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#807 Fixed

tags/test-git
7SOMAY 10 months ago
parent
7b1678021e
commit
20781fb4e2
51 changed files with 489 additions and 482 deletions
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  1. +148
    -128
      apis/python/node/dora/__init__.pyi
  2. +40
    -43
      apis/python/node/generate_stubs.py
  3. +1
    -1
      binaries/cli/src/template/python/__node-name__/__node_name__/__init__.py
  4. +0
    -1
      binaries/cli/src/template/python/__node-name__/__node_name__/__main__.py
  5. +3
    -3
      binaries/cli/src/template/python/__node-name__/__node_name__/main.py
  6. +3
    -8
      binaries/cli/src/template/python/operator/operator-template.py
  7. +2
    -2
      binaries/cli/src/template/python/talker/talker-template.py
  8. +1
    -1
      examples/camera/notebook.ipynb
  9. +6
    -8
      examples/cuda-benchmark/demo_receiver.py
  10. +5
    -5
      examples/cuda-benchmark/demo_sender.py
  11. +3
    -5
      examples/cuda-benchmark/receiver.py
  12. +4
    -4
      examples/cuda-benchmark/sender.py
  13. +4
    -8
      examples/piper/convert.py
  14. +3
    -2
      examples/piper/dummy_inference.py
  15. +18
    -19
      examples/piper/dummy_inference_2.py
  16. +2
    -1
      examples/piper/post_process_action.py
  17. +22
    -25
      examples/piper/record.py
  18. +18
    -18
      examples/piper/replay.py
  19. +4
    -6
      examples/python-operator-dataflow/file_saver_op.py
  20. +29
    -31
      examples/python-operator-dataflow/keyboard_op.py
  21. +36
    -35
      examples/python-operator-dataflow/llm_op.py
  22. +1
    -3
      examples/python-operator-dataflow/microphone_op.py
  23. +1
    -4
      examples/python-operator-dataflow/object_detection.py
  24. +4
    -6
      examples/python-operator-dataflow/plot.py
  25. +5
    -6
      examples/python-operator-dataflow/sentence_transformers_op.py
  26. +16
    -20
      examples/python-operator-dataflow/webcam.py
  27. +1
    -4
      examples/python-operator-dataflow/whisper_op.py
  28. +4
    -4
      examples/python-ros2-dataflow/control_node.py
  29. +1
    -2
      examples/python-ros2-dataflow/random_turtle.py
  30. +6
    -4
      examples/reachy2/parse_bbox.py
  31. +6
    -4
      examples/reachy2/parse_bbox_minimal.py
  32. +15
    -14
      examples/reachy2/pick_place.py
  33. +1
    -1
      examples/reachy2/state_machine.py
  34. +1
    -1
      examples/translation/pretty_print.py
  35. +19
    -21
      libraries/extensions/ros2-bridge/python/test_utils.py
  36. +1
    -1
      node-hub/dora-ios-lidar/dora_ios_lidar/__init__.py
  37. +0
    -1
      node-hub/dora-ios-lidar/dora_ios_lidar/__main__.py
  38. +6
    -7
      node-hub/dora-ios-lidar/dora_ios_lidar/main.py
  39. +1
    -1
      node-hub/dora-kokoro-tts/dora_kokoro_tts/__init__.py
  40. +0
    -1
      node-hub/dora-kokoro-tts/dora_kokoro_tts/__main__.py
  41. +1
    -1
      node-hub/dora-pyaudio/dora_pyaudio/main.py
  42. +1
    -1
      node-hub/dora-qwen/dora_qwen/__init__.py
  43. +0
    -1
      node-hub/dora-qwen/dora_qwen/__main__.py
  44. +6
    -6
      node-hub/dora-qwen/dora_qwen/main.py
  45. +2
    -3
      node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py
  46. +0
    -1
      node-hub/dora-rdt-1b/tests/test_dora_rdt_1b.py
  47. +6
    -6
      node-hub/dora-sam2/dora_sam2/main.py
  48. +1
    -1
      tests/queue_size_and_timeout_python/receive_data.py
  49. +1
    -1
      tests/queue_size_latest_data_python/receive_data.py
  50. +3
    -2
      tests/queue_size_latest_data_python/send_data.py
  51. +27
    -0
      yolo.yml

+ 148
- 128
apis/python/node/dora/__init__.pyi View File

@@ -1,86 +1,96 @@
import dora
import pyarrow
import typing

import pyarrow

import dora

@typing.final
class Enum:
"""Generic enumeration.

Derive from this class to define new enumerations."""
Derive from this class to define new enumerations.
"""

__members__: mappingproxy = ...

@typing.final
class Node:
"""The custom node API lets you integrate `dora` into your application.
It allows you to retrieve input and send output in any fashion you want.
It allows you to retrieve input and send output in any fashion you want.

Use with:
Use with:

```python
from dora import Node
```python
from dora import Node

node = Node()
```"""
node = Node()
```
"""

def __init__(self, node_id: str=None) -> None:
"""The custom node API lets you integrate `dora` into your application.
It allows you to retrieve input and send output in any fashion you want.
It allows you to retrieve input and send output in any fashion you want.

Use with:
Use with:

```python
from dora import Node
```python
from dora import Node

node = Node()
```"""
node = Node()
```
"""

def dataflow_descriptor(self) -> dict:
"""Returns the full dataflow descriptor that this node is part of.

