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Improve readme support matrix readibility (#810)

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Haixuan Xavier Tao GitHub 10 months ago
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@@ -34,7 +34,11 @@
<a href="https://trendshift.io/repositories/9190" target="_blank"><img src="https://trendshift.io/api/badge/repositories/9190" alt="dora-rs%2Fdora | Trendshift" style="width: 250px; height: 55px;" width="250" height="55"/></a>
</div>

An extremely fast and simple **dataflow oriented robotic** framework to manage your projects and run realtime multi-AI and multi-hardware **applications**, written in Rust.
## Highlights

- 🚀 dora-rs is a framework to run realtime multi-AI and multi-hardware applications.
- 🦀 dora-rs internals are 100% Rust making it extremely fast compared to alternative such as being ⚡️ [10-17x faster](https://github.com/dora-rs/dora-benchmark) than `ros2`.
- ❇️ Includes a large set of pre-packaged nodes for fast prototyping which simplifies integration of hardware, algorithms, and AI models.

<p align="center">
<picture align="center">
@@ -55,144 +59,160 @@ An extremely fast and simple **dataflow oriented robotic** framework to manage y
<details open>
<summary><b>2025</b></summary>

- \[2025/03/05\] dora-rs has been accepted to [**GSoC 2025 🎉**](https://summerofcode.withgoogle.com/programs/2025/organizations/dora-rs-tb), with the following [**idea list**](https://github.com/dora-rs/dora/wiki/GSoC_2025).
- \[2025/03/04\] Add support for Zenoh for distributed dataflow.
- \[2025/03/04\] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using `llama.cpp`.
- \[2025/02/25\] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)
- \[03/05\] dora-rs has been accepted to [**GSoC 2025 🎉**](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`.
- \[02/25\] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)
</details>

## Highlights
## Support Matrix

- 🚀 A single CLI to run multiple AI models and hardware drivers in parallel.
- 🦀 dora-rs is 100% Rust project.
- 🖥️ Supports macOS, Linux, and Windows.
- ⚙️ Support Python, C, C++, and ROS2, while ensuring low-latency communication with zero-copy Arrow messages.
- ⏬ Everything is `pip`, `cargo`, or `curl` installable.
- ❇️ Includes a large set of pre-packaged nodes for fast prototyping.
- 🛠️ Build and Run applications **without compilation step** beyond the native compiler of your favourite language.
- 🤖 Simplifies building robotic applications by integrating hardware, algorithms, and AI models to facilitate seamless communication.
- ⚡️ [10-17x faster](https://github.com/dora-rs/dora-benchmark) than `ros2`.
| | dora-rs |
| --------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **APIs** | Python >= 3.7 ✅ <br> Rust ✅<br> C/C++ 🆗 <br>ROS2 >= Foxy 🆗 |
| **OS** | Linux: Arm 32 ✅ Arm 64 ✅ x64_86 ✅ <br>MacOS: Arm 64 ✅ x64_86 ✅<br>Windows: x64_86 🆗<br> Android: 🛠️ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32) <br> IOS: 🛠️ |
| **Message Format** | Arrow ✅ <br> Standard Specification 🛠️ |
| **Local Communication** | Shared Memory ✅ <br> [Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) 📐 |
| **Remote Communication** | [Zenoh](https://zenoh.io/) 📐 |
| **Metrics, Tracing, and Logging** | Opentelemetry 📐 |
| **Configuration** | YAML ✅ |
| **Package Manager** | [pip](https://pypi.org/): Python Node ✅ Rust Node ✅ C/C++ Node 🛠️ <br>[cargo](https://crates.io/): Rust Node ✅ |

> - ✅ = First Class Support
> - 🆗 = Best Effort Support
> - 📐 = Experimental and looking for contributions
> - 🛠️ = Unsupported but hoped for through contributions
>
> Everything is open for contributions 🙋

## Node Hub

> Feel free to modify this README with your own nodes so that it benefits the community.

