Adding readme

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 <IP_COORDINATOR_ADDR>
+dora start qwenvl-remote.yml --uv --coordinator-addr <IP_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 <IP_COORDINATOR_ADDR>
+dora start qwenvl-compression.yml --uv --coordinator-addr <IP_COORDINATOR_ADDR>
+```

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

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
 

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

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