This method returns the parsed dataflow YAML file."""
This method returns the parsed dataflow YAML file.
"""

def dataflow_id(self) -> str:
"""Returns the dataflow id."""

def merge_external_events(self, subscription: dora.Ros2Subscription) -> None:
"""Merge an external event stream with dora main loop.
This currently only work with ROS2."""
This currently only work with ROS2.
"""

def next(self, timeout: float=None) -> dict:
"""`.next()` gives you the next input that the node has received.
It blocks until the next event becomes available.
You can use timeout in seconds to return if no input is available.
It will return `None` when all senders has been dropped.
It blocks until the next event becomes available.
You can use timeout in seconds to return if no input is available.
It will return `None` when all senders has been dropped.

```python
event = node.next()
```
```python
event = node.next()
```

You can also iterate over the event stream with a loop
You can also iterate over the event stream with a loop

```python
for event in node:
match event["type"]:
case "INPUT":
match event["id"]:
case "image":
```"""
```python
for event in node:
match event["type"]:
case "INPUT":
match event["id"]:
case "image":
```
"""

def send_output(self, output_id: str, data: pyarrow.Array, metadata: dict=None) -> None:
"""`send_output` send data from the node.

```python
Args:
output_id: str,
data: pyarrow.Array,
metadata: Option[Dict],
```
```python
Args:
output_id: str,
data: pyarrow.Array,
metadata: Option[Dict],
```

ex:
ex:

```python
node.send_output("string", b"string", {"open_telemetry_context": "7632e76"})
```"""
```python
node.send_output("string", b"string", {"open_telemetry_context": "7632e76"})
```
"""

def __iter__(self) -> typing.Any:
"""Implement iter(self)."""
@@ -92,63 +102,66 @@ node.send_output("string", b"string", {"open_telemetry_context": "7632e76"})
class Ros2Context:
"""ROS2 Context holding all messages definition for receiving and sending messages to ROS2.

By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.
By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.

AMENT_PREFIX_PATH folder structure should be the following:
AMENT_PREFIX_PATH folder structure should be the following:

- For messages: <namespace>/msg/<name>.msg
- For services: <namespace>/srv/<name>.srv
- For messages: <namespace>/msg/<name>.msg
- For services: <namespace>/srv/<name>.srv

You can also use `ros_paths` if you don't want to use env variable.
You can also use `ros_paths` if you don't want to use env variable.

warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

```python
context = Ros2Context()
```"""
```python
context = Ros2Context()
```
"""

def __init__(self, ros_paths: typing.List[str]=None) -> None:
"""ROS2 Context holding all messages definition for receiving and sending messages to ROS2.

By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.
By default, Ros2Context will use env `AMENT_PREFIX_PATH` to search for message definition.

AMENT_PREFIX_PATH folder structure should be the following:
AMENT_PREFIX_PATH folder structure should be the following:

- For messages: <namespace>/msg/<name>.msg
- For services: <namespace>/srv/<name>.srv
- For messages: <namespace>/msg/<name>.msg
- For services: <namespace>/srv/<name>.srv

You can also use `ros_paths` if you don't want to use env variable.
You can also use `ros_paths` if you don't want to use env variable.

warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

```python
context = Ros2Context()
```"""
```python
context = Ros2Context()
```
"""

def new_node(self, name: str, namespace: str, options: dora.Ros2NodeOptions) -> dora.Ros2Node:
"""Create a new ROS2 node

```python
ros2_node = ros2_context.new_node(
"turtle_teleop",
"/ros2_demo",
Ros2NodeOptions(rosout=True),
)
```
```python
ros2_node = ros2_context.new_node(
"turtle_teleop",
"/ros2_demo",
Ros2NodeOptions(rosout=True),
)
```

warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
warning::
dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
"""

@typing.final
class Ros2Durability:
"""DDS 2.2.3.4 DURABILITY"""

def __eq__(self, value: typing.Any) -> bool:
def __eq__(self, value: object) -> bool:
"""Return self==value."""

def __ge__(self, value: typing.Any) -> bool:
@@ -166,11 +179,9 @@ class Ros2Durability:
def __lt__(self, value: typing.Any) -> bool:
"""Return self<value."""

def __ne__(self, value: typing.Any) -> bool:
def __ne__(self, value: object) -> bool:
"""Return self!=value."""

def __repr__(self) -> str:
"""Return repr(self)."""
Persistent: Ros2Durability = ...
Transient: Ros2Durability = ...
TransientLocal: Ros2Durability = ...
@@ -180,7 +191,7 @@ class Ros2Durability:
class Ros2Liveliness:
"""DDS 2.2.3.11 LIVELINESS"""

def __eq__(self, value: typing.Any) -> bool:
def __eq__(self, value: object) -> bool:
"""Return self==value."""

def __ge__(self, value: typing.Any) -> bool:
@@ -198,11 +209,9 @@ class Ros2Liveliness:
def __lt__(self, value: typing.Any) -> bool:
"""Return self<value."""

def __ne__(self, value: typing.Any) -> bool:
def __ne__(self, value: object) -> bool:
"""Return self!=value."""