### Camera

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ----------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------- | -------------------------------------------------------------- |
| [PyOrbbeckSDK](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyorbbecksdk) | Image and depth from Orbbeck Camera | ![Downloads](https://img.shields.io/pypi/dm/dora-pyorbbecksdk) | ![License](https://img.shields.io/pypi/l/dora-pyorbbecksdk) | ![Release](https://img.shields.io/pypi/v/dora-pyorbbecksdk) |
| [PyRealsense](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyrealsense) | Image and depth from Realsense | ![Downloads](https://img.shields.io/pypi/dm/dora-pyrealsense) | ![License](https://img.shields.io/pypi/l/dora-pyrealsense) | ![Release](https://img.shields.io/pypi/v/dora-pyrealsense) |
| [Video Capture](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-video-capture) | Image stream from Camera | ![Downloads](https://img.shields.io/pypi/dm/opencv-video-capture) | ![License](https://img.shields.io/pypi/l/opencv-video-capture) | ![Release](https://img.shields.io/pypi/v/opencv-video-capture) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ------------------ | ----------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------- | -------------------------------------------------------------- |
| [PyOrbbeckSDK](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyorbbecksdk) | 📐 | Image and depth from Orbbeck Camera | ![Downloads](https://img.shields.io/pypi/dm/dora-pyorbbecksdk) | ![License](https://img.shields.io/pypi/l/dora-pyorbbecksdk) | ![Release](https://img.shields.io/pypi/v/dora-pyorbbecksdk) |
| [PyRealsense](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyrealsense) | Linux🆗 <br> Mac🛠️ | Image and depth from Realsense | ![Downloads](https://img.shields.io/pypi/dm/dora-pyrealsense) | ![License](https://img.shields.io/pypi/l/dora-pyrealsense) | ![Release](https://img.shields.io/pypi/v/dora-pyrealsense) |
| [Video Capture](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-video-capture) | ✅ | Image stream from Camera | ![Downloads](https://img.shields.io/pypi/dm/opencv-video-capture) | ![License](https://img.shields.io/pypi/l/opencv-video-capture) | ![Release](https://img.shields.io/pypi/v/opencv-video-capture) |

### Peripheral

| Title | Description | Downloads | License | Release |
| ----------------------------------------------------------------------------------- | ------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [PyAudio(Speaker)](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyaudio) | Output audio from speaker | ![Downloads](https://img.shields.io/pypi/dm/dora-pyaudio) | ![License](https://img.shields.io/pypi/l/dora-pyaudio) | ![Release](https://img.shields.io/pypi/v/dora-pyaudio) |
| [Microphone](https://github.com/dora-rs/dora/blob/main/node-hub/dora-microphone) | Audio from microphone | ![Downloads](https://img.shields.io/pypi/dm/dora-microphone) | ![License](https://img.shields.io/pypi/l/dora-microphone) | ![Release](https://img.shields.io/pypi/v/dora-microphone) |
| [Keyboard](https://github.com/dora-rs/dora/blob/main/node-hub/dora-keyboard) | Keyboard char listener | ![Downloads](https://img.shields.io/pypi/dm/dora-keyboard) | ![License](https://img.shields.io/pypi/l/dora-keyboard) | ![Release](https://img.shields.io/pypi/v/dora-keyboard) |
| Title | Support | Description | Downloads | License | Release |
| ----------------------------------------------------------------------------------- | ------- | ------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Keyboard](https://github.com/dora-rs/dora/blob/main/node-hub/dora-keyboard) | ✅ | Keyboard char listener | ![Downloads](https://img.shields.io/pypi/dm/dora-keyboard) | ![License](https://img.shields.io/pypi/l/dora-keyboard) | ![Release](https://img.shields.io/pypi/v/dora-keyboard) |
| [Microphone](https://github.com/dora-rs/dora/blob/main/node-hub/dora-microphone) | ✅ | Audio from microphone | ![Downloads](https://img.shields.io/pypi/dm/dora-microphone) | ![License](https://img.shields.io/pypi/l/dora-microphone) | ![Release](https://img.shields.io/pypi/v/dora-microphone) |
| [PyAudio(Speaker)](https://github.com/dora-rs/dora/blob/main/node-hub/dora-pyaudio) | ✅ | Output audio from speaker | ![Downloads](https://img.shields.io/pypi/dm/dora-pyaudio) | ![License](https://img.shields.io/pypi/l/dora-pyaudio) | ![Release](https://img.shields.io/pypi/v/dora-pyaudio) |

