependencies = [ + "egui", + "egui_animation", + "simple-easing", + "web-time", +] + [[package]] name = "egui_extras" version = "0.31.1" @@ -3820,9 +3666,9 @@ dependencies = [ [[package]] name = "egui_plot" -version = "0.31.0" +version = "0.32.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1794c66fb727dac28dffed2e4b548e5118d1cccc331d368a35411d68725dde71" +checksum = "14ae092b46ea532f6c69d3e71036fb3b688fd00fd09c2a1e43d17051a8ae43e6" dependencies = [ "ahash", "egui", @@ -4114,12 +3960,6 @@ dependencies = [ "windows-sys 0.48.0", ] -[[package]] -name = "ethnum" -version = "1.5.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ca81e6b4777c89fd810c25a4be2b1bd93ea034fbe58e6a75216a34c6b82c539b" - [[package]] name = "event-listener" version = "2.5.3" @@ -4158,21 +3998,6 @@ dependencies = [ "pin-project-lite", ] -[[package]] -name = "ewebsock" -version = "0.8.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "679247b4a005c82218a5f13b713239b0b6d484ec25347a719f5b7066152a748a" -dependencies = [ - "document-features", - "js-sys", - "log", - "tungstenite", - "wasm-bindgen", - "wasm-bindgen-futures", - "web-sys", -] - [[package]] name = "exr" version = "1.73.0" @@ -4421,12 +4246,6 @@ version = "0.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "aa9a19cbb55df58761df49b23516a86d432839add4af60fc256da840f66ed35b" -[[package]] -name = "foreign_vec" -version = "0.1.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ee1b05cbd864bcaecbd3455d6d967862d446e4ebfc3c2e5e5b9841e53cba6673" - [[package]] name = "form_urlencoded" version = "1.2.1" @@ -5135,12 +4954,6 @@ dependencies = [ "rand_distr", ] -[[package]] -name = "hash_hasher" -version = "2.0.3" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "74721d007512d0cb3338cd20f0654ac913920061a4c4d0d8708edb3f2a698c0c" - [[package]] name = "hashbrown" version = "0.12.3" @@ -5189,6 +5002,17 @@ version = "0.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea" +[[package]] +name = "hello_egui_utils" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "231af567fb0427750cfd0758c9e2793f303bfcb9e061ab2db63d388db22414b9" +dependencies = [ + "concat-idents", + "eframe", + "egui", +] + [[package]] name = "hermit-abi" version = "0.1.19" @@ -5337,14 +5161,14 @@ dependencies = [ [[package]] name = "http-cache" -version = "0.18.0" +version = "0.20.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5b5ab65432bbdfe8490dfde21d0366353a8d39f2bc24aca0146889f931b0b4b5" +checksum = "7e883defacf53960c7717d9e928dc8667be9501d9f54e6a8b7703d7a30320e9c" dependencies = [ "async-trait", "bincode", "cacache", - "http 0.2.12", + "http 1.3.1", "http-cache-semantics", "httpdate", "serde", @@ -5353,29 +5177,28 @@ dependencies = [ [[package]] name = "http-cache-reqwest" -version = "0.13.0" +version = "0.15.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9c8285341ce7e709c56a0f259ff1c789c70edfbaa88acd69d27e4d63980b92dc" +checksum = "e076afd9d376f09073b515ce95071b29393687d98ed521948edb899195595ddf" dependencies = [ "anyhow", "async-trait", - "http 0.2.12", + "http 1.3.1", "http-cache", "http-cache-semantics", - "reqwest 0.11.27", + "reqwest 0.12.15", "reqwest-middleware", "serde", - "task-local-extensions", "url", ] [[package]] name = "http-cache-semantics" -version = "1.0.2" +version = "2.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7aec9f678bca3f4a15194b980f20ed9bfe0dd38e8d298c65c559a93dfbd6380a" +checksum = "92baf25cf0b8c9246baecf3a444546360a97b569168fdf92563ee6a47829920c" dependencies = [ - "http 0.2.12", + "http 1.3.1", "http-serde", "serde", "time 0.3.41", @@ -5383,11 +5206,11 @@ dependencies = [ [[package]] name = "http-serde" -version = "1.1.3" +version = "2.1.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6f560b665ad9f1572cfcaf034f7fb84338a7ce945216d64a90fd81f046a3caee" +checksum = "0f056c8559e3757392c8d091e796416e4649d8e49e88b8d76df6c002f05027fd" dependencies = [ - "http 0.2.12", + "http 1.3.1", "serde", ] @@ -5868,17 +5691,6 @@ dependencies = [ "unicode-width 0.1.14", ] -[[package]] -name = "insta" -version = "1.43.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "154934ea70c58054b556dd430b99a98c2a7ff5309ac9891597e339b5c28f4371" -dependencies = [ - "console", - "once_cell", - "similar", -] - [[package]] name = "instant" version = "0.1.13" @@ -6083,6 +5895,49 @@ dependencies = [ "bitstream-io", ] +[[package]] +name = "jiff" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a194df1107f33c79f4f93d02c80798520551949d59dfad22b6157048a88cca93" +dependencies = [ + "jiff-static", + "jiff-tzdb-platform", + "js-sys", + "log", + "portable-atomic", + "portable-atomic-util", + "serde", + "wasm-bindgen", + "windows-sys 0.59.0", +] + +[[package]] +name = "jiff-static" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6c6e1db7ed32c6c71b759497fae34bf7933636f75a251b9e736555da426f6442" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.101", +] + +[[package]] +name = "jiff-tzdb" +version = "0.1.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c1283705eb0a21404d2bfd6eef2a7593d240bc42a0bdb39db0ad6fa2ec026524" + +[[package]] +name = "jiff-tzdb-platform" +version = "0.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "875a5a69ac2bab1a891711cf5eccbec1ce0341ea805560dcd90b7a2e925132e8" +dependencies = [ + "jiff-tzdb", +] + [[package]] name = "jni" version = "0.21.1" @@ -6534,9 +6389,9 @@ dependencies = [ [[package]] name = "lru" -version = "0.12.5" +version = "0.13.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "234cf4f4a04dc1f57e24b96cc0cd600cf2af460d4161ac5ecdd0af8e1f3b2a38" +checksum = "227748d55f2f0ab4735d87fd623798cb6b664512fe979705f829c9f81c934465" dependencies = [ "hashbrown 0.15.2", ] @@ -8236,71 +8091,42 @@ dependencies = [ [[package]] name = "parquet" -version = "53.4.1" +version = "54.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2f8cf58b29782a7add991f655ff42929e31a7859f5319e53db9e39a714cb113c" +checksum = "bfb15796ac6f56b429fd99e33ba133783ad75b27c36b4b5ce06f1f82cc97754e" dependencies = [ "ahash", - "arrow-array 53.4.1", - "arrow-buffer 53.4.1", - "arrow-cast 53.4.1", - "arrow-data 53.4.1", - "arrow-ipc 53.4.1", - "arrow-schema 53.4.1", - "arrow-select 53.4.1", + "arrow-array", + "arrow-buffer", + "arrow-cast", + "arrow-data", + "arrow-ipc", + "arrow-schema", + "arrow-select", "base64 0.22.1", + "brotli", "bytes", "chrono", + "flate2", + "futures", "half", "hashbrown 0.15.2", + "lz4_flex", "num", "num-bigint", "paste", "seq-macro", + "simdutf8", "snap", "thrift 0.17.0", + "tokio", "twox-hash", + "zstd", ] [[package]] -name = "parquet" -version = "54.2.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f88838dca3b84d41444a0341b19f347e8098a3898b0f21536654b8b799e11abd" -dependencies = [ - "ahash", - "arrow-array 54.2.1", - "arrow-buffer 54.3.1", - "arrow-cast 54.2.1", - "arrow-data 54.3.1", - "arrow-ipc 54.2.1", - "arrow-schema 54.3.1", - "arrow-select 54.2.1", - "base64 0.22.1", - "brotli", - "bytes", - "chrono", - "flate2", - "futures", - "half", - "hashbrown 0.15.2", - 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"itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "once_cell", "re_entity_db", @@ -9732,6 +9532,7 @@ dependencies = [ "re_tracing", "re_types", "re_ui", + "re_uri", "re_viewer_context", "re_viewport_blueprint", "static_assertions", @@ -9739,13 +9540,13 @@ dependencies = [ [[package]] name = "re_crash_handler" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "584bdf3f0bef37cbb110426aed15fc916b11bb6c31f3e33eaa3a5af38588c671" +checksum = "a745bfcaacc73685d3985c5469e49e82ffa9e7cbf289720f51f2305d6d048ec1" dependencies = [ "backtrace", "econtext", - "itertools 0.13.0", + "itertools 0.14.0", "libc", "parking_lot", "re_analytics", @@ -9754,26 +9555,26 @@ dependencies = [ [[package]] name = "re_data_loader" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "027a0ac4d8dd0cdf10a819d6832c8dae2b353f99678ae5fb9b7493f2201b823e" +checksum = "e60ef0c0c7cc6355ed204226a3c9cb3da44ce88167e5b12f54e3c91f2240a64e" dependencies = [ "ahash", "anyhow", - 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"image", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "re_byte_size", "re_capabilities", @@ -9836,19 +9639,19 @@ dependencies = [ "re_ui", "re_video", "re_viewer_context", + "rexif", "unindent", ] [[package]] name = "re_dataframe" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "640bb9350ab451b9acd068947421d642c64d3a60fadf80c57a6296dafe47ff42" +checksum = "5303d8bd7f8770342e117e52ddd47b4c007215d932377a546dcef832cf7102f7" dependencies = [ "anyhow", - "arrow 53.4.1", - "insta", - "itertools 0.13.0", + "arrow", + "itertools 0.14.0", "nohash-hasher", "rayon", "re_arrow_util", @@ -9856,23 +9659,47 @@ dependencies = [ "re_chunk_store", "re_format_arrow", "re_log", - "re_log_encoding", "re_log_types", "re_query", + "re_sorbet", "re_tracing", "re_types_core", ] +[[package]] +name = "re_dataframe_ui" +version = "0.23.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9f61b4ed6406f799bc737629bbb427f6bca2b55d296b42a16b7492d5868416cb" +dependencies = [ + "ahash", + "arrow", + "egui", + "egui_dnd", + "re_arrow_util", + "re_chunk_store", + "re_dataframe", + "re_log_types", + "re_sorbet", + "re_tracing", + "re_types", + "re_types_core", + "re_ui", + "re_viewer_context", + "serde", + "thiserror 1.0.69", +] + [[package]] name = "re_entity_db" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bd5c275f13935dcbd3b294f8bcbf1cae392c6517fd70ed43ec7dca24ae3b3299" +checksum = "d0d5a4861c50b1d920b17fa5d57340a5ddea6e08284392c975fa607df8e39e1c" dependencies = [ "ahash", "document-features", "emath", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "parking_lot", "re_build_info", @@ -9895,38 +9722,94 @@ dependencies = [ [[package]] name = "re_error" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "baeb51e70c152696f94b099d9898ea836e72b068bc3883340b333df4577c1aaf" +checksum = "bd80ae3991ad4e631f7d6dfa1e01500812f8f25875d5f2620759626a6c3eda4f" [[package]] name = "re_format" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "12f71a2dd1cd3983c087a9b7690f271edb463532172981987b77c86c521d9e98" +checksum = "2bada3b35b0f5228a1c87573aebd34743c08e9f129053478524ecac02ccb2e37" dependencies = [ "num-traits", ] [[package]] name = "re_format_arrow" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e3401e90f499202df7ca8a80bedc30435c5d2b82bcd6e79b7234b27e7816c016" +checksum = "4eac798346bb79095b69d8c14ad25ef90605fa18f7f027f30f97dd07a94ce77b" dependencies = [ - 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"anyhow", - "arrow 53.4.1", + "arrow", "backtrace", "bytemuck", "clean-path", "document-features", "fixed", "half", - "itertools 0.13.0", + "itertools 0.14.0", + "jiff", "natord", "nohash-hasher", "num-derive", "num-traits", - "re_arrow2", "re_arrow_util", "re_build_info", "re_byte_size", @@ -10008,10 +9892,8 @@ dependencies = [ "re_tuid", "re_types_core", "serde", - "serde_bytes", "static_assertions", "thiserror 1.0.69", - "time 0.3.41", "typenum", "uuid 1.16.0", "web-time", @@ -10029,14 +9911,14 @@ dependencies = [ [[package]] name = "re_memory" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3f2064e1fc2aa66df7698cb10b058724ee8281d7641db09e649d1d1ea08601ff" +checksum = "e4ee4a108c2cb4ec3224fb68c4d32c7d8e6365f51739fb96223327f18ee193ac" dependencies = [ "ahash", "backtrace", "emath", - "itertools 0.13.0", + "itertools 0.14.0", "memory-stats", "nohash-hasher", "once_cell", @@ -10066,34 +9948,38 @@ dependencies = [ [[package]] name = "re_protos" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7d3731719bf29d23b0922813f3cfeaf00eda303dfaa47821065a225b1a07b884" +checksum = "76fb1465af7370c02efd660fb2d84b1dea63eb13874c4f5ee18c3b482217a6f9" dependencies = [ - "arrow 53.4.1", + "arrow", + "jiff", "prost", + "prost-types", "re_build_info", "re_byte_size", + "re_chunk", "re_log_types", "re_sorbet", "re_tuid", + "serde", "thiserror 1.0.69", "tonic", - "tonic-web-wasm-client", + "url", ] [[package]] name = "re_query" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "24fd2cfa139497fc8a3ca08fdaf5f7e2a639bc9e271b87cb4fe518d130bf9735" +checksum = "1e5dcbcb0c14bdb0fcd188f3701e5d2ac2bb9574d2d04dc6568a0436a2102173" dependencies = [ "ahash", "anyhow", - "arrow 53.4.1", + "arrow", "backtrace", "indent", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "parking_lot", "paste", @@ -10134,11 +10020,45 @@ dependencies = [ "zerocopy 0.7.35", ] +[[package]] +name = "re_redap_browser" +version = "0.23.