def __repr__(self) -> str:
"""Return repr(self)."""
Automatic: Ros2Liveliness = ...
ManualByParticipant: Ros2Liveliness = ...
ManualByTopic: Ros2Liveliness = ...
@@ -211,41 +220,46 @@ class Ros2Liveliness:
class Ros2Node:
"""ROS2 Node

warnings::
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
- There's a known issue about ROS2 nodes not being discoverable by ROS2
See: https://github.com/jhelovuo/ros2-client/issues/4"""
warnings::
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
- There's a known issue about ROS2 nodes not being discoverable by ROS2
See: https://github.com/jhelovuo/ros2-client/issues/4
"""

def create_publisher(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Publisher:
"""Create a ROS2 publisher

```python
pose_publisher = ros2_node.create_publisher(turtle_pose_topic)
```
warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
```python
pose_publisher = ros2_node.create_publisher(turtle_pose_topic)
```
warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.
"""

def create_subscription(self, topic: dora.Ros2Topic, qos: dora.Ros2QosPolicies=None) -> dora.Ros2Subscription:
"""Create a ROS2 subscription

```python
pose_reader = ros2_node.create_subscription(turtle_pose_topic)
```
```python
pose_reader = ros2_node.create_subscription(turtle_pose_topic)
```

Warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
"""

def create_topic(self, name: str, message_type: str, qos: dora.Ros2QosPolicies) -> dora.Ros2Topic:
"""Create a ROS2 topic to connect to.

```python
turtle_twist_topic = ros2_node.create_topic(
"/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos
)
```"""
```python
turtle_twist_topic = ros2_node.create_topic(
"/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos
)
```
"""

@typing.final
class Ros2NodeOptions:
@@ -258,28 +272,31 @@ class Ros2NodeOptions:
class Ros2Publisher:
"""ROS2 Publisher

warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
Warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

"""

def publish(self, data: pyarrow.Array) -> None:
"""Publish a message into ROS2 topic.

Remember that the data format should respect the structure of the ROS2 message using an arrow Structure.

ex:
```python
gripper_command.publish(
pa.array(
[
{
"name": "gripper",
"cmd": np.float32(5),
}
]
),
)
```"""
Remember that the data format should respect the structure of the ROS2 message using an arrow Structure.

ex:
```python
gripper_command.publish(
pa.array(
[
{
"name": "gripper",
"cmd": np.float32(5),
}
]
),
)
```
"""

@typing.final
class Ros2QosPolicies:
@@ -292,10 +309,11 @@ class Ros2QosPolicies:
class Ros2Subscription:
"""ROS2 Subscription

Warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
"""

def next(self):...

@@ -303,9 +321,11 @@ at any point without it being considered a breaking change."""
class Ros2Topic:
"""ROS2 Topic

warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change."""
Warnings:
- dora Ros2 bridge functionality is considered **unstable**. It may be changed
at any point without it being considered a breaking change.

"""

def start_runtime() -> None:
"""Start a runtime for Operators"""
"""Start a runtime for Operators"""

+ 40
- 43
apis/python/node/generate_stubs.py View File

@@ -5,8 +5,9 @@ import inspect
import logging
import re
import subprocess
from collections.abc import Mapping
from functools import reduce
from typing import Any, Dict, List, Mapping, Optional, Set, Tuple, Union
from typing import Any, Dict, List, Optional, Set, Tuple, Union


def path_to_type(*elements: str) -> ast.AST:
@@ -70,13 +71,11 @@ def module_stubs(module: Any) -> ast.Module:
functions = []
for member_name, member_value in inspect.getmembers(module):
element_path = [module.__name__, member_name]
if member_name.startswith("__"):
pass
elif member_name.startswith("DoraStatus"):
if member_name.startswith("__") or member_name.startswith("DoraStatus"):
pass
elif inspect.isclass(member_value):
classes.append(
class_stubs(member_name, member_value, element_path, types_to_import)
class_stubs(member_name, member_value, element_path, types_to_import),
)
elif inspect.isbuiltin(member_value):
functions.append(
@@ -86,7 +85,7 @@ def module_stubs(module: Any) -> ast.Module:
element_path,
types_to_import,
in_class=False,
)
),
)
else:
logging.warning(f"Unsupported root construction {member_name}")
@@ -99,7 +98,7 @@ def module_stubs(module: Any) -> ast.Module:


def class_stubs(
cls_name: str, cls_def: Any, element_path: List[str], types_to_import: Set[str]
cls_name: str, cls_def: Any, element_path: List[str], types_to_import: Set[str],
) -> ast.ClassDef:
attributes: List[ast.AST] = []
methods: List[ast.AST] = []
@@ -123,7 +122,7 @@ def class_stubs(
except ValueError as e:
if "no signature found" not in str(e):
raise ValueError(
f"Error while parsing signature of {cls_name}.__init_"
f"Error while parsing signature of {cls_name}.__init_",
) from e
elif (
member_value == OBJECT_MEMBERS.get(member_name)
@@ -133,8 +132,8 @@ def class_stubs(
elif inspect.isdatadescriptor(member_value):
attributes.extend(
data_descriptor_stub(
member_name, member_value, current_element_path, types_to_import
)
member_name, member_value, current_element_path, types_to_import,
),
)
elif inspect.isroutine(member_value):
(magic_methods if member_name.startswith("__") else methods).append(
@@ -144,7 +143,7 @@ def class_stubs(
current_element_path,
types_to_import,
in_class=True,
)
),
)
elif member_name == "__match_args__":
constants.append(
@@ -153,28 +152,28 @@ def class_stubs(
annotation=ast.Subscript(
value=path_to_type("tuple"),
slice=ast.Tuple(
elts=[path_to_type("str"), ast.Ellipsis()], ctx=ast.Load()
elts=[path_to_type("str"), ast.Ellipsis()], ctx=ast.Load(),
),
ctx=ast.Load(),
),
value=ast.Constant(member_value),
simple=1,
)
),
)
elif member_value is not None:
constants.append(
ast.AnnAssign(
target=ast.Name(id=member_name, ctx=ast.Store()),
annotation=concatenated_path_to_type(
member_value.__class__.__name__, element_path, types_to_import
member_value.__class__.__name__, element_path, types_to_import,
),
value=ast.Ellipsis(),
simple=1,
)
),
)
else:
logging.warning(
f"Unsupported member {member_name} of class {'.'.join(element_path)}"
f"Unsupported member {member_name} of class {'.'.join(element_path)}",
)