### Actuator

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ---------------- | --------- | ------- | ------- |
| [Feetech](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/feetech-client) | Feetech Client | | | |
| [Dynamixel](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dynamixel-client) | Dynamixel Client | | | |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------------- | ------- | ---------------- | --------- | ------- | ------- |
| [Feetech](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/feetech-client) | 📐 | Feetech Client | | | |
| [Dynamixel](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dynamixel-client) | 📐 | Dynamixel Client | | | |

### Chassis

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------- | ------------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Dora Kit Car](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kit-car) | Open Source Chassis | ![Downloads](https://img.shields.io/pypi/dm/dora-kit-car) | ![License](https://img.shields.io/pypi/l/dora-kit-car) | ![Release](https://img.shields.io/pypi/v/dora-kit-car) |
| [Agilex - UGV](https://github.com/dora-rs/dora/blob/main/node-hub/dora-ugv) | Robomaster Client | ![Downloads](https://img.shields.io/pypi/dm/dora-ugv) | ![License](https://img.shields.io/pypi/l/dora-ugv) | ![Release](https://img.shields.io/pypi/v/dora-ugv) |
| [DJI - Robomaster S1](https://huggingface.co/datasets/dora-rs/dora-robomaster) | Robomaster Client | | | |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------- | ------- | ------------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Agilex - UGV](https://github.com/dora-rs/dora/blob/main/node-hub/dora-ugv) | 🆗 | Robomaster Client | ![Downloads](https://img.shields.io/pypi/dm/dora-ugv) | ![License](https://img.shields.io/pypi/l/dora-ugv) | ![Release](https://img.shields.io/pypi/v/dora-ugv) |
| [DJI - Robomaster S1](https://huggingface.co/datasets/dora-rs/dora-robomaster) | 📐 | Robomaster Client | | | |
| [Dora Kit Car](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kit-car) | 🆗 | Open Source Chassis | ![Downloads](https://img.shields.io/pypi/dm/dora-kit-car) | ![License](https://img.shields.io/pypi/l/dora-kit-car) | ![Release](https://img.shields.io/pypi/v/dora-kit-car) |

### Arm

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------------------------ | --------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- | ---------------------------------------------------- |
| [Alex Koch - Low Cost Robot](https://github.com/dora-rs/dora-lerobot/blob/main/robots/alexk-lcr) | Alex Koch - Low Cost Robot Client | | | |
| [Lebai - LM3](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lebai-client) | Lebai client | | | |
| [Agilex - Piper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-piper) | Agilex arm client | ![Downloads](https://img.shields.io/pypi/dm/dora-piper) | ![License](https://img.shields.io/pypi/l/dora-piper) | ![Release](https://img.shields.io/pypi/v/dora-piper) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------------------------------ | ------- | --------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- | ---------------------------------------------------- |
| [Alex Koch - Low Cost Robot](https://github.com/dora-rs/dora-lerobot/blob/main/robots/alexk-lcr) | 📐 | Alex Koch - Low Cost Robot Client | | | |
| [Lebai - LM3](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lebai-client) | 📐 | Lebai client | | | |
| [Agilex - Piper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-piper) | 🆗 | Agilex arm client | ![Downloads](https://img.shields.io/pypi/dm/dora-piper) | ![License](https://img.shields.io/pypi/l/dora-piper) | ![Release](https://img.shields.io/pypi/v/dora-piper) |

### Robot

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------------------- | --------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Pollen - Reachy 2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-reachy2) | Reachy 2 client | ![Downloads](https://img.shields.io/pypi/dm/dora-reachy2) | ![License](https://img.shields.io/pypi/l/dora-reachy2) | ![Release](https://img.shields.io/pypi/v/dora-reachy2) |
| [Trossen - Aloha](https://github.com/dora-rs/dora-lerobot/blob/main/robots/aloha) | Aloha client | | | |
| [Pollen - Reachy 1](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dora-reachy1) | Reachy 1 Client | | | |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------------------- | ------- | --------------- | --------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------ |
| [Pollen - Reachy 1](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dora-reachy1) | 📐 | Reachy 1 Client | | | |
| [Pollen - Reachy 2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-reachy2) | 🆗 | Reachy 2 client | ![Downloads](https://img.shields.io/pypi/dm/dora-reachy2) | ![License](https://img.shields.io/pypi/l/dora-reachy2) | ![Release](https://img.shields.io/pypi/v/dora-reachy2) |
| [Trossen - Aloha](https://github.com/dora-rs/dora-lerobot/blob/main/robots/aloha) | 📐 | Aloha client | | | |