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e2b77a1c5aad96b817908e66454ed6eabd40b5d36f04d5fe14188920382aef12" +dependencies = [ + "ahash", + "arrow", + "egui", + "egui_table", + "itertools 0.14.0", + "once_cell", + "re_arrow_util", + "re_data_ui", + "re_dataframe_ui", + "re_grpc_client", + "re_log", + "re_log_encoding", + "re_log_types", + "re_protos", + "re_smart_channel", + "re_sorbet", + "re_types", + "re_types_core", + "re_ui", + "re_uri", + "re_viewer_context", + "serde", + "thiserror 1.0.69", + "tokio-stream", + "tonic", + "url", +] + [[package]] name = "re_renderer" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "18dcb202616e6ff7967d1f03438408d49c17348aa4d143e90f3a786bc2d758b3" +checksum = "619a6e59823932ae42c28331dc0290c0f6e02ca11fbcfe0c9ee0ed9451284681" dependencies = [ "ahash", "anyhow", @@ -10155,7 +10075,7 @@ dependencies = [ "glam", "gltf", "half", - "itertools 0.13.0", + "itertools 0.14.0", "js-sys", "never", "notify 6.1.1", @@ -10187,65 +10107,52 @@ dependencies = [ [[package]] name = "re_sdk" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "136f1b37fb360b7e23d8ff95b0c13964419c8d4c95ace609ee6a34a243b29ff2" +checksum = "f3f3a55c1b18e664c720d12abfd5dd3c2b09255b0595917447d78f9e0224fb88" dependencies = [ "ahash", + "const_format", "crossbeam", "document-features", - "itertools 0.13.0", + "itertools 0.14.0", "libc", "nohash-hasher", "once_cell", "parking_lot", + "percent-encoding", "re_build_info", "re_build_tools", "re_byte_size", "re_chunk", "re_data_loader", + "re_grpc_client", + "re_grpc_server", "re_log", "re_log_encoding", "re_log_types", "re_memory", - "re_sdk_comms", "re_smart_channel", - "re_types_core", + "re_types", + "re_uri", "re_web_viewer_server", - "re_ws_comms", "thiserror 1.0.69", + "tokio", "webbrowser 1.0.4", ] -[[package]] -name = "re_sdk_comms" -version = "0.22.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0f029e203331dafdf0882b26ca8548f5a290116db45c8b19caa309e6107d9480" -dependencies = [ - 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"arrow 53.4.1", + "arrow", + "itertools 0.14.0", + "nohash-hasher", + "re_arrow_util", + "re_format_arrow", "re_log", "re_log_types", + "re_tracing", + "re_tuid", "re_types_core", "thiserror 1.0.69", ] [[package]] name = "re_string_interner" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "64360b8b434a72ea1087a2a90f1c2b3f638b401d22437eae9c616fa44a635f8d" +checksum = "fe2bf9b68c4268bbb71ad96f12e021c304221b604963fc2aba961f9ab4327622" dependencies = [ "ahash", "nohash-hasher", @@ -10307,12 +10222,12 @@ dependencies = [ [[package]] name = "re_time_panel" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a3a57f1a7a41fa82098b3a4a4a26f48bb9d9e7dadd9bd8cc7d268b2efd51bf68" +checksum = "3d7e53e0a768687479ab1225cb203c849996c0d91f8989de7f43fd2eb28514ad" dependencies = [ "egui", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "once_cell", "re_chunk_store", @@ -10336,9 +10251,9 @@ dependencies = [ [[package]] name = "re_tracing" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d0bb55d18b9401b769ddab6ab88aca2b3d124ae7441c3b163eda829615c052a5" +checksum = "6a2748417f58338c55e33dc145a76271251d31b1d1b3c8e1a5a5320fb4d1db3c" dependencies = [ "puffin", "puffin_http", @@ -10349,10 +10264,11 @@ dependencies = [ [[package]] name = "re_tuid" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ab0df70fff54c1f54f7bd5545fdc5657f6d54fa5b9ccd888e28e72d7a4c36edd" +checksum = "9485126a443246010ff3ddb146b19ef2a181bdcf0b7d53d2b9c4145bb1c4009a" dependencies = [ + "bytemuck", "document-features", "getrandom 0.2.15", "once_cell", @@ -10363,13 +10279,13 @@ dependencies = [ [[package]] name = "re_types" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cb54e2ab3b830a2bf5b046bf8cfe988232877ee24f8ae5bd4a9b6ddb15044c2d" +checksum = "06c7de8c28c83c0448c0c0a9d5ab43180b0180741bbaeec2495d2257b637e417" dependencies = [ "anyhow", "array-init", - "arrow 53.4.1", + "arrow", "bytemuck", "document-features", "ecolor", @@ -10379,7 +10295,7 @@ dependencies = [ "half", "image", "infer", - "itertools 0.13.0", + "itertools 0.14.0", "linked-hash-map", "mime_guess2", "ndarray 0.16.1", @@ -10400,28 +10316,27 @@ dependencies = [ "re_video", "smallvec", "thiserror 1.0.69", + "tiff", "uuid 1.16.0", ] [[package]] name = "re_types_builder" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4e70a48296d818032a5d48145f7ce2df527f5f483544046d3bcb48a7ab3873fc" +checksum = "3b48b03120d689ff6d6a112f04216e3ff4ed437667cea76b824cb13822914451" dependencies = [ "anyhow", - "arrow 53.4.1", "camino", "clang-format", "colored", "flatbuffers", "indent", - "itertools 0.13.0", + "itertools 0.14.0", "prettyplease 0.2.25", "proc-macro2", "quote", "rayon", - "re_arrow2", "re_build_tools", "re_case", "re_error", @@ -10438,17 +10353,17 @@ dependencies = [ [[package]] name = "re_types_core" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "08b4d6ea5eb0c3d7fc7a7dcdb28271193cac539cc297f70ea68791537a3ed34f" +checksum = "5f48a3f00a5a503cabc7698e296c95f0ea8856083ede6bd84c679d39d597ec0a" dependencies = [ "anyhow", - "arrow 53.4.1", + "arrow", "backtrace", "bytemuck", "document-features", "half", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "once_cell", "re_arrow_util", @@ -10465,19 +10380,19 @@ dependencies = [ [[package]] name = "re_ui" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d857207b83314273b0425b3151913cf085389b99d33f40a50984152ade3cccbc" +checksum = "e09baa5e611391d7351a49d346b9b4bfdbf9188b4da1884b9a90c7e9e9931efc" dependencies = [ "ahash", - "arrow 53.4.1", + "arrow", "eframe", "egui", "egui_commonmark", "egui_extras", "egui_tiles", "getrandom 0.2.15", - "itertools 0.13.0", + "itertools 0.14.0", "once_cell", "parking_lot", "re_arrow_util", @@ -10496,18 +10411,32 @@ dependencies = [ "url", ] +[[package]] +name = "re_uri" +version = "0.23.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d7069d4503181d2a3bd0691059c52e9312125f3e9235f5062459671074eb7b07" +dependencies = [ + "re_log", + "re_log_types", + "re_tuid", + "serde", + "thiserror 1.0.69", + "url", +] + [[package]] name = "re_video" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e128090fb57ae644aaa29a511d46ea44f24e7f87cd125087da38a1d074bc93c5" +checksum = "4fca7e997c713ecf366d8ed3a51a397f1a8b29d8bd5d773d66799fc01fdef78e" dependencies = [ "bit-vec", "cfg_aliases", "crossbeam", "econtext", "ffmpeg-sidecar", - "itertools 0.13.0", + "itertools 0.14.0", "js-sys", "once_cell", "parking_lot", @@ -10526,15 +10455,15 @@ dependencies = [ [[package]] name = "re_view" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d13558c036126190dc41835a213daa62c9816dd5b1ead69f74c3f8818e22e2a1" +checksum = "f490ad3de3829ec2e0b40ab04a4f5f6fff469278e4b34f8c19765a1b3d2bfe11" dependencies = [ "ahash", - "arrow 53.4.1", + "arrow", "egui", "glam", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "re_chunk_store", "re_entity_db", @@ -10552,9 +10481,9 @@ dependencies = [ [[package]] name = "re_view_bar_chart" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1656cfc9bd99c2ad392e29219c64dfb6c651ec8516fa5ef90c2da8b66a2784b3" +checksum = "61d4822050e2c8827409a7cb1a901cde4f19df4f0dd62699b500e62a2cee45be" dependencies = [ "egui", "egui_plot", @@ -10572,42 +10501,42 @@ dependencies = [ [[package]] name = "re_view_dataframe" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5419943c8955a9cdca6c5139368ccdbf3cdbc988250acf0ca980535af69e4fdd" +checksum = "c58e50926d9a879ecbdcfd22247283c61bf2b6d9d9e1e6cb8ebc9660e81b6045" dependencies = [ "anyhow", - "arrow 53.4.1", + "arrow", "egui", "egui_table", - "itertools 0.13.0", - "re_arrow_util", + "itertools 0.14.0", "re_chunk_store", "re_dataframe", + "re_dataframe_ui", "re_error", "re_format", "re_log", "re_log_types", "re_renderer", + "re_sorbet", "re_tracing", "re_types", "re_types_core", "re_ui", "re_viewer_context", "re_viewport_blueprint", - "thiserror 1.0.69", ] [[package]] name = "re_view_graph" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4f35302f99e53eaea66e1733ecdb0fef1e2d41eaaf7b22d4f4c776103239ed84" +checksum = "d26cb1dfd28e7a4725b2d3ea9996f7357d53e534d5d3fe71651c848c3d3251b6" dependencies = [ "ahash", "egui", "fjadra", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "re_chunk", "re_data_ui", @@ -10627,14 +10556,14 @@ dependencies = [ [[package]] name = "re_view_map" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0959f3c67ef847199be0645c20fb730b948099a46a3154520dc70adb54d0666a" +checksum = "aa8538285c4b75628c093a60771f6d0cc1c01eec3ac82039b6e9c83e110f6774" dependencies = [ "bytemuck", "egui", "glam", - "itertools 0.13.0", + "itertools 0.14.0", "re_data_ui", "re_entity_db", "re_log", @@ -10653,20 +10582,20 @@ dependencies = [ [[package]] name = "re_view_spatial" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c892006527f9ec96cd1ed284b1930c60d328ade331e04007d3cad28ea8e2a7b8" +checksum = "305425ed716c94f1dd4bbccbacee7c0fc118cdf8d1470ddf0f5d82370f1fa35b" dependencies = [ "ahash", "anyhow", - "arrow 53.4.1", + "arrow", "bitflags 2.9.0", "bytemuck", "egui", "glam", "hexasphere", "image", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "once_cell", "ordered-float 4.6.0", @@ -10696,9 +10625,9 @@ dependencies = [ [[package]] name = "re_view_tensor" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "80292c7204aeb64bb13a7a85258f647addab9bf1dc4367f9c48317d6bfb34d54" +checksum = "3f4307d93518498313ec35dc7c085198bbb7b9a2f8b24b77db95208488294ab7" dependencies = [ "anyhow", "bytemuck", @@ -10722,9 +10651,9 @@ dependencies = [ [[package]] name = "re_view_text_document" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ed11ce3840e7ebe89c8f39944000ecb9ba82182f2dfa956697bdf8f324b602a5" +checksum = "1d5aae4c9b41fc3d78bba572b58b1785f70605123371ae2a77fb94bd3438bb0c" dependencies = [ "egui", "egui_commonmark", @@ -10739,13 +10668,13 @@ dependencies = [ [[package]] name = "re_view_text_log" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e0c29d5ded058d85800a710a06eff069748a70d44d6076067d34304f04ef10d5" +checksum = "5abb27014e05c48a74139f8be69222d704414e02a825df85371228cdcc88aa22" dependencies = [ "egui", "egui_extras", - "itertools 0.13.0", + "itertools 0.14.0", "re_chunk_store", "re_data_ui", "re_entity_db", @@ -10761,13 +10690,14 @@ dependencies = [ [[package]] name = "re_view_time_series" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d4320f0da4924d54ad481a15a5b801411aca9ed3730af5ffa1c3c6037676177f" +checksum = "6d17c2cc4ea372c3cd6387a7dbca59a2776ad2c3d8193df08838ea95a916dff4" dependencies = [ "egui", "egui_plot", - "itertools 0.13.0", + "itertools 0.14.0", + "nohash-hasher", "rayon", "re_chunk_store", "re_format", @@ -10781,27 +10711,33 @@ dependencies = [ "re_view", "re_viewer_context", "re_viewport_blueprint", + "smallvec", ] [[package]] name = "re_viewer" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5543e4f78c7c67c9a3f1ecce26b177797290f8869bd5d8dfc6aff6bca2fd7971" +checksum = "de6f6a64121af0b17108b0711c2ed584b09055bf77b083b70a4f924c272f36f8" dependencies = [ "ahash", "anyhow", + "arrow", "bytemuck", "cfg-if 1.0.0", + "crossbeam", "eframe", "egui", "egui-wgpu", "egui_plot", + "egui_table", "ehttp", + "glam", "image", - "itertools 0.13.0", + "itertools 0.14.0", "js-sys", "parking_lot", + "percent-encoding", "poll-promise", "re_analytics", "re_blueprint_tree", @@ -10815,23 +10751,27 @@ dependencies = [ "re_data_loader", "re_data_source", "re_data_ui", + "re_dataframe_ui", "re_entity_db", "re_error", "re_format", + "re_grpc_client", "re_log", "re_log_encoding", "re_log_types", "re_memory", "re_query", + "re_redap_browser", "re_renderer", - "re_sdk_comms", "re_selection_panel", "re_smart_channel", + "re_sorbet", "re_time_panel", "re_tracing", "re_types", "re_types_core", "re_ui", + "re_uri", "re_video", "re_view_bar_chart", "re_view_dataframe", @@ -10845,7 +10785,6 @@ dependencies = [ "re_viewer_context", "re_viewport", "re_viewport_blueprint", - "re_ws_comms", "rfd", "ron", "serde", @@ -10854,7 +10793,6 @@ dependencies = [ "strum 0.26.3", "strum_macros 0.26.4", "thiserror 1.0.69", - "uuid 1.16.0", "wasm-bindgen", "wasm-bindgen-futures", "web-sys", @@ -10864,13 +10802,13 @@ dependencies = [ [[package]] name = "re_viewer_context" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "85fabe3a1b70d8264abb9d0e8409f1b943dd6400c5a4aee027b29c9435126a4b" +checksum = "1ff905b6a6b98604dbece3fde70f85c9dbe51cd25e118e620a5927e3de1e0878" dependencies = [ "ahash", "anyhow", - "arrow 53.4.1", + "arrow", "bit-vec", "bitflags 2.9.0", "bytemuck", @@ -10885,12 +10823,13 @@ dependencies = [ "home", "image", "indexmap 2.8.0", - "itertools 0.13.0", + "itertools 0.14.0", "linked-hash-map", "ndarray 0.16.1", "nohash-hasher", "once_cell", "parking_lot", + "re_build_info", "re_capabilities", "re_chunk", "re_chunk_store", @@ -10898,16 +10837,19 @@ dependencies = [ "re_entity_db", "re_format", "re_log", + "re_log_encoding", "re_log_types", "re_math", "re_query", "re_renderer", "re_smart_channel", + "re_sorbet", "re_string_interner", "re_tracing", "re_types", "re_types_core", "re_ui", + "re_uri", "re_video", "rfd", "serde", @@ -10915,6 +10857,7 @@ dependencies = [ "smallvec", "strum_macros 0.26.4", "thiserror 1.0.69", + "tokio", "uuid 1.16.0", "wasm-bindgen-futures", "web-sys", @@ -10923,9 +10866,9 @@ dependencies = [ [[package]] name = "re_viewport" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7993c77ec215454113cc5d65fa0ffee1bbfc09e3928fd2b0fd0554e8619b3765" +checksum = "f3277beb27b91bee93c3c78e4a64a128be7025652f6ca3807f109c7c9d9fe3f9" dependencies = [ "ahash", "egui", @@ -10947,15 +10890,15 @@ dependencies = [ [[package]] name = "re_viewport_blueprint" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "34584952b9ffd0655f73394429c024cb7403187a27bea53f9e087b22a930d5bd" +checksum = "8c497854092f093262a652d8cfab7c497fedfa885de83ac9894d04570c1bdc54" dependencies = [ "ahash", - "arrow 53.4.1", + "arrow", "egui", "egui_tiles", - "itertools 0.13.0", + "itertools 0.14.0", "nohash-hasher", "once_cell", "parking_lot", @@ -10976,9 +10919,9 @@ dependencies = [ [[package]] name = "re_web_viewer_server" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d66c2d0ecb47f39ee1a4c5c70db52946bd31fe3446ea9ce38d071a03d06acec0" +checksum = "a55cc4b7025804aee193619e6ee80422e32a8a9d393fbafb06d072f1f9a19be3" dependencies = [ "document-features", "re_analytics", @@ -10987,28 +10930,6 @@ dependencies = [ "tiny_http", ] -[[package]] -name = "re_ws_comms" -version = "0.22.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "394bde1e477ea8536210e0a4fdbf1fa3b20ecbd57e3238441af150b10fb4870d" -dependencies = [ - "anyhow", - "bincode", - "document-features", - "ewebsock", - "parking_lot", - "polling 3.7.4", - "re_format", - "re_log", - "re_log_types", - "re_memory", - "re_smart_channel", - "re_tracing", - "thiserror 1.0.69", - "tungstenite", -] - [[package]] name = "reborrow" version = "0.5.5" @@ -11161,7 +11082,6 @@ dependencies = [ "js-sys", "log", "mime", - "mime_guess", "once_cell", "percent-encoding", "pin-project-lite", @@ -11234,30 +11154,34 @@ dependencies = [ [[package]] name = "reqwest-middleware" -version = "0.2.5" +version = "0.4.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5a735987236a8e238bf0296c7e351b999c188ccc11477f311b82b55c93984216" +checksum = "57f17d28a6e6acfe1733fe24bcd30774d13bffa4b8a22535b4c8c98423088d4e" dependencies = [ "anyhow", "async-trait", - "http 0.2.12", - "reqwest 0.11.27", + "http 1.3.1", + "reqwest 0.12.15", "serde", - "task-local-extensions", "thiserror 1.0.69", + "tower-service", ] [[package]] name = "rerun" -version = "0.22.1" +version = "0.23.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ee0a19185405072621c2e82866bb0a38ea3e703d79950f0789259d59e69831a0" +checksum = "0be0e5426692333e0b436d0c92c8f95239432538bc644ed0cd2a9319ed22f094" dependencies = [ "anyhow", - "arrow 53.4.1", + "arrow", + "camino", + "crossbeam", "document-features", - "env_logger 0.10.2", - "itertools 0.13.0", + "env_filter", + "indexmap 2.8.0", + "indicatif 0.17.11", + "itertools 0.14.0", "log", "puffin", "rayon", @@ -11273,19 +11197,22 @@ dependencies = [ "re_error", "re_format", "re_format_arrow", + "re_grpc_server", "re_log", "re_log_encoding", "re_log_types", "re_memory", "re_sdk", - "re_sdk_comms", "re_smart_channel", + "re_sorbet", "re_tracing", "re_types", + "re_uri", "re_video", "re_viewer", "re_web_viewer_server", "similar-asserts", + "tokio", ] [[package]] @@ -11302,6 +11229,12 @@ dependencies = [ "usvg", ] +[[package]] +name = "rexif" +version = "0.7.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "be932047c168919c8d5af065b16fa7d4bd24835ffa256bf0cf1ff463f91c15df" + [[package]] name = "rfd" version = "0.15.3" @@ -11823,7 +11756,8 @@ checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2" [[package]] name = "rustypot" version = "1.0.0" -source = "git+https://github.com/pollen-robotics/rustypot?branch=next-release-1.0#473571e88541af21040836a6b68665cb2448da45" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "50cea06baa75ad1b4930d4e9de88953e44184a9485fb0f82b9a2a2ddb8ed5933" dependencies = [ "clap 4.5.32", "log", @@ -11968,6 +11902,19 @@ dependencies = [ "untrusted 0.9.0", ] +[[package]] +name = "sctk-adwaita" +version = "0.10.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b6277f0217056f77f1d8f49f2950ac6c278c0d607c45f5ee99328d792ede24ec" +dependencies = [ + "ab_glyph", + "log", + "memmap2 0.9.5", + "smithay-client-toolkit", + "tiny-skia", +] + [[package]] name = "secrecy" version = "0.8.0" @@ -12562,6 +12509,12 @@ dependencies = [ "similar", ] +[[package]] +name = "simple-easing" +version = "1.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "832ddd7df0d98d6fd93b973c330b7c8e0742d5cb8f1afc7dea89dba4d2531aa1" + [[package]] name = "simplecss" version = "0.2.2" @@ -13222,15 +13175,6 @@ version = "0.12.16" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1" -[[package]] -name = "task-local-extensions" -version = "0.1.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ba323866e5d033818e3240feeb9f7db2c4296674e4d9e16b97b7bf8f490434e8" -dependencies = [ - "pin-utils", -] - [[package]] name = "tempfile" version = "3.19.1" @@ -13652,6 +13596,7 @@ dependencies = [ "futures-core", "pin-project-lite", "tokio", + "tokio-util", ] [[package]] @@ -13762,8 +13707,11 @@ dependencies = [ "percent-encoding", "pin-project", "prost", + "rustls-native-certs 0.8.1", + "rustls-pemfile 2.2.0", "socket2 0.5.8", "tokio", + "tokio-rustls 0.26.2", "tokio-stream", "tower 0.4.13", "tower-layer", @@ -13771,6 +13719,26 @@ dependencies = [ "tracing", ] +[[package]] +name = "tonic-web" +version = "0.12.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5299dd20801ad736dccb4a5ea0da7376e59cd98f213bf1c3d478cf53f4834b58" +dependencies = [ + "base64 0.22.1", + "bytes", + "http 1.3.1", + "http-body 1.0.1", + "http-body-util", + "pin-project", + "tokio-stream", + "tonic", + "tower-http", + "tower-layer", + "tower-service", + "tracing", +] + [[package]] name = "tonic-web-wasm-client" version = "0.6.2" @@ -13831,6 +13799,22 @@ dependencies = [ "tower-service", ] +[[package]] +name = "tower-http" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e9cd434a998747dd2c4276bc96ee2e0c7a2eadf3cae88e52be55a05fa9053f5" +dependencies = [ + "bitflags 2.9.0", + "bytes", + "http 1.3.1", + "http-body 1.0.1", + "http-body-util", + "pin-project-lite", + "tower-layer", + "tower-service", +] + [[package]] name = "tower-layer" version = "0.3.3" @@ -14447,9 +14431,9 @@ dependencies = [ [[package]] name = "walkers" -version = "0.34.0" +version = "0.36.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e15ae9bf81b8cf852ecacf362a5d720ba0b523add2c806ffb3c57731d259c43a" +checksum = "01c614541ed9e6749af0d3836b5adb563a8cec55097fc938daa33a4bea293472" dependencies = [ "egui", "egui_extras", @@ -14459,7 +14443,7 @@ dependencies = [ "image", "log", "lru", - "reqwest 0.11.27", + "reqwest 0.12.15", "reqwest-middleware", "thiserror 2.0.12", "tokio", @@ -15622,6 +15606,7 @@ dependencies = [ "raw-window-handle 0.6.2", "redox_syscall 0.4.1", "rustix 0.38.44", + "sctk-adwaita", "smithay-client-toolkit", "smol_str", "tracing", diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 608ab774..404a816d 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -28,9 +28,9 @@ nodes: - pose - action env: - URDF_PATH: so100.urdf + URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf END_EFFECTOR_LINK: "Moving Jaw" - TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 + TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 - id: plot build: pip install -e ../../node-hub/dora-rerun @@ -41,6 +41,6 @@ nodes: camera/image: camera/image camera/depth: camera/depth env: - so100_urdf: so100.urdf - so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 diff --git a/examples/so100-remote/parse_pose.py b/examples/so100-remote/parse_pose.py index db4f0634..a3d8a1fa 100644 --- a/examples/so100-remote/parse_pose.py +++ b/examples/so100-remote/parse_pose.py @@ -51,7 +51,7 @@ def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, las node.send_output( "action", - pa.array([0.05, 0.04, top_z, roll, pitch, yaw_close]), + pa.array([0.05, 0.0, top_z, roll, pitch, yaw_close]), metadata={"encoding": "xyzrpy"}, ) @@ -95,7 +95,7 @@ def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, la node.send_output( "action", - pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]), + pa.array([0.05, 0.0, top_z, roll, pitch, yaw_open]), metadata={"encoding": "xyzrpy"}, ) @@ -104,7 +104,7 @@ time.sleep(0.6) node.send_output( "action", - pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]), + pa.array([0.05, 0.0, top_z, roll, pitch, yaw_open]), metadata={"encoding": "xyzrpy"}, ) @@ -127,7 +127,7 @@ for event in node: # Adjust z with the size of the gripper - z = z + 0.075 + z = z + 0.06 match action: case "grab": y = y + -0.01 diff --git a/examples/so100-remote/qwenvl-compression.yml b/examples/so100-remote/qwenvl-compression.yml new file mode 100644 index 00000000..b903f57d --- /dev/null +++ b/examples/so100-remote/qwenvl-compression.yml @@ -0,0 +1,180 @@ +nodes: + - id: so100 + path: dora-rustypot + inputs: + tick: dora/timer/millis/33 + pose: + source: pytorch-kinematics/action + queue_size: 100 + outputs: + - pose + env: + PORT: /dev/ttyACM0 + TORQUE: 3000 + 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/150 + outputs: + - image + - depth + + - id: rav1e-local + path: dora-rav1e + build: cargo build -p dora-rav1e --release + inputs: + image: camera/image + outputs: + - image + + - id: rav1e-depth + path: dora-rav1e + build: cargo build -p dora-rav1e --release + inputs: + depth: camera/depth + outputs: + - depth + env: + RAV1E_SPEED: 5 + + - id: dav1d + path: dora-dav1d + build: cargo build -p dora-dav1d --release + _unstable_deploy: + machine: gpu + inputs: + image: rav1e-local/image + depth: rav1e-depth/depth + outputs: + - image + - depth + + - id: pytorch-kinematics + build: pip install node-hub/dora-pytorch-kinematics + path: dora-pytorch-kinematics + _unstable_deploy: + machine: gpu + inputs: + pose: so100/pose + action: + source: parse_pose/action + queue_size: 100 + outputs: + - pose + - action + env: + URDF_PATH: 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: + #series_so100: so100/pose + # series_pose: pytorch-kinematics/pose + jointstate_so100: so100/pose + camera/image: camera/image + camera/depth: camera/depth + text_whisper: dora-distil-whisper/text + text_vlm: dora-qwenvl/text + camera/boxes2d: parse_bbox/bbox + camera/masks: sam2/masks + env: + so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 + CAMERA_PITCH: -3.1415 + + - id: dora-microphone + build: pip install node-hub/dora-microphone + path: dora-microphone + inputs: + tick: dora/timer/millis/2000 + outputs: + - audio + + - id: parse_whisper + path: parse_whisper.py + inputs: + text: dora-distil-whisper/text + outputs: + - text + env: + SPEED: 1.5 + + - id: dora-qwenvl + build: pip install node-hub/dora-qwen2-5-vl + path: dora-qwen2-5-vl + _unstable_deploy: + machine: gpu + inputs: + image: dav1d/image + text: parse_whisper/text + outputs: + - text + env: + DEFAULT_QUESTION: Output the bounding box of the suitcase. + IMAGE_RESIZE_RATIO: "1.0" + + - id: parse_bbox + path: parse_bbox.py + inputs: + text: dora-qwenvl/text + outputs: + - bbox + env: + IMAGE_RESIZE_RATIO: "1.0" + + - id: sam2 + build: pip install node-hub/dora-sam2 + path: dora-sam2 + _unstable_deploy: + machine: gpu + inputs: + image: dav1d/image + boxes2d: parse_bbox/bbox + outputs: + - masks + + - id: box_coordinates + build: pip install node-hub/dora-object-to-pose + path: dora-object-to-pose + _unstable_deploy: + machine: gpu + inputs: + depth: dav1d/depth + masks: sam2/masks + outputs: + - pose + env: + CAMERA_PITCH: -3.1415 + + - id: parse_pose + path: parse_pose.py + inputs: + pose: box_coordinates/pose + outputs: + - action + + - id: dora-vad + build: pip install node-hub/dora-vad + path: dora-vad + inputs: + audio: dora-microphone/audio + outputs: + - audio + + - id: dora-distil-whisper + build: pip install node-hub/dora-distil-whisper + path: dora-distil-whisper + _unstable_deploy: + machine: gpu + inputs: + input: dora-vad/audio + outputs: + - text + env: + TARGET_LANGUAGE: english diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml index 38e3ce72..decb75ea 100644 --- a/examples/so100-remote/qwenvl-remote.yml +++ b/examples/so100-remote/qwenvl-remote.yml @@ -1,8 +1,6 @@ nodes: - id: so100 path: dora-rustypot - _unstable_deploy: - machine: local inputs: tick: dora/timer/millis/33 pose: @@ -18,10 +16,8 @@ nodes: - id: camera build: pip install -e ../../node-hub/dora-pyrealsense path: dora-pyrealsense - _unstable_deploy: - machine: local inputs: - tick: dora/timer/millis/33 + tick: dora/timer/millis/100 outputs: - image - depth @@ -31,8 +27,6 @@ nodes: path: dora-pytorch-kinematics _unstable_deploy: machine: gpu - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate inputs: pose: so100/pose action: @@ -44,18 +38,15 @@ nodes: env: URDF_PATH: so100.urdf END_EFFECTOR_LINK: "Moving Jaw" - TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 + 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 - _unstable_deploy: - machine: local inputs: #series_so100: so100/pose # series_pose: pytorch-kinematics/pose jointstate_so100: so100/pose - jointstate_so100_inference: pytorch-kinematics/action camera/image: camera/image camera/depth: camera/depth text_whisper: dora-distil-whisper/text @@ -63,28 +54,21 @@ nodes: camera/boxes2d: parse_bbox/bbox camera/masks: sam2/masks env: - so100_urdf: so100.urdf - so100_inference_urdf: so100_inference.urdf - so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 - so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 + so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 - id: dora-microphone build: pip install node-hub/dora-microphone path: dora-microphone - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate - _unstable_deploy: - machine: local inputs: tick: dora/timer/millis/2000 outputs: - audio - id: parse_whisper - path: examples/remote-so100/parse_whisper.py - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate + path: parse_whisper.py _unstable_deploy: machine: gpu inputs: @@ -95,8 +79,6 @@ nodes: - id: dora-qwenvl build: pip install node-hub/dora-qwen2-5-vl path: dora-qwen2-5-vl - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate _unstable_deploy: machine: gpu inputs: @@ -109,11 +91,7 @@ nodes: IMAGE_RESIZE_RATIO: "1.0" - id: parse_bbox - path: examples/remote-so100/parse_bbox.py - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate - _unstable_deploy: - machine: gpu + path: parse_bbox.py inputs: text: dora-qwenvl/text outputs: @@ -124,10 +102,8 @@ nodes: - id: sam2 build: pip install node-hub/dora-sam2 path: dora-sam2 - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate _unstable_deploy: - machine: gpus + machine: gpu inputs: image: camera/image boxes2d: parse_bbox/bbox @@ -137,8 +113,6 @@ nodes: - id: box_coordinates build: pip install node-hub/dora-object-to-pose path: dora-object-to-pose - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate _unstable_deploy: machine: gpu inputs: @@ -150,9 +124,7 @@ nodes: CAMERA_PITCH: -3.1415 - id: parse_pose - path: examples/remote-so100/parse_pose.py - _unstable_deploy: - machine: gpu + path: parse_pose.py inputs: pose: box_coordinates/pose outputs: @@ -161,10 +133,6 @@ nodes: - id: dora-vad build: pip install node-hub/dora-vad path: dora-vad - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate - _unstable_deploy: - machine: gpu inputs: audio: dora-microphone/audio outputs: @@ -173,8 +141,6 @@ nodes: - id: dora-distil-whisper build: pip install node-hub/dora-distil-whisper path: dora-distil-whisper - git: https://github.com/dora-rs/dora.git - rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate _unstable_deploy: machine: gpu inputs: diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml index c29d0c5a..76f8cd0f 100644 --- a/examples/so100-remote/qwenvl.yml +++ b/examples/so100-remote/qwenvl.yml @@ -10,7 +10,7 @@ nodes: - pose env: PORT: /dev/ttyACM0 - TORQUE: 2000 + TORQUE: 5000 IDS: 1 2 3 4 5 6 - id: camera @@ -34,9 +34,9 @@ nodes: - pose - action env: - URDF_PATH: so100.urdf + URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf END_EFFECTOR_LINK: "Moving Jaw" - TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7 + TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 - id: plot build: pip install -e ../../node-hub/dora-rerun @@ -53,10 +53,9 @@ nodes: camera/boxes2d: parse_bbox/bbox camera/masks: sam2/masks env: - so100_urdf: so100.urdf - so100_inference_urdf: so100_inference.urdf - so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 - so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7 + so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 + so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 - id: dora-microphone diff --git a/examples/so100-remote/so100.urdf b/examples/so100-remote/so100.urdf deleted file mode 100644 index c993f6b5..00000000 --- a/examples/so100-remote/so100.urdf +++ /dev/null @@ -1,384 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/examples/so100-remote/so100_inference.urdf b/examples/so100-remote/so100_inference.urdf deleted file mode 100644 index a72a7ebb..00000000 --- a/examples/so100-remote/so100_inference.urdf +++ /dev/null @@ -1,384 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml index 5ff72b99..42ec1643 100644 --- a/node-hub/dora-rerun/pyproject.toml +++ b/node-hub/dora-rerun/pyproject.toml @@ -28,4 +28,4 @@ extend-select = [ ] [tool.uv.sources] -rerun-loader-urdf = { git = "thttps://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" } +rerun-loader-urdf = { git = "https://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" } From 416bd9ef81df4c8eabaf7987dbf144f4e69a56ab Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 11:30:25 +0200 Subject: [PATCH 121/135] Add documentation --- examples/so100-remote/no_torque.yml | 4 ++++ examples/so100-remote/qwenvl-remote.yml | 2 ++ examples/so100-remote/qwenvl.yml | 2 ++ 3 files changed, 8 insertions(+) diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index 404a816d..a3ca088a 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -28,6 +28,8 @@ nodes: - 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/xavier/Downloads/so100_urdf/so100.urdf END_EFFECTOR_LINK: "Moving Jaw" TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 @@ -41,6 +43,8 @@ nodes: 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/xavier/Downloads/so100_urdf/so100.urdf so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml index decb75ea..5aaa32d9 100644 --- a/examples/so100-remote/qwenvl-remote.yml +++ b/examples/so100-remote/qwenvl-remote.yml @@ -54,6 +54,8 @@ nodes: camera/boxes2d: parse_bbox/bbox camera/masks: sam2/masks env: + # Link to your installation of so100-urdf. + # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml index 76f8cd0f..37b8a985 100644 --- a/examples/so100-remote/qwenvl.yml +++ b/examples/so100-remote/qwenvl.yml @@ -34,6 +34,8 @@ nodes: - 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/xavier/Downloads/so100_urdf/so100.urdf END_EFFECTOR_LINK: "Moving Jaw" TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7 From 2456e934baf23a254d034bc13d8d52d3724cf45b Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 13:14:16 +0200 Subject: [PATCH 122/135] Fix wrong error message and wrong python spawning options --- binaries/daemon/src/spawn.rs | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/binaries/daemon/src/spawn.rs b/binaries/daemon/src/spawn.rs index 8b5685cb..9087a4ec 100644 --- a/binaries/daemon/src/spawn.rs +++ b/binaries/daemon/src/spawn.rs @@ -269,7 +269,7 @@ pub async fn spawn_node( "-n", conda_env, "python", - "-c", + "-uc", format!("import dora; dora.start_runtime() # {}", node.id).as_str(), ]); command @@ -295,7 +295,7 @@ pub async fn spawn_node( }; // Force python to always flush stdout/stderr buffer cmd.args([ - "-c", + "-uc", format!("import dora; dora.start_runtime() # {}", node.id).as_str(), ]); cmd @@ -323,7 +323,7 @@ pub async fn spawn_node( ); cmd.args([ - "-c", + "-uc", format!("import dora; dora.start_runtime() # {}", node.id).as_str(), ]); cmd @@ -336,7 +336,10 @@ pub async fn spawn_node( cmd } } else { - bail!("Could not figure out dora installation. Could you try to reinstall dora or run it with `dora` command?"); + bail!( + "Cannot spawn runtime with both Python and non-Python operators. \ + Please use a single operator or ensure that all operators are Python-based." + ); }; command.current_dir(working_dir); From 1b2b76085a6a644629f343d8e72ea4bfc0971bd1 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 13:54:51 +0200 Subject: [PATCH 123/135] Adding readme --- examples/so100-remote/README.md | 94 ++++++++++++++++++++ examples/so100-remote/no_torque.yml | 5 +- examples/so100-remote/qwenvl-compression.yml | 2 +- examples/so100-remote/qwenvl-remote.yml | 2 +- examples/so100-remote/qwenvl.yml | 4 +- 5 files changed, 100 insertions(+), 7 deletions(-) create mode 100644 examples/so100-remote/README.md diff --git a/examples/so100-remote/README.md b/examples/so100-remote/README.md new file mode 100644 index 00000000..f277a11b --- /dev/null +++ b/examples/so100-remote/README.md @@ -0,0 +1,94 @@ +# SO100 and SO101 Remote Example + +## Hardware requirements + +- Realsense Camera +- so101 robotic arm + +## Download the 3D model of the SO100 + +```bash +[ -f "$HOME/Downloads/so100_urdf.zip" ] || (wget -O "$HOME/Downloads/so100_urdf.zip" https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip && unzip -o "$HOME/Downloads/so100_urdf.zip" -d "$HOME/Downloads/so100_urdf") +``` + +## To get started + +```bash +uv venv --seed +dora build no_torque.yml --uv +``` + +## Make sure that both realsense and robotic arm connected + +On linux, for the arm you can check connection with: + +```bash +ls /dev/ttyACM* +``` + +This should show something like: + +```bash +/dev/ttyACM0 +``` + +Make sure to enable read with: + +```bash +sudo chmod 777 /dev/ttyACM0 +``` + +On linux, For the camera, make sure to have it well connected and check with: + +```bash +ls /dev/video** +``` + +Result should be as follows: + +```bash +/dev/video0 /dev/video2 /dev/video4 /dev/video6 /dev/video8 +/dev/video1 /dev/video3 /dev/video5 /dev/video7 /dev/video9 +``` + +## To run the no torque demo: + +```bash +dora run no_torque.yml --uv +``` + +If the placement of the virtual robot arm is wrong, you can move it using the so100_transform environment configuration. + +## To run the qwenvl demo: + +```bash +dora run qwenvl.yml --uv +``` + +## To run the qwenvl remote demo: + +On a remote machine: + +```bash +dora coordinator & +dora daemon --machine-id gpu +``` + +```bash +dora daemon --coordinator-addr +dora start qwenvl-remote.yml --uv --coordinator-addr +``` + +## To run the qwenvl compression demo: + +On a remote machine: + +```bash +dora coordinator & +dora daemon --machine-id gpu +``` + +```bash +dora daemon --coordinator-addr +dora start qwenvl-compression.yml --uv --coordinator-addr +``` diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index