doc = inspect.getdoc(cls_def)
@@ -212,7 +211,7 @@ def data_descriptor_stub(
doc_comment = m[0]
elif len(m) > 1:
raise ValueError(
f"Multiple return annotations found with :return: in {'.'.join(element_path)} documentation"
f"Multiple return annotations found with :return: in {'.'.join(element_path)} documentation",
)

assign = ast.AnnAssign(
@@ -263,7 +262,7 @@ def arguments_stub(
types_to_import: Set[str],
) -> ast.arguments:
real_parameters: Mapping[str, inspect.Parameter] = inspect.signature(
callable_def
callable_def,
).parameters
if callable_name == "__init__":
real_parameters = {
@@ -285,19 +284,19 @@ def arguments_stub(

# Types from comment
for match in re.findall(
r"^ *:type *([a-zA-Z0-9_]+): ([^\n]*) *$", doc, re.MULTILINE
r"^ *:type *([a-zA-Z0-9_]+): ([^\n]*) *$", doc, re.MULTILINE,
):
if match[0] not in real_parameters:
raise ValueError(
f"The parameter {match[0]} of {'.'.join(element_path)} "
"is defined in the documentation but not in the function signature"
"is defined in the documentation but not in the function signature",
)
type = match[1]
if type.endswith(", optional"):
optional_params.add(match[0])
type = type[:-10]
parsed_param_types[match[0]] = convert_type_from_doc(
type, element_path, types_to_import
type, element_path, types_to_import,
)

# we parse the parameters
@@ -312,10 +311,10 @@ def arguments_stub(
if param.name != "self" and param.name not in parsed_param_types:
raise ValueError(
f"The parameter {param.name} of {'.'.join(element_path)} "
"has no type definition in the function documentation"
"has no type definition in the function documentation",
)
param_ast = ast.arg(
arg=param.name, annotation=parsed_param_types.get(param.name)
arg=param.name, annotation=parsed_param_types.get(param.name),
)

default_ast = None
@@ -324,12 +323,12 @@ def arguments_stub(
if param.name not in optional_params:
raise ValueError(
f"Parameter {param.name} of {'.'.join(element_path)} "
"is optional according to the type but not flagged as such in the doc"
"is optional according to the type but not flagged as such in the doc",
)
elif param.name in optional_params:
raise ValueError(
f"Parameter {param.name} of {'.'.join(element_path)} "
"is optional according to the documentation but has no default value"
"is optional according to the documentation but has no default value",
)

if param.kind == param.POSITIONAL_ONLY:
@@ -359,7 +358,7 @@ def arguments_stub(


def returns_stub(
callable_name: str, doc: str, element_path: List[str], types_to_import: Set[str]
callable_name: str, doc: str, element_path: List[str], types_to_import: Set[str],
) -> Optional[ast.AST]:
m = re.findall(r"^ *:rtype: *([^\n]*) *$", doc, re.MULTILINE)
if len(m) == 0:
@@ -368,24 +367,24 @@ def returns_stub(
return builtin[1]
raise ValueError(
f"The return type of {'.'.join(element_path)} "
"has no type definition using :rtype: in the function documentation"
"has no type definition using :rtype: in the function documentation",
)
if len(m) > 1:
raise ValueError(
f"Multiple return type annotations found with :rtype: for {'.'.join(element_path)}"
f"Multiple return type annotations found with :rtype: for {'.'.join(element_path)}",
)
return convert_type_from_doc(m[0], element_path, types_to_import)


def convert_type_from_doc(
type_str: str, element_path: List[str], types_to_import: Set[str]
type_str: str, element_path: List[str], types_to_import: Set[str],
) -> ast.AST:
type_str = type_str.strip()
return parse_type_to_ast(type_str, element_path, types_to_import)


def parse_type_to_ast(
type_str: str, element_path: List[str], types_to_import: Set[str]
type_str: str, element_path: List[str], types_to_import: Set[str],
) -> ast.AST:
# let's tokenize
tokens = []
@@ -420,9 +419,7 @@ def parse_type_to_ast(
or_groups: List[List[str]] = [[]]
print(sequence)
# TODO: Fix sequence
if "Ros" in sequence and "2" in sequence:
sequence = ["".join(sequence)]
elif "dora.Ros" in sequence and "2" in sequence:
if ("Ros" in sequence and "2" in sequence) or ("dora.Ros" in sequence and "2" in sequence):
sequence = ["".join(sequence)]

for e in sequence:
@@ -432,14 +429,14 @@ def parse_type_to_ast(
or_groups[-1].append(e)
if any(not g for g in or_groups):
raise ValueError(
f"Not able to parse type '{type_str}' used by {'.'.join(element_path)}"
f"Not able to parse type '{type_str}' used by {'.'.join(element_path)}",
)