### Voice Activity Detection
### Voice Activity Detection(VAD)

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------- | ------------------------------- | ----------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- |
| [Silero VAD](https://github.com/dora-rs/dora/blob/main/node-hub/dora-vad) | Silero Voice activity detection | ![Downloads](https://img.shields.io/pypi/dm/dora-vad) | ![License](https://img.shields.io/pypi/l/dora-vad) | ![Release](https://img.shields.io/pypi/v/dora-vad) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------- | ------- | ------------------------------- | ----------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- |
| [Silero VAD](https://github.com/dora-rs/dora/blob/main/node-hub/dora-vad) | ✅ | Silero Voice activity detection | ![Downloads](https://img.shields.io/pypi/dm/dora-vad) | ![License](https://img.shields.io/pypi/l/dora-vad) | ![Release](https://img.shields.io/pypi/v/dora-vad) |

### Speech to Text
### Speech to Text(STT)

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------- | ------------------------ | ---------------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- |
| [Whisper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-distil-whisper) | Transcribe audio to text | ![Downloads](https://img.shields.io/pypi/dm/dora-distil-whisper) | ![License](https://img.shields.io/pypi/l/dora-distil-whisper) | ![Release](https://img.shields.io/pypi/v/dora-distil-whisper) |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------- | ------- | ------------------------ | ---------------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- |
| [Whisper](https://github.com/dora-rs/dora/blob/main/node-hub/dora-distil-whisper) | ✅ | Transcribe audio to text | ![Downloads](https://img.shields.io/pypi/dm/dora-distil-whisper) | ![License](https://img.shields.io/pypi/l/dora-distil-whisper) | ![Release](https://img.shields.io/pypi/v/dora-distil-whisper) |

### Object Detection

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Yolov8](https://github.com/dora-rs/dora/blob/main/node-hub/dora-yolo) | Object detection | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/dora-yolo) | ![Release](https://img.shields.io/pypi/v/dora-yolo) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Yolov8](https://github.com/dora-rs/dora/blob/main/node-hub/dora-yolo) | ✅ | Object detection | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/dora-yolo) | ![Release](https://img.shields.io/pypi/v/dora-yolo) |

### Segmentation

| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------- | ------------------- | ---------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [SAM2](https://github.com/dora-rs/dora/blob/main/node-hub/dora-sam2) | Cuda✅ <br> Metal🛠️ | Segment Anything | ![Downloads](https://img.shields.io/pypi/dm/dora-sam2) | ![License](https://img.shields.io/pypi/l/dora-sam2) | ![Release](https://img.shields.io/pypi/v/dora-sam2) |

### Vision Language Model
### Large Language Model(LLM)

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Qwen2.5-vl](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen2-5-vl) | Vision Language Model using Qwen2.5 VL | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen2-5-vl) | ![License](https://img.shields.io/pypi/l/dora-qwen2-5-vl) | ![Release](https://img.shields.io/pypi/v/dora-qwen2-5-vl) |
| [InternVL](https://github.com/dora-rs/dora/blob/main/node-hub/dora-internvl) | InternVL is a vision language model | ![Downloads](https://img.shields.io/pypi/dm/dora-internvl) | ![License](https://img.shields.io/pypi/l/dora-internvl) | ![Release](https://img.shields.io/pypi/v/dora-internvl) |
| Title | Support | Description | Downloads | License | Release |
| ----------------------------------------------------------------------- | ------- | ------------------------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Qwen2.5](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen) | ✅ | Large Language Model using Qwen | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen) | ![License](https://img.shields.io/pypi/l/dora-qwen) | ![Release](https://img.shields.io/pypi/v/dora-qwen) |