a3ca088a..e8af5218 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -30,7 +30,7 @@ nodes: env: # Link to your installation of so100-urdf. # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip - URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf + 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 @@ -38,13 +38,12 @@ nodes: build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: - series_fk: pytorch-kinematics/pose 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/xavier/Downloads/so100_urdf/so100.urdf + 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 diff --git a/examples/so100-remote/qwenvl-compression.yml b/examples/so100-remote/qwenvl-compression.yml index b903f57d..8ea873cc 100644 --- a/examples/so100-remote/qwenvl-compression.yml +++ b/examples/so100-remote/qwenvl-compression.yml @@ -84,7 +84,7 @@ nodes: camera/boxes2d: parse_bbox/bbox camera/masks: sam2/masks env: - so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + 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 diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml index 5aaa32d9..74fa317b 100644 --- a/examples/so100-remote/qwenvl-remote.yml +++ b/examples/so100-remote/qwenvl-remote.yml @@ -56,7 +56,7 @@ nodes: env: # Link to your installation of so100-urdf. # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip - so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_urdf: $HOME/Downloads/so100_urdf/so100.urdf so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml index 37b8a985..ebbfe0bb 100644 --- a/examples/so100-remote/qwenvl.yml +++ b/examples/so100-remote/qwenvl.yml @@ -36,7 +36,7 @@ nodes: env: # Link to your installation of so100-urdf. # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip - URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf + 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 @@ -55,7 +55,7 @@ nodes: camera/boxes2d: parse_bbox/bbox camera/masks: sam2/masks env: - so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf + so100_urdf: $HOME/Downloads/so100_urdf/so100.urdf so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7 CAMERA_PITCH: -3.1415 From 86a54a77debab0c8d7b178ea6ab2840168e8bba6 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 14:11:50 +0200 Subject: [PATCH 124/135] make dora-rustypot pip installable --- Cargo.lock | 1 + examples/so100-remote/no_torque.yml | 1 + node-hub/dora-rustypot/Cargo.toml | 16 ++++ node-hub/dora-rustypot/pyproject.toml | 28 +++++++ node-hub/dora-rustypot/src/lib.rs | 101 ++++++++++++++++++++++++++ node-hub/dora-rustypot/src/main.rs | 80 +------------------- 6 files changed, 149 insertions(+), 78 deletions(-) create mode 100644 node-hub/dora-rustypot/pyproject.toml create mode 100644 node-hub/dora-rustypot/src/lib.rs diff --git a/Cargo.lock b/Cargo.lock index fa4f7c5b..f2995c84 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -3393,6 +3393,7 @@ version = "0.1.0" dependencies = [ "dora-node-api", "eyre", + "pyo3", "rustypot", "serialport", ] diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml index e8af5218..570e9b2e 100644 --- a/examples/so100-remote/no_torque.yml +++ b/examples/so100-remote/no_torque.yml @@ -1,6 +1,7 @@ nodes: - id: so100 path: dora-rustypot + build: pip install -e ../../node-hub/dora-rustypot inputs: tick: dora/timer/millis/33 #pose: pytorch-kinematics/action diff --git a/node-hub/dora-rustypot/Cargo.toml b/node-hub/dora-rustypot/Cargo.toml index 5f0f24e8..4a0832bd 100644 --- a/node-hub/dora-rustypot/Cargo.toml +++ b/node-hub/dora-rustypot/Cargo.toml @@ -10,3 +10,19 @@ dora-node-api = { workspace = true } eyre = "0.6.12" rustypot = { version = "1.0" } serialport = { version = "4.7.1", default-features = false } +pyo3 = { workspace = true, features = [ + "extension-module", + "abi3", + "eyre", + "generate-import-lib", +], optional = true } + + +[features] +default = [] +python = ["pyo3"] + +[lib] +name = "dora_rustypot" +path = "src/lib.rs" +crate-type = ["lib", "cdylib"] diff --git a/node-hub/dora-rustypot/pyproject.toml b/node-hub/dora-rustypot/pyproject.toml new file mode 100644 index 00000000..1246a198 --- /dev/null +++ b/node-hub/dora-rustypot/pyproject.toml @@ -0,0 +1,28 @@ +[build-system] +requires = ["maturin>=0.13.2"] +build-backend = "maturin" + +[project] +name = "dora-rustypot" +dynamic = ["version"] +license = { text = "MIT" } +requires-python = ">=3.10" + +dependencies = [] + +scripts = { "dora-rustypot" = "dora_rustypot:py_main" } + +[tool.maturin] +features = ["python", "pyo3/extension-module"] + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP", # Ruff's UP rule + "PERF", # Ruff's PERF rule + "RET", # Ruff's RET rule + "RSE", # Ruff's RSE rule + "NPY", # Ruff's NPY rule + "N", # Ruff's N rule + "I", # Ruff's I rule +] diff --git a/node-hub/dora-rustypot/src/lib.rs b/node-hub/dora-rustypot/src/lib.rs new file mode 100644 index 00000000..ed98bde8 --- /dev/null +++ b/node-hub/dora-rustypot/src/lib.rs @@ -0,0 +1,101 @@ +use dora_node_api::dora_core::config::DataId; +use dora_node_api::{into_vec, DoraNode, Event, IntoArrow, Parameter}; +use eyre::{Context, Result}; +use rustypot::servo::feetech::sts3215::Sts3215Controller; +use std::collections::BTreeMap; +use std::time::Duration; + +pub fn lib_main() -> Result<()> { + let (mut node, mut events) = DoraNode::init_from_env()?; + let serialportname: String = std::env::var("PORT").context("Serial port name not provided")?; + let baudrate: u32 = std::env::var("BAUDRATE") + .unwrap_or_else(|_| "1000000".to_string()) + .parse() + .context("Invalid baudrate")?; + let ids = std::env::var("IDS") + .unwrap_or_else(|_| "1,2,3,4,5,6".to_string()) + .split(&[',', ' '][..]) + .map(|s| s.parse::().unwrap()) + .collect::>(); + + let serial_port = serialport::new(serialportname, baudrate) + .timeout(Duration::from_millis(1000)) + .open()?; + + let mut c = Sts3215Controller::new() + .with_protocol_v1() + .with_serial_port(serial_port); + + if let Ok(torque) = std::env::var("TORQUE") { + let truthies = vec![true; ids.len()]; + + c.write_torque_enable(&ids, &truthies) + .expect("could not enable torque"); + + if let Ok(torque_limit) = torque.parse::() { + let limits = vec![torque_limit; ids.len()]; + c.write_torque_limit(&ids, &limits) + .expect("could not enable torque"); + } + } else { + let falsies = vec![false; ids.len()]; + c.write_torque_enable(&ids, &falsies) + .expect("could not enable torque"); + } + + while let Some(event) = events.recv() { + match event { + Event::Input { + id, + metadata: _, + data, + } => match id.as_str() { + "tick" => { + if let Ok(joints) = c.read_present_position(&ids) { + let mut parameter = BTreeMap::new(); + parameter.insert( + "encoding".to_string(), + Parameter::String("jointstate".to_string()), + ); + node.send_output( + DataId::from("pose".to_string()), + parameter, + joints.into_arrow(), + ) + .unwrap(); + }; + } + "pose" => { + let data: Vec = into_vec(&data).expect("could not cast values"); + c.write_goal_position(&ids, &data).unwrap(); + } + other => eprintln!("Received input `{other}`"), + }, + _ => {} + } + } + + Ok(()) +} + +#[cfg(feature = "python")] +use pyo3::{ + pyfunction, pymodule, + types::{PyModule, PyModuleMethods}, + wrap_pyfunction, Bound, PyResult, Python, +}; + +#[cfg(feature = "python")] +#[pyfunction] +fn py_main(_py: Python) -> eyre::Result<()> { + lib_main() +} + +/// A Python module implemented in Rust. +#[cfg(feature = "python")] +#[pymodule] +fn dora_rustypot(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> { + m.add_function(wrap_pyfunction!(py_main, &m)?)?; + m.add("__version__", env!("CARGO_PKG_VERSION"))?; + Ok(()) +} diff --git a/node-hub/dora-rustypot/src/main.rs b/node-hub/dora-rustypot/src/main.rs index 650e263c..1f8949be 100644 --- a/node-hub/dora-rustypot/src/main.rs +++ b/node-hub/dora-rustypot/src/main.rs @@ -1,79 +1,3 @@ -use dora_node_api::dora_core::config::DataId; -use dora_node_api::{into_vec, DoraNode, Event, IntoArrow, Parameter}; -use eyre::{Context, Result}; -use rustypot::servo::feetech::sts3215::Sts3215Controller; -use std::collections::BTreeMap; -use std::time::Duration; - -fn main() -> Result<()> { - let (mut node, mut events) = DoraNode::init_from_env()?; - let serialportname: String = std::env::var("PORT").context("Serial port name not provided")?; - let baudrate: u32 = std::env::var("BAUDRATE") - .unwrap_or_else(|_| "1000000".to_string()) - .parse() - .context("Invalid baudrate")?; - let ids = std::env::var("IDS") - .unwrap_or_else(|_| "1,2,3,4,5,6".to_string()) - .split(&[',', ' '][..]) - .map(|s| s.parse::().unwrap()) - .collect::>(); - - let serial_port = serialport::new(serialportname, baudrate) - .timeout(Duration::from_millis(1000)) - .open()?; - - let mut c = Sts3215Controller::new() - .with_protocol_v1() - .with_serial_port(serial_port); - - if let Ok(torque) = std::env::var("TORQUE") { - let truthies = vec![true; ids.len()]; - - c.write_torque_enable(&ids, &truthies) - .expect("could not enable torque"); - - if let Ok(torque_limit) = torque.parse::() { - let limits = vec![torque_limit; ids.len()]; - c.write_torque_limit(&ids, &limits) - .expect("could not enable torque"); - } - } else { - let falsies = vec![false; ids.len()]; - c.write_torque_enable(&ids, &falsies) - .expect("could not enable torque"); - } - - while let Some(event) = events.recv() { - match event { - Event::Input { - id, - metadata: _, - data, - } => match id.as_str() { - "tick" => { - if let Ok(joints) = c.read_present_position(&ids) { - let mut parameter = BTreeMap::new(); - parameter.insert( - "encoding".to_string(), - Parameter::String("jointstate".to_string()), - ); - node.send_output( - DataId::from("pose".to_string()), - parameter, - joints.into_arrow(), - ) - .unwrap(); - }; - } - "pose" => { - let data: Vec = into_vec(&data).expect("could not cast values"); - c.write_goal_position(&ids, &data).unwrap(); - } - other => eprintln!("Received input `{other}`"), - }, - _ => {} - } - } - - Ok(()) +fn main() -> Result<(), eyre::Error> { + dora_rustypot::lib_main() } From 44c9fb6dff1660257d8d1cb56b177a2585e779a0 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sat, 26 Apr 2025 20:25:11 +0200 Subject: [PATCH 125/135] Adding mediapipe with dora-rerun visualization --- Cargo.lock | 28 +- examples/mediapipe/realsense-dev.yml | 26 + examples/mediapipe/rgb-dev.yml | 25 + node-hub/dora-mediapipe/README.md | 40 + .../dora-mediapipe/dora_mediapipe/__init__.py | 13 + .../dora-mediapipe/dora_mediapipe/__main__.py | 6 + .../dora-mediapipe/dora_mediapipe/main.py | 129 + node-hub/dora-mediapipe/pyproject.toml | 25 + .../tests/test_dora_mediapipe.py | 13 + node-hub/dora-mediapipe/uv.lock | 2252 +++++++++++++++++ node-hub/dora-rerun/Cargo.toml | 1 + node-hub/dora-rerun/src/lib.rs | 30 +- 12 files changed, 2573 insertions(+), 15 deletions(-) create mode 100755 examples/mediapipe/realsense-dev.yml create mode 100755 examples/mediapipe/rgb-dev.yml create mode 100644 node-hub/dora-mediapipe/README.md create mode 100644 node-hub/dora-mediapipe/dora_mediapipe/__init__.py create mode 100644 node-hub/dora-mediapipe/dora_mediapipe/__main__.py create mode 100644 node-hub/dora-mediapipe/dora_mediapipe/main.py create mode 100644 node-hub/dora-mediapipe/pyproject.toml create mode 100644 node-hub/dora-mediapipe/tests/test_dora_mediapipe.py create mode 100644 node-hub/dora-mediapipe/uv.lock diff --git a/Cargo.lock b/Cargo.lock index f2995c84..e3bf55bf 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -666,7 +666,7 @@ dependencies = [ "enumflags2", "futures-channel", "futures-util", - "rand 0.9.0", + "rand 0.9.1", "raw-window-handle 0.6.2", "serde", "serde_repr", @@ -1640,7 +1640,7 @@ dependencies = [ "metal 0.27.0", "num-traits", "num_cpus", - "rand 0.9.0", + "rand 0.9.1", "rand_distr", "rayon", "safetensors", @@ -3302,6 +3302,7 @@ dependencies = [ "k", "ndarray 0.15.6", "pyo3", + "rand 0.9.1", "rerun", "tokio", ] @@ -4179,7 +4180,7 @@ dependencies = [ "cudarc", "half", "num-traits", - "rand 0.9.0", + "rand 0.9.1", "rand_distr", ] @@ -4951,7 +4952,7 @@ dependencies = [ "cfg-if 1.0.0", "crunchy", "num-traits", - "rand 0.9.0", + "rand 0.9.1", "rand_distr", ] @@ -6754,7 +6755,7 @@ dependencies = [ "image", "indexmap 2.8.0", "mistralrs-core", - "rand 0.9.0", + "rand 0.9.1", "reqwest 0.12.15", "serde", "serde_json", @@ -6806,7 +6807,7 @@ dependencies = [ "objc", "once_cell", "radix_trie", - "rand 0.9.0", + "rand 0.9.1", "rand_isaac", "rayon", "regex", @@ -7961,7 +7962,7 @@ dependencies = [ "glob", "opentelemetry 0.29.1", "percent-encoding", - "rand 0.9.0", + "rand 0.9.1", "serde_json", "thiserror 2.0.12", "tokio", @@ -9021,7 +9022,7 @@ checksum = "b820744eb4dc9b57a3398183639c511b5a26d2ed702cedd3febaa1393caa22cc" dependencies = [ "bytes", "getrandom 0.3.2", - "rand 0.9.0", + "rand 0.9.1", "ring 0.17.14", "rustc-hash 2.1.1", "rustls 0.23.25", @@ -9099,13 +9100,12 @@ dependencies = [ [[package]] name = "rand" -version = "0.9.0" +version = "0.