new_elements: List[ast.AST] = []
for group in or_groups:
if len(group) == 1 and isinstance(group[0], str):
new_elements.append(
concatenated_path_to_type(group[0], element_path, types_to_import)
concatenated_path_to_type(group[0], element_path, types_to_import),
)
elif (
len(group) == 2
@@ -449,15 +446,15 @@ def parse_type_to_ast(
new_elements.append(
ast.Subscript(
value=concatenated_path_to_type(
group[0], element_path, types_to_import
group[0], element_path, types_to_import,
),
slice=parse_sequence(group[1]),
ctx=ast.Load(),
)
),
)
else:
raise ValueError(
f"Not able to parse type '{type_str}' used by {'.'.join(element_path)}"
f"Not able to parse type '{type_str}' used by {'.'.join(element_path)}",
)
return reduce(
lambda left, right: ast.BinOp(left=left, op=ast.BitOr(), right=right),
@@ -468,12 +465,12 @@ def parse_type_to_ast(


def concatenated_path_to_type(
path: str, element_path: List[str], types_to_import: Set[str]
path: str, element_path: List[str], types_to_import: Set[str],
) -> ast.AST:
parts = path.split(".")
if any(not p for p in parts):
raise ValueError(
f"Not able to parse type '{path}' used by {'.'.join(element_path)}"
f"Not able to parse type '{path}' used by {'.'.join(element_path)}",
)
if len(parts) > 1:
types_to_import.add(".".join(parts[:-1]))
@@ -497,10 +494,10 @@ def format_with_ruff(file: str) -> None:

if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="Extract Python type stub from a python module."
description="Extract Python type stub from a python module.",
)
parser.add_argument(
"module_name", help="Name of the Python module for which generate stubs"
"module_name", help="Name of the Python module for which generate stubs",
)
parser.add_argument(
"out",
@@ -508,7 +505,7 @@ if __name__ == "__main__":
type=argparse.FileType("wt"),
)
parser.add_argument(
"--ruff", help="Formats the generated stubs using Ruff", action="store_true"
"--ruff", help="Formats the generated stubs using Ruff", action="store_true",
)
args = parser.parse_args()
stub_content = ast.unparse(module_stubs(importlib.import_module(args.module_name)))


+ 1
- 1
binaries/cli/src/template/python/__node-name__/__node_name__/__init__.py View File

@@ -5,7 +5,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m

# Read the content of the README file
try:
with open(readme_path, "r", encoding="utf-8") as f:
with open(readme_path, encoding="utf-8") as f:
__doc__ = f.read()
except FileNotFoundError:
__doc__ = "README file not found."

+ 0
- 1
binaries/cli/src/template/python/__node-name__/__node_name__/__main__.py View File

@@ -1,5 +1,4 @@
from .main import main


if __name__ == "__main__":
main()

+ 3
- 3
binaries/cli/src/template/python/__node-name__/__node_name__/main.py View File

@@ -1,5 +1,5 @@
from dora import Node
import pyarrow as pa
from dora import Node


def main():
@@ -12,13 +12,13 @@ def main():
f"""Node received:
id: {event["id"]},
value: {event["value"]},
metadata: {event["metadata"]}"""
metadata: {event["metadata"]}""",
)

elif event["id"] == "my_input_id":
# 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={}
output_id="my_output_id", data=pa.array([1, 2, 3]), metadata={},
)




+ 3
- 8
binaries/cli/src/template/python/operator/operator-template.py View File

@@ -2,22 +2,18 @@ from dora import DoraStatus


class Operator:
"""
Template docstring
"""Template docstring
"""

def __init__(self):
"""Called on initialisation"""
pass

def on_event(
self,
dora_event,
send_output,
) -> DoraStatus:
"""

Args:
"""Args:
dora_event: Event containing an `id`, `data` and `metadata`.
send_output Callable[[str, bytes | pa.Array, Optional[dict]], None]:
Function for sending output to the dataflow:
@@ -35,11 +31,10 @@ class Operator:
"""
if dora_event["type"] == "INPUT":
print(
f"Received input {dora_event['id']}, with data: {dora_event['value']}"
f"Received input {dora_event['id']}, with data: {dora_event['value']}",
)

return DoraStatus.CONTINUE

def __del__(self):
"""Called before being deleted"""
pass

+ 2
- 2
binaries/cli/src/template/python/talker/talker-template.py View File

@@ -1,5 +1,5 @@
from dora import Node
import pyarrow as pa
from dora import Node


def main():
@@ -11,7 +11,7 @@ def main():
f"""Node received:
id: {event["id"]},
value: {event["value"]},
metadata: {event["metadata"]}"""
metadata: {event["metadata"]}""",
)
node.send_output("speech", pa.array(["Hello World"]))



+ 1
- 1
examples/camera/notebook.ipynb View File

@@ -6,8 +6,8 @@
"metadata": {},
"outputs": [],
"source": [
"from dora import Node\n",
"import IPython.display\n",
"from dora import Node\n",
"from IPython.display import clear_output"
]
},


+ 6
- 8
examples/cuda-benchmark/demo_receiver.py View File

@@ -1,17 +1,15 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

import os
import time

import numpy as np
import pyarrow as pa
from tqdm import tqdm
import torch
from dora import Node
from dora.cuda import ipc_buffer_to_ipc_handle, cudabuffer_to_torch
from dora.cuda import cudabuffer_to_torch, ipc_buffer_to_ipc_handle
from helper import record_results
import torch
import numpy as np
from tqdm import tqdm

torch.tensor([], device="cuda")