### Large Language Model
### Vision Language Model(VLM)

| Title | Description | Downloads | License | Release |
| ----------------------------------------------------------------------- | ------------------------------- | ------------------------------------------------------ | --------------------------------------------------- | --------------------------------------------------- |
| [Qwen2.5](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen) | Large Language Model using Qwen | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen) | ![License](https://img.shields.io/pypi/l/dora-qwen) | ![Release](https://img.shields.io/pypi/v/dora-qwen) |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------- | -------------------------------------- | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Qwen2.5-vl](https://github.com/dora-rs/dora/blob/main/node-hub/dora-qwen2-5-vl) | ✅ | Vision Language Model using Qwen2.5 VL | ![Downloads](https://img.shields.io/pypi/dm/dora-qwen2-5-vl) | ![License](https://img.shields.io/pypi/l/dora-qwen2-5-vl) | ![Release](https://img.shields.io/pypi/v/dora-qwen2-5-vl) |
| [InternVL](https://github.com/dora-rs/dora/blob/main/node-hub/dora-internvl) | 🆗 | InternVL is a vision language model | ![Downloads](https://img.shields.io/pypi/dm/dora-internvl) | ![License](https://img.shields.io/pypi/l/dora-internvl) | ![Release](https://img.shields.io/pypi/v/dora-internvl) |

### Vision Language Action
### Vision Language Action(VLA)

| Title | Description | Downloads | License | Release |
| ------------------------------------------------------------------------ | ------------------------------------------------ | -------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [RDT-1B](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rdt-1b) | Infer policy using Robotic Diffusion Transformer | ![Downloads](https://img.shields.io/pypi/dm/dora-rdt-1b) | ![License](https://img.shields.io/pypi/l/dora-rdt-1b) | ![Release](https://img.shields.io/pypi/v/dora-rdt-1b) |
| Title | Support | Description | Downloads | License | Release |
| ------------------------------------------------------------------------ | ------- | ------------------------------------------------ | -------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [RDT-1B](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rdt-1b) | 🆗 | Infer policy using Robotic Diffusion Transformer | ![Downloads](https://img.shields.io/pypi/dm/dora-rdt-1b) | ![License](https://img.shields.io/pypi/l/dora-rdt-1b) | ![Release](https://img.shields.io/pypi/v/dora-rdt-1b) |

### Translation

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------- | ------------------------------- | --------------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ |
| [Opus MT](https://github.com/dora-rs/dora/blob/main/node-hub/dora-opus) | Translate text between language | ![Downloads](https://img.shields.io/pypi/dm/dora-opus) | ![License](https://img.shields.io/pypi/l/dora-opus) | ![Release](https://img.shields.io/pypi/v/dora-opus) |
| [ArgosTranslate](https://github.com/dora-rs/dora/blob/main/node-hub/dora-argotranslate) | Open Source translation engine | ![Downloads](https://img.shields.io/pypi/dm/dora-argotranslate) | ![License](https://img.shields.io/pypi/l/dora-argotranslate) | ![Release](https://img.shields.io/pypi/v/dora-argotranslate) |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------- | ------- | ------------------------------- | --------------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ |
| [ArgosTranslate](https://github.com/dora-rs/dora/blob/main/node-hub/dora-argotranslate) | 🆗 | Open Source translation engine | ![Downloads](https://img.shields.io/pypi/dm/dora-argotranslate) | ![License](https://img.shields.io/pypi/l/dora-argotranslate) | ![Release](https://img.shields.io/pypi/v/dora-argotranslate) |
| [Opus MT](https://github.com/dora-rs/dora/blob/main/node-hub/dora-opus) | 🆗 | Translate text between language | ![Downloads](https://img.shields.io/pypi/dm/dora-opus) | ![License](https://img.shields.io/pypi/l/dora-opus) | ![Release](https://img.shields.io/pypi/v/dora-opus) |