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3779b94aeb87e8bd4e834cee3650289ee9e0d5677f976ecdb6d219e5f4f6cd94" +checksum = "9fbfd9d094a40bf3ae768db9361049ace4c0e04a4fd6b359518bd7b73a73dd97" dependencies = [ "rand_chacha 0.9.0", "rand_core 0.9.3", - "zerocopy 0.8.24", ] [[package]] @@ -9153,7 +9153,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6a8615d50dcf34fa31f7ab52692afec947c4dd0ab803cc87cb3b0b4570ff7463" dependencies = [ "num-traits", - "rand 0.9.0", + "rand 0.9.1", ] [[package]] @@ -11540,7 +11540,7 @@ dependencies = [ "num-derive", "num-traits", "paste", - "rand 0.9.0", + "rand 0.9.1", "serde", "serde_repr", "socket2 0.5.8", @@ -14292,7 +14292,7 @@ checksum = "458f7a779bf54acc9f347480ac654f68407d3aab21269a6e3c9f922acd9e2da9" dependencies = [ "getrandom 0.3.2", "js-sys", - "rand 0.9.0", + "rand 0.9.1", "serde", "uuid-macro-internal", "wasm-bindgen", diff --git a/examples/mediapipe/realsense-dev.yml b/examples/mediapipe/realsense-dev.yml new file mode 100755 index 00000000..6822ffca --- /dev/null +++ b/examples/mediapipe/realsense-dev.yml @@ -0,0 +1,26 @@ +nodes: + - id: camera + build: pip install -e ../../node-hub/dora-pyrealsense + path: dora-pyrealsense + inputs: + tick: dora/timer/millis/100 + outputs: + - image + - depth + + - id: dora-mediapipe + build: pip install -e ../../node-hub/dora-mediapipe + path: dora-mediapipe + inputs: + image: camera/image + depth: camera/depth + outputs: + - points3d + + - id: plot + build: pip install dora-rerun + path: dora-rerun + inputs: + realsense/image: camera/image + realsense/depth: camera/depth + realsense/points3d: dora-mediapipe/points3d diff --git a/examples/mediapipe/rgb-dev.yml b/examples/mediapipe/rgb-dev.yml new file mode 100755 index 00000000..1517f8f1 --- /dev/null +++ b/examples/mediapipe/rgb-dev.yml @@ -0,0 +1,25 @@ +nodes: + - id: camera + build: pip install opencv-video-capture + path: opencv-video-capture + inputs: + tick: dora/timer/millis/100 + outputs: + - image + env: + CAPTURE_PATH: 0 + + - id: dora-mediapipe + build: pip install -e ../../node-hub/dora-mediapipe + path: dora-mediapipe + inputs: + image: camera/image + outputs: + - points2d + + - id: plot + build: pip install dora-rerun + path: dora-rerun + inputs: + image: camera/image + series_mediapipe: dora-mediapipe/points2d diff --git a/node-hub/dora-mediapipe/README.md b/node-hub/dora-mediapipe/README.md new file mode 100644 index 00000000..6b81359e --- /dev/null +++ b/node-hub/dora-mediapipe/README.md @@ -0,0 +1,40 @@ +# dora-mediapipe + +## Getting started + +- Install it with uv: + +```bash +uv venv -p 3.11 --seed +uv pip install -e . +``` + +## Contribution Guide + +- Format with [ruff](https://docs.astral.sh/ruff/): + +```bash +uv pip install ruff +uv run ruff check . --fix +``` + +- Lint with ruff: + +```bash +uv run ruff check . +``` + +- Test with [pytest](https://github.com/pytest-dev/pytest) + +```bash +uv pip install pytest +uv run pytest . # Test +``` + +## YAML Specification + +## Examples + +## License + +dora-mediapipe's code are released under the MIT License diff --git a/node-hub/dora-mediapipe/dora_mediapipe/__init__.py b/node-hub/dora-mediapipe/dora_mediapipe/__init__.py new file mode 100644 index 00000000..79cbf370 --- /dev/null +++ b/node-hub/dora-mediapipe/dora_mediapipe/__init__.py @@ -0,0 +1,13 @@ +"""TODO: Add docstring.""" + +import os + +# Define the path to the README file relative to the package directory +readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md") + +# Read the content of the README file +try: + with open(readme_path, encoding="utf-8") as f: + __doc__ = f.read() +except FileNotFoundError: + __doc__ = "README file not found." diff --git a/node-hub/dora-mediapipe/dora_mediapipe/__main__.py b/node-hub/dora-mediapipe/dora_mediapipe/__main__.py new file mode 100644 index 00000000..51a1554d --- /dev/null +++ b/node-hub/dora-mediapipe/dora_mediapipe/__main__.py @@ -0,0 +1,6 @@ +"""TODO: Add docstring.""" + +from .main import main + +if __name__ == "__main__": + main() diff --git a/node-hub/dora-mediapipe/dora_mediapipe/main.py b/node-hub/dora-mediapipe/dora_mediapipe/main.py new file mode 100644 index 00000000..079fb4d2 --- /dev/null +++ b/node-hub/dora-mediapipe/dora_mediapipe/main.py @@ -0,0 +1,129 @@ +"""TODO: Add docstring.""" + +import cv2 +import mediapipe as mp +import numpy as np +import pyarrow as pa +from dora import Node + +# Initialiser MediaPipe Pose +mp_pose = mp.solutions.pose +pose = mp_pose.Pose() +mp_draw = mp.solutions.drawing_utils + + +def get_3d_coordinates(landmark, depth_frame, w, h, resolution, focal_length): + cx, cy = int(landmark.x * w), int(landmark.y * h) + if 0 < cx < w and 0 < cy < h: + depth = depth_frame[cx, cy] / 1_000.0 + if depth > 0: + fx, fy = focal_length + ppx, ppy = resolution + x = (cy - ppy) * depth / fy + y = (cx - ppx) * depth / fx + + # Convert to right-handed coordinate system + return [x, -y, depth] + return [0, 0, 0] + + +def get_image(event): + storage = event["value"] + metadata = event["metadata"] + encoding = metadata["encoding"] + width = metadata["width"] + height = metadata["height"] + + if ( + encoding == "bgr8" + or encoding == "rgb8" + or encoding in ["jpeg", "jpg", "jpe", "bmp", "webp", "png"] + ): + channels = 3 + storage_type = np.uint8 + else: + raise RuntimeError(f"Unsupported image encoding: {encoding}") + + if encoding == "bgr8": + frame = ( + storage.to_numpy().astype(storage_type).reshape((height, width, channels)) + ) + frame = frame[:, :, ::-1] # OpenCV image (BGR to RGB) + elif encoding == "rgb8": + frame = ( + storage.to_numpy().astype(storage_type).reshape((height, width, channels)) + ) + elif encoding in ["jpeg", "jpg", "jpe", "bmp", "webp", "png"]: + storage = storage.to_numpy() + frame = cv2.imdecode(storage, cv2.IMREAD_COLOR) + frame = frame[:, :, ::-1] # OpenCV image (BGR to RGB) + else: + raise RuntimeError(f"Unsupported image encoding: {encoding}") + return frame + + +def main(): + """TODO: Add docstring.""" + node = Node() + depth = None + focal_length = None + resolution = None + + for event in node: + if event["type"] == "INPUT": + event_id = event["id"] + if "image" in event_id: + rgb_image = get_image(event) + width = rgb_image.shape[1] + height = rgb_image.shape[0] + pose_results = pose.process(rgb_image) + if pose_results.pose_landmarks: + values = pose_results.pose_landmarks.landmark + values = np.array( + [ + [landmark.x * width, landmark.y * height] + for landmark in pose_results.pose_landmarks.landmark + ] + ) + # Warning: Make sure to add my_output_id and my_input_id within the dataflow. + node.send_output( + output_id="points2d", + data=pa.array(values.ravel()), + metadata={}, + ) + if depth is not None: + values = np.array( + [ + get_3d_coordinates( + landmark, + depth, + width, + height, + resolution, + focal_length, + ) + for landmark in pose_results.pose_landmarks.landmark + ] + ) + # Warning: Make sure to add my_output_id and my_input_id within the dataflow. + node.send_output( + output_id="points3d", + data=pa.array(values.ravel()), + metadata={}, + ) + + else: + print("No pose landmarks detected.") + elif "depth" in event_id: + metadata = event["metadata"] + encoding = metadata["encoding"] + width = metadata["width"] + height = metadata["height"] + focal_length = metadata["focal_length"] + resolution = metadata["resolution"] + + depth = event["value"].to_numpy().reshape((height, width)) + + +if __name__ == "__main__": + main() diff --git a/node-hub/dora-mediapipe/pyproject.toml b/node-hub/dora-mediapipe/pyproject.toml new file mode 100644 index 00000000..93f12bc5 --- /dev/null +++ b/node-hub/dora-mediapipe/pyproject.toml @@ -0,0 +1,25 @@ +[project] +name = "dora-mediapipe" +version = "0.0.0" +authors = [{ name = "Your Name", email = "email@email.com" }] +description = "dora-mediapipe" +license = { text = "MIT" } +readme = "README.md" +requires-python = ">=3.8" + +dependencies = [ + "dora-rs >= 0.3.9", + "mediapipe>=0.10.14", +] + +[dependency-groups] +dev = ["pytest >=8.1.1", "ruff >=0.9.1"] + +[project.scripts] +dora-mediapipe = "dora_mediapipe.main:main" + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle + "UP" +] diff --git a/node-hub/dora-mediapipe/tests/test_dora_mediapipe.py b/node-hub/dora-mediapipe/tests/test_dora_mediapipe.py new file mode 100644 index 00000000..1738a43a --- /dev/null +++ b/node-hub/dora-mediapipe/tests/test_dora_mediapipe.py @@ -0,0 +1,13 @@ +"""Test module for dora_mediapipe package.""" + +import pytest + + +def test_import_main(): + """Test importing and running the main function.""" + from dora_mediapipe.main import main + + # Check that everything is working, and catch Dora RuntimeError + # as we're not running in a Dora dataflow. + with pytest.raises(RuntimeError): + main() diff --git a/node-hub/dora-mediapipe/uv.lock b/node-hub/dora-mediapipe/uv.lock new file mode 100644 index 00000000..da081d38 --- /dev/null +++ b/node-hub/dora-mediapipe/uv.lock @@ -0,0 +1,2252 @@ +version = 1 +revision = 2 +requires-python = ">=3.8" +resolution-markers = [ + "python_full_version >= '3.13' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and sys_platform == 'darwin'", + 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a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml index edc8916b..84c075e9 100644 --- a/node-hub/dora-rerun/Cargo.toml +++ b/node-hub/dora-rerun/Cargo.toml @@ -27,6 +27,7 @@ pyo3 = { workspace = true, features = [ "generate-import-lib", ], optional = true } bytemuck = "1.20.0" +rand = "0.9.1" [lib] diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index c5bac11c..726806b6 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -4,7 +4,7 @@ use std::{collections::HashMap, env::VarError, path::Path}; use dora_node_api::{ arrow::{ - array::{Array, AsArray, Float64Array, StringArray, UInt16Array, UInt8Array}, + array::{Array, AsArray, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array}, datatypes::Float32Type, }, dora_core::config::DataId, @@ -30,6 +30,7 @@ pub fn lib_main() -> Result<()> { // Setup an image cache to paint depth images. let mut image_cache = HashMap::new(); let mut mask_cache: HashMap> = HashMap::new(); + let mut color_cache: HashMap = HashMap::new(); let mut options = SpawnOptions::default(); let memory_limit = match std::env::var("RERUN_MEMORY_LIMIT") { @@ -349,6 +350,33 @@ pub fn lib_main() -> Result<()> { } } else if id.as_str().contains("series") { update_series(&rec, id, data).context("could not plot series")?; + } else if id.as_str().contains("points3d") { + // Get color or assign random color in cache + let color = color_cache.get(&id); + let color = if let Some(color) = color { + color.clone() + } else { + let color = + rerun::Color::from_rgb(rand::random::(), 180, rand::random::()); + + color_cache.insert(id.clone(), color.clone()); + color + }; + let dataid = id; + + // get a random color + if let Ok(buffer) = into_vec::(&data) { + let mut points = vec![]; + let mut colors = vec![]; + buffer.chunks(3).for_each(|chunk| { + points.push((chunk[0], chunk[1], chunk[2])); + colors.push(color); + }); + let points = Points3D::new(points).with_radii(vec![0.013; colors.len()]); + + rec.log(dataid.as_str(), &points.with_colors(colors)) + .context("could not log points")?; + } } else { println!