@@ -31,7 +29,7 @@ NAME = f"dora torch {DEVICE}"

ctx = pa.cuda.Context()

print("")
print()
print("Receiving 40MB packets using default dora-rs")

while True:
@@ -79,7 +77,7 @@ pbar.close()

time.sleep(2)

print("")
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")


+ 5
- 5
examples/cuda-benchmark/demo_sender.py View File

@@ -1,13 +1,13 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

import time
import os
import time

import numpy as np
import pyarrow as pa
import torch
from dora import Node
from dora.cuda import torch_to_ipc_buffer
import torch

torch.tensor([], device="cuda")

@@ -24,7 +24,7 @@ time.sleep(1)

# test latency first
for size in SIZES:
for _ in range(0, 100):
for _ in range(100):
now = time.time()
random_data = np.random.randint(1000, size=size, dtype=np.int64)
torch_tensor = torch.tensor(random_data, dtype=torch.int64, device="cuda")
@@ -51,7 +51,7 @@ DEVICE = "cuda"

time.sleep(1)
for size in SIZES:
for _ in range(0, 100):
for _ in range(100):
now = time.time()
random_data = np.random.randint(1000, size=size, dtype=np.int64)
torch_tensor = torch.tensor(random_data, dtype=torch.int64, device="cuda")


+ 3
- 5
examples/cuda-benchmark/receiver.py View File

@@ -1,16 +1,14 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

import os
import time


import pyarrow as pa
from tqdm import tqdm
import torch
from dora import Node
from dora.cuda import ipc_buffer_to_ipc_handle, cudabuffer_to_torch
from dora.cuda import cudabuffer_to_torch, ipc_buffer_to_ipc_handle
from helper import record_results
import torch
from tqdm import tqdm

torch.tensor([], device="cuda")



+ 4
- 4
examples/cuda-benchmark/sender.py View File

@@ -1,13 +1,13 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

import time
import os
import time

import numpy as np
import pyarrow as pa
import torch
from dora import Node
from dora.cuda import torch_to_ipc_buffer
import torch

torch.tensor([], device="cuda")

@@ -22,7 +22,7 @@ node = Node()
time.sleep(4)
# test latency first
for size in SIZES:
for _ in range(0, 100):
for _ in range(100):
now = time.time()
random_data = np.random.randint(1000, size=size, dtype=np.int64)
torch_tensor = torch.tensor(random_data, dtype=torch.int64, device="cuda")


+ 4
- 8
examples/piper/convert.py View File

@@ -3,8 +3,7 @@ from scipy.spatial.transform import Rotation as R


def convert_quaternion_to_euler(quat):
"""
Convert Quaternion (xyzw) to Euler angles (rpy)
"""Convert Quaternion (xyzw) to Euler angles (rpy)
"""
# Normalize
quat = quat / np.linalg.norm(quat)
@@ -14,8 +13,7 @@ def convert_quaternion_to_euler(quat):


def convert_euler_to_quaternion(euler):
"""
Convert Euler angles (rpy) to Quaternion (xyzw)
"""Convert Euler angles (rpy) to Quaternion (xyzw)
"""
quat = R.from_euler("xyz", euler).as_quat()

@@ -23,8 +21,7 @@ def convert_euler_to_quaternion(euler):


def convert_euler_to_rotation_matrix(euler):
"""
Convert Euler angles (rpy) to rotation matrix (3x3).
"""Convert Euler angles (rpy) to rotation matrix (3x3).
"""
quat = R.from_euler("xyz", euler).as_matrix()

@@ -32,8 +29,7 @@ def convert_euler_to_rotation_matrix(euler):


def convert_rotation_matrix_to_euler(rotmat):
"""
Convert rotation matrix (3x3) to Euler angles (rpy).
"""Convert rotation matrix (3x3) to Euler angles (rpy).
"""
r = R.from_matrix(rotmat)
euler = r.as_euler("xyz", degrees=False)


+ 3
- 2
examples/piper/dummy_inference.py View File

@@ -215,11 +215,12 @@ pred = np.array(
0.0913,
0.1221,
],
]
]
],
],
)

import time

import pyarrow as pa

data = pred[0]


+ 18
- 19
examples/piper/dummy_inference_2.py View File

@@ -1,7 +1,5 @@
from dora import Node


import h5py
from dora import Node

f = h5py.File("data/episode_0.hdf5", "r")

@@ -10,19 +8,19 @@ data = f["action"][:]