### Text to Speech
### Text to Speech(TTS)

| Title | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------------------------ | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Kokoro TTS](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kokoro-tts) | Efficient Text to Speech | ![Downloads](https://img.shields.io/pypi/dm/dora-kokoro-tts) | ![License](https://img.shields.io/pypi/l/dora-kokoro-tts) | ![Release](https://img.shields.io/pypi/v/dora-kokoro-tts) |
| Title | Support | Description | Downloads | License | Release |
| -------------------------------------------------------------------------------- | ------- | ------------------------ | ------------------------------------------------------------ | --------------------------------------------------------- | --------------------------------------------------------- |
| [Kokoro TTS](https://github.com/dora-rs/dora/blob/main/node-hub/dora-kokoro-tts) | ✅ | Efficient Text to Speech | ![Downloads](https://img.shields.io/pypi/dm/dora-kokoro-tts) | ![License](https://img.shields.io/pypi/l/dora-kokoro-tts) | ![Release](https://img.shields.io/pypi/v/dora-kokoro-tts) |

### Recorder

| Title | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------------------------------------------------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------- |
| [Llama Factory Recorder](https://github.com/dora-rs/dora/blob/main/node-hub/llama-factory-recorder) | Record data to train LLM and VLM | ![Downloads](https://img.shields.io/pypi/dm/llama-factory-recorder) | ![License](https://img.shields.io/pypi/l/llama-factory-recorder) | ![Release](https://img.shields.io/pypi/v/llama-factory-recorder) |
| [LeRobot Recorder](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lerobot-dashboard) | LeRobot Recorder helper | | | |
| Title | Support | Description | Downloads | License | Release |
| --------------------------------------------------------------------------------------------------- | ------- | -------------------------------- | ------------------------------------------------------------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------- |
| [Llama Factory Recorder](https://github.com/dora-rs/dora/blob/main/node-hub/llama-factory-recorder) | 🆗 | Record data to train LLM and VLM | ![Downloads](https://img.shields.io/pypi/dm/llama-factory-recorder) | ![License](https://img.shields.io/pypi/l/llama-factory-recorder) | ![Release](https://img.shields.io/pypi/v/llama-factory-recorder) |
| [LeRobot Recorder](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lerobot-dashboard) | 📐 | LeRobot Recorder helper | | | |

### Visualization

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | -------------------------------- | ------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [Plot](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-plot) | Simple OpenCV plot visualization | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/opencv-plot) | ![Release](https://img.shields.io/pypi/v/opencv-plot) |
| [Rerun](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun) | Visualization tool | ![Downloads](https://img.shields.io/pypi/dm/dora-rerun) | ![License](https://img.shields.io/pypi/l/dora-rerun) | ![Release](https://img.shields.io/pypi/v/dora-rerun) |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------- | ------- | -------------------------------- | ------------------------------------------------------- | ----------------------------------------------------- | ----------------------------------------------------- |
| [Plot](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-plot) | ✅ | Simple OpenCV plot visualization | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo) | ![License](https://img.shields.io/pypi/l/opencv-plot) | ![Release](https://img.shields.io/pypi/v/opencv-plot) |
| [Rerun](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun) | ✅ | Visualization tool | ![Downloads](https://img.shields.io/pypi/dm/dora-rerun) | ![License](https://img.shields.io/pypi/l/dora-rerun) | ![Release](https://img.shields.io/pypi/v/dora-rerun) |

### Simulator

| Title | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------- | ------------------------------------ | --------- | ------- | ------- |
| [Mujoco](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/mujoco-client) | Mujoco Simulator | | | |
| [Carla](https://github.com/dora-rs/dora-drives) | Carla Simulator | | | |
| [Gymnasium](https://github.com/dora-rs/dora-lerobot/blob/main/gym_dora) | Experimental OpenAI Gymnasium bridge | | | |
| Title | Support | Description | Downloads | License | Release |
| ---------------------------------------------------------------------------------- | ------- | ------------------------------------ | --------- | ------- | ------- |
| [Mujoco](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/mujoco-client) | 📐 | Mujoco Simulator | | | |
| [Carla](https://github.com/dora-rs/dora-drives) | 📐 | Carla Simulator | | | |
| [Gymnasium](https://github.com/dora-rs/dora-lerobot/blob/main/gym_dora) | 📐 | Experimental OpenAI Gymnasium bridge | | | |