("Could not find handler for {}", id); } From 04ce95714a783d55185fbbb8b6308f7e12075d16 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 11:53:12 +0200 Subject: [PATCH 126/135] Fixing small typo in mediapipe demo --- examples/mediapipe/realsense-dev.yml | 2 +- node-hub/dora-mediapipe/dora_mediapipe/main.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/mediapipe/realsense-dev.yml b/examples/mediapipe/realsense-dev.yml index 6822ffca..a2b612ee 100755 --- a/examples/mediapipe/realsense-dev.yml +++ b/examples/mediapipe/realsense-dev.yml @@ -18,7 +18,7 @@ nodes: - points3d - id: plot - build: pip install dora-rerun + build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: realsense/image: camera/image diff --git a/node-hub/dora-mediapipe/dora_mediapipe/main.py b/node-hub/dora-mediapipe/dora_mediapipe/main.py index 079fb4d2..6a9ceedb 100644 --- a/node-hub/dora-mediapipe/dora_mediapipe/main.py +++ b/node-hub/dora-mediapipe/dora_mediapipe/main.py @@ -15,7 +15,7 @@ mp_draw = mp.solutions.drawing_utils def get_3d_coordinates(landmark, depth_frame, w, h, resolution, focal_length): cx, cy = int(landmark.x * w), int(landmark.y * h) if 0 < cx < w and 0 < cy < h: - depth = depth_frame[cx, cy] / 1_000.0 + depth = depth_frame[cy, cx] / 1_000.0 if depth > 0: fx, fy = focal_length ppx, ppy = resolution From 78488b7166de7b4602c27022dfda33ac786b3f5f Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 12:15:29 +0200 Subject: [PATCH 127/135] Adding dae ignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 2bab6ed3..fcd517fe 100644 --- a/.gitignore +++ b/.gitignore @@ -11,6 +11,7 @@ examples/**/*.txt # Remove hdf and stl files *.stl +*.dae *.STL *.hdf5 From ca031e1828a7766bde8844133988323b592e7225 Mon Sep 17 00:00:00 2001 From: haixuanTao Date: Sun, 27 Apr 2025 12:56:45 +0200 Subject: [PATCH 128/135] Fix linting --- node-hub/dora-mediapipe/dora_mediapipe/main.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/node-hub/dora-mediapipe/dora_mediapipe/main.py b/node-hub/dora-mediapipe/dora_mediapipe/main.py index 6a9ceedb..048e0b12 100644 --- a/node-hub/dora-mediapipe/dora_mediapipe/main.py +++ b/node-hub/dora-mediapipe/dora_mediapipe/main.py @@ -13,6 +13,7 @@ mp_draw = mp.solutions.drawing_utils def get_3d_coordinates(landmark, depth_frame, w, h, resolution, focal_length): + """Convert 2D landmark coordinates to 3D coordinates.""" cx, cy = int(landmark.x * w), int(landmark.y * h) if 0 < cx < w and 0 < cy < h: depth = depth_frame[cy, cx] / 1_000.0 @@ -27,7 +28,13 @@ def get_3d_coordinates(landmark, depth_frame, w, h, resolution, focal_length): return [0, 0, 0] -def get_image(event): +def get_image(event: dict) -> np.ndarray: + """Convert the image from the event to a numpy array. + + Args: + event (dict): The event containing the image data. + + """ storage = event["value"] metadata = event["metadata"] encoding = metadata["encoding"] @@ -116,7 +123,7 @@ def main(): print("No pose landmarks detected.") elif "depth" in event_id: metadata = event["metadata"] - encoding = metadata["encoding"] + _encoding = metadata["encoding"] width = metadata["width"] height = metadata["height"] focal_length = metadata["focal_length"] From 1f35724f1541b13a4eba8be6cb78d09a2b73eb4d Mon Sep 17 00:00:00 2001 From: haixuantao Date: Fri, 30 May 2025 17:09:06 +0200 Subject: [PATCH 129/135] Adding 2d points --- examples/mediapipe/README.md | 11 +++++++++++ examples/mediapipe/rgb-dev.yml | 7 ++++--- node-hub/dora-rerun/src/lib.rs | 33 +++++++++++++++++++++++++++++++-- 3 files changed, 46 insertions(+), 5 deletions(-) create mode 100644 examples/mediapipe/README.md diff --git a/examples/mediapipe/README.md b/examples/mediapipe/README.md new file mode 100644 index 00000000..e11257ad --- /dev/null +++ b/examples/mediapipe/README.md @@ -0,0 +1,11 @@ +# Mediapipe example + +## Make sure to have a webcam connected + +```bash +uv venv --seed +dora build rgb-dev.yml --uv +dora run rgb-dev.yml --uv + +## If the points are not plotted by default, you should try to add a 2d viewer within rerun. +``` diff --git a/examples/mediapipe/rgb-dev.yml b/examples/mediapipe/rgb-dev.yml index 1517f8f1..acfe193b 100755 --- a/examples/mediapipe/rgb-dev.yml +++ b/examples/mediapipe/rgb-dev.yml @@ -1,6 +1,6 @@ nodes: - id: camera - build: pip install opencv-video-capture + build: pip install -e ../../node-hub/opencv-video-capture path: opencv-video-capture inputs: tick: dora/timer/millis/100 @@ -18,8 +18,9 @@ nodes: - points2d - id: plot - build: pip install dora-rerun + build: pip install -e ../../node-hub/dora-rerun path: dora-rerun inputs: image: camera/image - series_mediapipe: dora-mediapipe/points2d + # Make sure to add a 2d viewer to see the points + points2d: dora-mediapipe/points2d diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index 726806b6..a0539280 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -4,7 +4,7 @@ use std::{collections::HashMap, env::VarError, path::Path}; use dora_node_api::{ arrow::{ - array::{Array, AsArray, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array}, + array::{Array, AsArray, Float64Array, StringArray, UInt16Array, UInt8Array}, datatypes::Float32Type, }, dora_core::config::DataId, @@ -12,7 +12,9 @@ use dora_node_api::{ }; use eyre::{eyre, Context, Result}; -use rerun::{components::ImageBuffer, external::log::warn, ImageFormat, Points3D, SpawnOptions}; +use rerun::{ + components::ImageBuffer, external::log::warn, ImageFormat, Points2D, Points3D, SpawnOptions, +}; pub mod boxes2d; pub mod series; pub mod urdf; @@ -374,6 +376,33 @@ pub fn lib_main() -> Result<()> { }); let points = Points3D::new(points).with_radii(vec![0.013; colors.len()]); + rec.log(dataid.as_str(), &points.with_colors(colors)) + .context("could not log points")?; + } + } else if id.as_str().contains("points2d") { + // Get color or assign random color in cache + let color = color_cache.get(&id); + let color = if let Some(color) = color { + color.clone() + } else { + let color = + rerun::Color::from_rgb(rand::random::(), 180, rand::random::()); + + color_cache.insert(id.clone(), color.clone()); + color + }; + let dataid = id; + + // get a random color + if let Ok(buffer) = into_vec::(&data) { + let mut points = vec![]; + let mut colors = vec![]; + buffer.chunks(2).for_each(|chunk| { + points.push((chunk[0], chunk[1])); + colors.push(color); + }); + let points = Points2D::new(points); + rec.log(dataid.as_str(), &points.with_colors(colors)) .context("could not log points")?; } From 6e963d4424788091f30a5ac6e8d24ec372971e43 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Mon, 2 Jun 2025 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Subject: [PATCH 131/135] Bump torch version --- .github/workflows/node_hub_test.sh | 2 +- node-hub/dora-distil-whisper/pyproject.toml | 4 ++- node-hub/dora-internvl/pyproject.toml | 27 +++++++------- node-hub/dora-llama-cpp-python/pyproject.toml | 3 -- node-hub/dora-magma/pyproject.toml | 5 +-- node-hub/dora-opus/pyproject.toml | 22 ++++++------ node-hub/dora-parler/pyproject.toml | 18 +++++----- node-hub/dora-qwen/pyproject.toml | 6 ++-- node-hub/dora-qwen2-5-vl/pyproject.toml | 30 ++++++++-------- node-hub/dora-qwenvl/pyproject.toml | 26 +++++++------- node-hub/dora-rdt-1b/pyproject.toml | 35 ++++++++++--------- node-hub/dora-transformers/pyproject.toml | 6 ++-- 12 files changed, 93 insertions(+), 91 deletions(-) diff --git a/.github/workflows/node_hub_test.sh b/.github/workflows/node_hub_test.sh index e9e42836..39ae2b7f 100755 --- a/.github/workflows/node_hub_test.sh +++ b/.github/workflows/node_hub_test.sh @@ -2,7 +2,7 @@ set -euo # List of ignored modules -ignored_folders=("dora-parler" "dora-magma") +ignored_folders=("dora-parler" "dora-opus" "dora-internvl" "dora-magma") # Skip test skip_test_folders=("dora-internvl" "dora-parler" "dora-keyboard" "dora-microphone" "terminal-input" "dora-magma") diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index 64e893df..ac8b4d3e 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -16,7 +16,9 @@ dependencies = [ "pyarrow >= 5.0.0", "transformers >= 4.0.0", "accelerate >= 0.29.2", - "torch >= 2.2.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", "modelscope >= 1.18.1", "mlx-whisper >= 0.4.1; sys_platform == 'darwin'", ] diff --git a/node-hub/dora-internvl/pyproject.toml b/node-hub/dora-internvl/pyproject.toml index 74f41b05..d5cf2eba 100644 --- a/node-hub/dora-internvl/pyproject.toml +++ b/node-hub/dora-internvl/pyproject.toml @@ -2,8 +2,8 @@ name = "dora-internvl" version = "0.3.11" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] description = "Dora Node for VLM" license = { text = "MIT" } @@ -12,17 +12,18 @@ requires-python = ">=3.8" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "torch >= 2.2.0", - "torchvision >= 0.17", - "transformers >= 4.11.3", - "pillow >= 10.0.0", - "bitsandbytes >= 0.41.0", - "einops >= 0.6.1", - "einops-exts >= 0.0.4", - "timm >= 0.9.12", - "sentencepiece >= 0.1.99", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", + "transformers >= 4.11.3", + "pillow >= 10.0.0", + "bitsandbytes >= 0.41.0", + "einops >= 0.6.1", + "einops-exts >= 0.0.4", + "timm >= 0.9.12", + "sentencepiece >= 0.1.99", ] [dependency-groups] diff --git a/node-hub/dora-llama-cpp-python/pyproject.toml b/node-hub/dora-llama-cpp-python/pyproject.toml index 404521ce..f4b71e13 100644 --- a/node-hub/dora-llama-cpp-python/pyproject.toml +++ b/node-hub/dora-llama-cpp-python/pyproject.toml @@ -9,9 +9,6 @@ requires-python = ">=3.9" dependencies = [ "dora-rs >= 0.3.9", - "torch == 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", "opencv-python >= 4.1.1", "modelscope >= 1.18.1", "huggingface-hub>=0.29.0", diff --git a/node-hub/dora-magma/pyproject.toml b/node-hub/dora-magma/pyproject.toml index 1982b032..288522fa 100644 --- a/node-hub/dora-magma/pyproject.toml +++ b/node-hub/dora-magma/pyproject.toml @@ -13,8 +13,9 @@ authors = [{ name = "Munish Mummadi", email = "moneymindedmunish1@gmail.com" }] dependencies = [ "dora-rs >= 0.3.9", "numpy < 2", - "torch >= 2.4.0", - "torchvision >= 0.19", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", "transformers>=4.45", "opencv-python >= 4.1.1", "accelerate>=1.5.1", diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index 696f2f9c..61ce920d 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -3,9 +3,9 @@ name = "dora-opus" version = "0.3.11" description = "Dora Node for Text translating using Opus" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, - { name = "FΓ©lix Huang", email = "felix.huang.net@gmail.com" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "FΓ©lix Huang", email = "felix.huang.net@gmail.com" }, ] license = { text = "MIT" } @@ -13,13 +13,15 @@ readme = "README.md" requires-python = ">=3.8" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "transformers >= 4.45", - "modelscope >= 1.18.1", - "sentencepiece >= 0.1.99", - "torch >= 2.2.0", - "sacremoses>=0.1.1", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "transformers >= 4.45", + "modelscope >= 1.18.1", + "sentencepiece >= 0.1.99", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", + "sacremoses>=0.1.1", ] [dependency-groups] diff --git a/node-hub/dora-parler/pyproject.toml b/node-hub/dora-parler/pyproject.toml index 1b620808..10c16ac0 100644 --- a/node-hub/dora-parler/pyproject.toml +++ b/node-hub/dora-parler/pyproject.toml @@ -2,8 +2,8 @@ name = "dora-parler" version = "0.3.11" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] description = "Dora Node for Text to speech with dora Parler-TTS" license = { text = "MIT" } @@ -11,14 +11,12 @@ readme = "README.md" requires-python = ">=3.8" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "torch >= 2.2.0", - "torchaudio >= 2.2.2", - "sentencepiece >= 0.1.99", - "pyaudio >= 0.2.14", - "modelscope >= 1.18.1", - "transformers >=4.48.0,<=4.48.0", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "sentencepiece >= 0.1.99", + "pyaudio >= 0.2.14", + "modelscope >= 1.18.1", + "transformers >=4.48.0,<=4.48.0", ] [tool.uv.sources] diff --git a/node-hub/dora-qwen/pyproject.toml b/node-hub/dora-qwen/pyproject.toml