STATE_VEC_IDX_MAPPING = {
# [0, 10): right arm joint positions
**{"arm_joint_{}_pos".format(i): i for i in range(10)},
**{"right_arm_joint_{}_pos".format(i): i for i in range(10)},
**{f"arm_joint_{i}_pos": i for i in range(10)},
**{f"right_arm_joint_{i}_pos": i for i in range(10)},
# [10, 15): right gripper joint positions
**{"gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{"right_gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{f"gripper_joint_{i}_pos": i + 10 for i in range(5)},
**{f"right_gripper_joint_{i}_pos": i + 10 for i in range(5)},
"gripper_open": 10, # alias of right_gripper_joint_0_pos
"right_gripper_open": 10,
# [15, 25): right arm joint velocities
**{"arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{"right_arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{f"arm_joint_{i}_vel": i + 15 for i in range(10)},
**{f"right_arm_joint_{i}_vel": i + 15 for i in range(10)},
# [25, 30): right gripper joint velocities
**{"gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{"right_gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{f"gripper_joint_{i}_vel": i + 25 for i in range(5)},
**{f"right_gripper_joint_{i}_vel": i + 25 for i in range(5)},
"gripper_open_vel": 25, # alias of right_gripper_joint_0_vel
"right_gripper_open_vel": 25,
# [30, 33): right end effector positions
@@ -61,14 +59,14 @@ STATE_VEC_IDX_MAPPING = {
"right_eef_angular_vel_yaw": 44,
# [45, 50): reserved
# [50, 60): left arm joint positions
**{"left_arm_joint_{}_pos".format(i): i + 50 for i in range(10)},
**{f"left_arm_joint_{i}_pos": i + 50 for i in range(10)},
# [60, 65): left gripper joint positions
**{"left_gripper_joint_{}_pos".format(i): i + 60 for i in range(5)},
**{f"left_gripper_joint_{i}_pos": i + 60 for i in range(5)},
"left_gripper_open": 60, # alias of left_gripper_joint_0_pos
# [65, 75): left arm joint velocities
**{"left_arm_joint_{}_vel".format(i): i + 65 for i in range(10)},
**{f"left_arm_joint_{i}_vel": i + 65 for i in range(10)},
# [75, 80): left gripper joint velocities
**{"left_gripper_joint_{}_vel".format(i): i + 75 for i in range(5)},
**{f"left_gripper_joint_{i}_vel": i + 75 for i in range(5)},
"left_gripper_open_vel": 75, # alias of left_gripper_joint_0_vel
# [80, 83): left end effector positions
"left_eef_pos_x": 80,
@@ -99,6 +97,7 @@ STATE_VEC_IDX_MAPPING = {
}

import time

import pyarrow as pa

node = Node()
@@ -109,17 +108,17 @@ RIGHT_UNI_STATE_INDICES = [
STATE_VEC_IDX_MAPPING[f"right_arm_joint_{i}_pos"] for i in range(6)
] + [STATE_VEC_IDX_MAPPING["right_gripper_open"]]
MOBILE_BASE_UNI_STATE_INDICES = [STATE_VEC_IDX_MAPPING["base_vel_x"]] + [
STATE_VEC_IDX_MAPPING["base_angular_vel"]
STATE_VEC_IDX_MAPPING["base_angular_vel"],
]

for joint in data:
node.send_output(
"jointstate_left", pa.array(joint[LEFT_UNI_STATE_INDICES], type=pa.float32())
"jointstate_left", pa.array(joint[LEFT_UNI_STATE_INDICES], type=pa.float32()),
)
node.send_output(
"jointstate_right", pa.array(joint[RIGHT_UNI_STATE_INDICES], type=pa.float32())
"jointstate_right", pa.array(joint[RIGHT_UNI_STATE_INDICES], type=pa.float32()),
)
node.send_output(
"mobile_base", pa.array(joint[MOBILE_BASE_UNI_STATE_INDICES], type=pa.float32())
"mobile_base", pa.array(joint[MOBILE_BASE_UNI_STATE_INDICES], type=pa.float32()),
)
time.sleep(0.05)

+ 2
- 1
examples/piper/post_process_action.py View File

@@ -4,6 +4,7 @@ node = Node()


import time

import pyarrow as pa

for event in node:
@@ -25,7 +26,7 @@ for event in node:

node.send_output("jointstate_left", pa.array(action[:7], type=pa.float32()))
node.send_output(
"jointstate_right", pa.array(action[7:], type=pa.float32())
"jointstate_right", pa.array(action[7:], type=pa.float32()),
)
time.sleep(0.02)
print(actions)

+ 22
- 25
examples/piper/record.py View File

@@ -1,30 +1,29 @@
import h5py

import os
import datetime
import os

from dora import Node
import h5py
import numpy as np
from convert import (
convert_euler_to_rotation_matrix,
compute_ortho6d_from_rotation_matrix,
convert_euler_to_rotation_matrix,
)
from dora import Node

STATE_VEC_IDX_MAPPING = {
# [0, 10): right arm joint positions
**{"arm_joint_{}_pos".format(i): i for i in range(10)},
**{"right_arm_joint_{}_pos".format(i): i for i in range(10)},
**{f"arm_joint_{i}_pos": i for i in range(10)},
**{f"right_arm_joint_{i}_pos": i for i in range(10)},
# [10, 15): right gripper joint positions
**{"gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{"right_gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{f"gripper_joint_{i}_pos": i + 10 for i in range(5)},
**{f"right_gripper_joint_{i}_pos": i + 10 for i in range(5)},
"gripper_open": 10, # alias of right_gripper_joint_0_pos
"right_gripper_open": 10,
# [15, 25): right arm joint velocities
**{"arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{"right_arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{f"arm_joint_{i}_vel": i + 15 for i in range(10)},
**{f"right_arm_joint_{i}_vel": i + 15 for i in range(10)},
# [25, 30): right gripper joint velocities
**{"gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{"right_gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{f"gripper_joint_{i}_vel": i + 25 for i in range(5)},
**{f"right_gripper_joint_{i}_vel": i + 25 for i in range(5)},
"gripper_open_vel": 25, # alias of right_gripper_joint_0_vel
"right_gripper_open_vel": 25,
# [30, 33): right end effector positions
@@ -63,14 +62,14 @@ STATE_VEC_IDX_MAPPING = {
"right_eef_angular_vel_yaw": 44,
# [45, 50): reserved
# [50, 60): left arm joint positions
**{"left_arm_joint_{}_pos".format(i): i + 50 for i in range(10)},
**{f"left_arm_joint_{i}_pos": i + 50 for i in range(10)},
# [60, 65): left gripper joint positions
**{"left_gripper_joint_{}_pos".format(i): i + 60 for i in range(5)},
**{f"left_gripper_joint_{i}_pos": i + 60 for i in range(5)},
"left_gripper_open": 60, # alias of left_gripper_joint_0_pos
# [65, 75): left arm joint velocities
**{"left_arm_joint_{}_vel".format(i): i + 65 for i in range(10)},
**{f"left_arm_joint_{i}_vel": i + 65 for i in range(10)},
# [75, 80): left gripper joint velocities
**{"left_gripper_joint_{}_vel".format(i): i + 75 for i in range(5)},
**{f"left_gripper_joint_{i}_vel": i + 75 for i in range(5)},
"left_gripper_open_vel": 75, # alias of left_gripper_joint_0_vel
# [80, 83): left end effector positions
"left_eef_pos_x": 80,
@@ -193,9 +192,7 @@ for event in node:
elif char == "s":
start = True