## Getting Started

@@ -238,11 +258,16 @@ PATH=$PATH:$(pwd)/target/release

### Run

1. Run some Python examples:
- Run the yolo python example:

```bash
## Create a virtual environment
uv venv --seed -p 3.11

## Install nodes dependencies of a remote graph
dora build https://raw.githubusercontent.com/dora-rs/dora/refs/heads/main/examples/object-detection/yolo.yml --uv

## Run yolo graph
dora run yolo.yml --uv
```

@@ -250,46 +275,58 @@ dora run yolo.yml --uv

To stop your dataflow, you can use <kbd>ctrl</kbd>+<kbd>c</kbd>

### Documentation

The full documentation is available on [our website](https://dora-rs.ai/).
A lot of guides are available on [this section](https://dora-rs.ai/docs/guides/) of our website.

## What is Dora? And what features does Dora offer?

**D**ataflow-**O**riented **R**obotic **A**rchitecture (`dora-rs`) is a framework that makes creation of robotic applications fast and simple.
- To understand what is happening, you can look at the dataflow with:

`dora-rs` implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.
```bash
cat yolo.yml
```

Each node defines its inputs and outputs to connect with other nodes.
- Resulting in:

```yaml
nodes:
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/20
outputs:
- image
env:
CAPTURE_PATH: 0
IMAGE_WIDTH: 640
IMAGE_HEIGHT: 480

- id: object-detection
build: pip install dora-yolo
path: dora-yolo
inputs:
image: camera/image
outputs:
- bbox

- id: plot
path: opencv-plot
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
boxes2d: object-detection/bbox
```

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.
- In the above example, we can understand that the camera is sending image to both the rerun viewer as well as a yolo model that generates bounding box that is visualized within rerun.

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/dora_diag_light.svg">
</picture>
</p>
### Documentation

---
The full documentation is available on [our website](https://dora-rs.ai/).
A lot of guides are available on [this section](https://dora-rs.ai/docs/guides/) of our website.

It offers several features, such as:
## What is Dora? And what features does Dora offer?

**D**ataflow-**O**riented **R**obotic **A**rchitecture (`dora-rs`) is a framework that makes creation of robotic applications fast and simple.

`dora-rs` implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.

### TCP Communication and Shared Memory

@@ -338,41 +375,6 @@ 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

## Showcases

### Self-Coding Robot: Code RAG (WIP)

You can easily create a self-coding robot, by combining Hot-reloading with a Retrieval Augmented Generation (RAG) that is going to generate code modification from your prompt.
See:[examples/python-operator-dataflow](examples/python-operator-dataflow)

<p align="center">
<picture align="center">
<source media="(prefers-color-scheme: dark)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_dark.svg">
<source media="(prefers-color-scheme: light)" srcset="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_light.svg">
<img src="https://raw.githubusercontent.com/dora-rs/dora/main/docs/src/self_coding_light.svg">
</picture>
</p>

Self-Coding Robot is just the tip of the iceberg of robotics combined with llm, that we hope to power. There is so much more that we haven't explored yet like:

- [self-debugging](https://arxiv.org/pdf/2304.05128.pdf)
- [memory](https://github.com/cpacker/MemGPT)
- [function calling](https://github.com/ShishirPatil/gorilla)

## Support Matrix

| | dora-rs | Hoped for |
| --------------------------------- | --------------------------------------------------------------------------------------- | --------------------------------------------------------------- |
| **Tier 1 Support** | Python, Rust | C, C++, ROS 2 |
| **Tier 2 Support** | C, C++, ROS2 |
| **Message Format** | Arrow | Native |
| **Local Communication** | Shared Memory, [Cuda zero-copy IPC](https://arrow.apache.org/docs/python/api/cuda.html) | Custom Middleware, intra-process `tokio::channel` communication |
| **Remote Communication** | [Zenoh](https://zenoh.io/) | Custom Middleware |
| **Metrics, Tracing, and Logging** | Opentelemetry | Native logging libraries into Opentelemetry |
| **Supported Platforms (x86)** | Windows, MacOS, Linux |
| **Supported Platforms (ARM)** | MacOS, Linux |
| **Configuration** | YAML |

## Contributing

We are passionate about supporting contributors of all levels of experience and would love to see


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