index b7cda1b7..83ac58ea 100644 --- a/node-hub/dora-qwen/pyproject.toml +++ b/node-hub/dora-qwen/pyproject.toml @@ -9,9 +9,9 @@ requires-python = ">=3.9" dependencies = [ "dora-rs >= 0.3.9", - "torch == 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", "opencv-python >= 4.1.1", "modelscope >= 1.18.1", "accelerate>=1.3.0", diff --git a/node-hub/dora-qwen2-5-vl/pyproject.toml b/node-hub/dora-qwen2-5-vl/pyproject.toml index 532e67a1..39aa23e9 100644 --- a/node-hub/dora-qwen2-5-vl/pyproject.toml +++ b/node-hub/dora-qwen2-5-vl/pyproject.toml @@ -2,8 +2,8 @@ name = "dora-qwen2-5-vl" version = "0.3.11" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] description = "Dora Node for VLM" license = { text = "MIT" } @@ -11,19 +11,19 @@ readme = "README.md" requires-python = ">=3.9" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "torch == 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", - "qwen-vl-utils >= 0.0.5", - "opencv-python >= 4.1.1", - "modelscope >= 1.18.1", - "peft == 0.13.2", - "accelerate>=1.3.0", - "transformers", - "setuptools>=65.0.0", - # "flash-attn>=2.7.1; sys_platform != 'darwin'", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", + "qwen-vl-utils >= 0.0.5", + "opencv-python >= 4.1.1", + "modelscope >= 1.18.1", + "peft == 0.13.2", + "accelerate>=1.3.0", + "transformers", + "setuptools>=65.0.0", + # "flash-attn>=2.7.1; sys_platform != 'darwin'", ] ## Currently flash_attn is not supported as a pip install within uv. diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml index ddb30948..7ae47892 100644 --- a/node-hub/dora-qwenvl/pyproject.toml +++ b/node-hub/dora-qwenvl/pyproject.toml @@ -2,8 +2,8 @@ name = "dora-qwenvl" version = "0.3.11" authors = [ - { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, - { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, + { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }, + { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" }, ] description = "Dora Node for VLM" license = { text = "MIT" } @@ -11,17 +11,17 @@ readme = "README.md" requires-python = ">=3.9" dependencies = [ - "dora-rs >= 0.3.9", - "numpy < 2.0.0", - "torch >= 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", - "qwen-vl-utils >= 0.0.5", - "opencv-python >= 4.1.1", - "modelscope >= 1.18.1", - "peft == 0.13.2", - "accelerate>=1.3.0", - "transformers", + "dora-rs >= 0.3.9", + "numpy < 2.0.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", + "qwen-vl-utils >= 0.0.5", + "opencv-python >= 4.1.1", + "modelscope >= 1.18.1", + "peft == 0.13.2", + "accelerate>=1.3.0", + "transformers", ] # flash_attn = "^2.6.1" # Install using: pip install -U flash-attn --no-build-isolation diff --git a/node-hub/dora-rdt-1b/pyproject.toml b/node-hub/dora-rdt-1b/pyproject.toml index 9b2fd878..e8bcfe12 100644 --- a/node-hub/dora-rdt-1b/pyproject.toml +++ b/node-hub/dora-rdt-1b/pyproject.toml @@ -8,23 +8,24 @@ readme = "README.md" requires-python = ">=3.9" dependencies = [ - "dora-rs >= 0.3.9", - "numpy > 1.24.4", - "torch >= 2.4.0", - "torchvision >= 0.19", - "transformers >= 4.45", - "qwen-vl-utils >= 0.0.2", - "accelerate >= 0.33", - "opencv-python >= 4.1.1", - "modelscope >= 1.18.1", - "packaging == 24.0", - "wandb == 0.17.0", - "diffusers == 0.27.2", - "timm == 1.0.3", - "sentencepiece == 0.2.0", - "h5py == 3.11.0", - "imgaug == 0.4.0", - "huggingface_hub == 0.23.5", + "dora-rs >= 0.3.9", + "numpy > 1.24.4", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", + "transformers >= 4.45", + "qwen-vl-utils >= 0.0.2", + "accelerate >= 0.33", + "opencv-python >= 4.1.1", + "modelscope >= 1.18.1", + "packaging == 24.0", + "wandb == 0.17.0", + "diffusers == 0.27.2", + "timm == 1.0.3", + "sentencepiece == 0.2.0", + "h5py == 3.11.0", + "imgaug == 0.4.0", + "huggingface_hub == 0.23.5", ] # flash_attn = "^2.6.1" # Install using: pip install -U flash-attn --no-build-isolation diff --git a/node-hub/dora-transformers/pyproject.toml b/node-hub/dora-transformers/pyproject.toml index 36659200..9dd0089d 100644 --- a/node-hub/dora-transformers/pyproject.toml +++ b/node-hub/dora-transformers/pyproject.toml @@ -9,9 +9,9 @@ requires-python = ">=3.9" dependencies = [ "dora-rs >= 0.3.9", - "torch == 2.4.0", - "torchvision >= 0.19", - "torchaudio >= 2.1.0", + "torch >= 2.7.0", + "torchvision >= 0.22", + "torchaudio >= 2.7.0", "opencv-python >= 4.1.1", "modelscope >= 1.18.1", "accelerate >= 1.3.0", From 65ee69e4f427dc017efb29fe5d403fc578632d31 Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 2 Jun 2025 11:05:50 +0200 Subject: [PATCH 132/135] Adding news in readme --- README.md | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/README.md b/README.md index a033841e..967198ff 100644 --- a/README.md +++ b/README.md @@ -62,28 +62,28 @@
2025 -\[04/05\] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding, - -- \[03/05\] Add support for dora async Python. -- \[03/05\] Add support for Microsoft Phi4, Microsoft Magma. -- \[03/05\] dora-rs has been accepted to [**GSoC 2025 πŸŽ‰**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025). -- \[03/04\] Add support for Zenoh for distributed dataflow. -- \[03/04\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`. +- \[05/25\] Add support for dora-pytorch-kinematics for fk and ik, dora-mediapipe for pose estimation, dora-rustypot for rust serialport read/write, points2d and points3d visualization in rerun. +- \[04/25\] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding, +- \[03/25\] Add support for dora async Python. +- \[03/25\] Add support for Microsoft Phi4, Microsoft Magma. +- \[03/25\] dora-rs has been accepted to [**GSoC 2025 πŸŽ‰**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025). +- \[03/25\] Add support for Zenoh for distributed dataflow. +- \[03/25\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`. - \[02/25\] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)
## Support Matrix -| | dora-rs | -| --------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| **APIs** | Python >= 3.7 including sync β­βœ…
Rust βœ…
C/C++ πŸ†—
ROS2 >= Foxy πŸ†— | -| **OS** | Linux: Arm 32 β­βœ… Arm 64 β­βœ… x64_86 β­βœ…
MacOS: Arm 64 β­βœ… x64_86 βœ…
Windows: x64_86 πŸ†—
Android: πŸ› οΈ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32)
IOS: πŸ› οΈ | -| **Message Format** | Arrow βœ…
Standard Specification πŸ› οΈ | -| **Local Communication** | Shared Memory βœ…
[Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) πŸ“ | -| **Remote Communication** | [Zenoh](https://zenoh.io/) πŸ“ | -| **Metrics, Tracing, and Logging** | Opentelemetry πŸ“ | -| **Configuration** | YAML βœ… | -| **Package Manager** | [pip](https://pypi.org/): Python Node βœ… Rust Node βœ… C/C++ Node πŸ› οΈ
[cargo](https://crates.io/): Rust Node βœ… | +| | dora-rs | +| --------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| **APIs** | Python >= 3.7 including sync β­βœ…
Rust βœ…
C/C++ πŸ†—
ROS2 >= Foxy πŸ†— | +| **OS** | Linux: Arm 32 β­βœ… Arm 64 β­βœ… x64_86 β­βœ…
MacOS: Arm 64 β­βœ… x64_86 βœ…
Windows: x64_86 πŸ†—
WSL: x64_86 πŸ†—
Android: πŸ› οΈ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32)
IOS: πŸ› οΈ | +| **Message Format** | Arrow βœ…
Standard Specification πŸ› οΈ | +| **Local Communication** | Shared Memory βœ…
[Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) πŸ“ | +| **Remote Communication** | [Zenoh](https://zenoh.io/) πŸ“ | +| **Metrics, Tracing, and Logging** | Opentelemetry πŸ“ | +| **Configuration** | YAML βœ… | +| **Package Manager** | [pip](https://pypi.org/): Python Node βœ… Rust Node βœ… C/C++ Node πŸ› οΈ
[cargo](https://crates.io/): Rust Node βœ… | > - ⭐ = Recommended > - βœ… = First Class Support From bba7a5041046296d093b4fb90d83447bfc6a8b6a Mon Sep 17 00:00:00 2001 From: haixuantao Date: Mon, 2 Jun 2025 11:46:52 +0200 Subject: [PATCH 133/135] Bump python version to 0.3.9 --- node-hub/dora-distil-whisper/pyproject.toml | 2 +- node-hub/dora-opus/pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/node-hub/dora-distil-whisper/pyproject.toml b/node-hub/dora-distil-whisper/pyproject.toml index ac8b4d3e..56ea1532 100644 --- a/node-hub/dora-distil-whisper/pyproject.toml +++ b/node-hub/dora-distil-whisper/pyproject.toml @@ -8,7 +8,7 @@ authors = [ description = "Dora dora-distil-whisper" license = { text = "MIT" } readme = "README.md" -requires-python = ">=3.8" +requires-python = ">=3.9" dependencies = [ "dora-rs >= 0.3.9", diff --git a/node-hub/dora-opus/pyproject.toml b/node-hub/dora-opus/pyproject.toml index 61ce920d..39596485 100644 --- a/node-hub/dora-opus/pyproject.toml +++ b/node-hub/dora-opus/pyproject.toml @@ -10,7 +10,7 @@ authors = [ license = { text = "MIT" } readme = "README.md" -requires-python = ">=3.8" +requires-python = ">=3.9" dependencies = [ "dora-rs >= 0.3.9", From 036d5bd859475d61b29253cc80068eae6a4ba7cc Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 4 Jun 2025 17:52:40 +0200 Subject: [PATCH 134/135] Fix error when multiple visualization key is active and when urdf_transform env variable is not present --- node-hub/dora-rerun/src/lib.rs | 33 +++++++++++++++++++++++++++++++-- node-hub/dora-rerun/src/urdf.rs | 3 +++ 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs index a0539280..d0572e51 100644 --- a/node-hub/dora-rerun/src/lib.rs +++ b/node-hub/dora-rerun/src/lib.rs @@ -10,7 +10,7 @@ use dora_node_api::{ dora_core::config::DataId, into_vec, DoraNode, Event, Parameter, }; -use eyre::{eyre, Context, Result}; +use eyre::{bail, eyre, Context, Result}; use rerun::{ components::ImageBuffer, external::log::warn, ImageFormat, Points2D, Points3D, SpawnOptions, @@ -21,6 +21,19 @@ pub mod urdf; use series::update_series; use urdf::{init_urdf, update_visualization}; +static KEYS: &[&str] = &[ + "image", + "depth", + "text", + "boxes2d", + "masks", + "jointstate", + "pose", + "series", + "points3d", + "points2d", +]; + pub fn lib_main() -> Result<()> { // rerun `serve()` requires to have a running Tokio runtime in the current context. let rt = tokio::runtime::Builder::new_current_thread() @@ -102,6 +115,22 @@ pub fn lib_main() -> Result<()> { while let Some(event) = events.recv() { if let Event::Input { id, data, metadata } = event { + // Check if the id contains more than one key + if KEYS + .iter() + .filter(|&&key| id.as_str().contains(key)) + .count() + > 1 + { + bail!( + "Event id `{}` contains more than one visualization keyword: {:?}, please only use one of them.", + id, + KEYS.iter() + .filter(|&&key| id.as_str().contains(key)) + .collect::>() + ); + } + if id.as_str().contains("image") { let height = if let Some(Parameter::Integer(height)) = metadata.parameters.get("height") { @@ -348,7 +377,7 @@ pub fn lib_main() -> Result<()> { update_visualization(&rec, chain, &id, &positions)?; } else { - println!("Could not find chain for {}", id); + println!("Could not find chain for {}. You may not have set its", id); } } else if id.as_str().contains("series") { update_series(&rec, id, data).context("could not plot series")?; diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index b3de8fc0..8988d46b 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -101,6 +101,9 @@ pub fn init_urdf(rec: &RecordingStream) -> Result>> { )); chain.set_origin(pose); chains.insert(path, chain); + } else { + // If no transform is set, use the default origin + chains.insert(path, chain); } } From 0fcb3d83126aeb4e4664e77c29b39df2f5f07d7f Mon Sep 17 00:00:00 2001 From: haixuantao Date: Wed, 4 Jun 2025 18:01:25 +0200 Subject: [PATCH 135/135] Fix base_link and always revert to world if there is no parent --- node-hub/dora-rerun/src/urdf.rs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs index 8988d46b..0543b029 100644 --- a/node-hub/dora-rerun/src/urdf.rs +++ b/node-hub/dora-rerun/src/urdf.rs @@ -127,8 +127,7 @@ pub fn update_visualization( let link_to_world = link .world_transform() .context("Could not get world transform")?; - let link_to_parent = if link_name != "base_link" { - let parent = link.parent().context("could not get parent")?; + let link_to_parent = if let Some(parent) = link.parent() { parent .world_transform() .context("Could not get world transform")?