elif "image" in event["id"]:
tmp_dict[event["id"]] = event["value"].to_numpy()
elif "qpos" in event["id"]:
elif "image" in event["id"] or "qpos" in event["id"]:
tmp_dict[event["id"]] = event["value"].to_numpy()
elif "pose" in event["id"]:
value = event["value"].to_numpy()
@@ -213,7 +210,7 @@ for event in node:
ortho6d[3],
ortho6d[4],
ortho6d[5],
]
],
)
tmp_dict[event["id"]] = values
elif "base_vel" in event["id"]:
@@ -230,7 +227,7 @@ for event in node:
tmp_dict["/observations/pose_left"],
tmp_dict["/observations/pose_right"],
# tmp_dict["/observations/base_vel"],
]
],
)
UNI_STATE_INDICES = (
[STATE_VEC_IDX_MAPPING[f"left_arm_joint_{i}_pos"] for i in range(6)]
@@ -264,11 +261,11 @@ for event in node:
# We reproduce obs and action
data_dict["/action"].append(universal_vec)
data_dict["/observations/images/cam_high"].append(
tmp_dict["/observations/images/cam_high"]
tmp_dict["/observations/images/cam_high"],
)
data_dict["/observations/images/cam_left_wrist"].append(
tmp_dict["/observations/images/cam_left_wrist"]
tmp_dict["/observations/images/cam_left_wrist"],
)
data_dict["/observations/images/cam_right_wrist"].append(
tmp_dict["/observations/images/cam_right_wrist"]
tmp_dict["/observations/images/cam_right_wrist"],
)

+ 18
- 18
examples/piper/replay.py View File

@@ -1,8 +1,7 @@
from dora import Node

import os

import h5py
import os
from dora import Node

EPISODE_PATH = os.getenv("EPISODE_PATH", "data/episode_0.hdf5")

@@ -13,19 +12,19 @@ data = f["action"][:]

STATE_VEC_IDX_MAPPING = {
# [0, 10): right arm joint positions
**{"arm_joint_{}_pos".format(i): i for i in range(10)},
**{"right_arm_joint_{}_pos".format(i): i for i in range(10)},
**{f"arm_joint_{i}_pos": i for i in range(10)},
**{f"right_arm_joint_{i}_pos": i for i in range(10)},
# [10, 15): right gripper joint positions
**{"gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{"right_gripper_joint_{}_pos".format(i): i + 10 for i in range(5)},
**{f"gripper_joint_{i}_pos": i + 10 for i in range(5)},
**{f"right_gripper_joint_{i}_pos": i + 10 for i in range(5)},
"gripper_open": 10, # alias of right_gripper_joint_0_pos
"right_gripper_open": 10,
# [15, 25): right arm joint velocities
**{"arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{"right_arm_joint_{}_vel".format(i): i + 15 for i in range(10)},
**{f"arm_joint_{i}_vel": i + 15 for i in range(10)},
**{f"right_arm_joint_{i}_vel": i + 15 for i in range(10)},
# [25, 30): right gripper joint velocities
**{"gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{"right_gripper_joint_{}_vel".format(i): i + 25 for i in range(5)},
**{f"gripper_joint_{i}_vel": i + 25 for i in range(5)},
**{f"right_gripper_joint_{i}_vel": i + 25 for i in range(5)},
"gripper_open_vel": 25, # alias of right_gripper_joint_0_vel
"right_gripper_open_vel": 25,
# [30, 33): right end effector positions
@@ -64,14 +63,14 @@ STATE_VEC_IDX_MAPPING = {
"right_eef_angular_vel_yaw": 44,
# [45, 50): reserved
# [50, 60): left arm joint positions
**{"left_arm_joint_{}_pos".format(i): i + 50 for i in range(10)},
**{f"left_arm_joint_{i}_pos": i + 50 for i in range(10)},
# [60, 65): left gripper joint positions
**{"left_gripper_joint_{}_pos".format(i): i + 60 for i in range(5)},
**{f"left_gripper_joint_{i}_pos": i + 60 for i in range(5)},
"left_gripper_open": 60, # alias of left_gripper_joint_0_pos
# [65, 75): left arm joint velocities
**{"left_arm_joint_{}_vel".format(i): i + 65 for i in range(10)},
**{f"left_arm_joint_{i}_vel": i + 65 for i in range(10)},
# [75, 80): left gripper joint velocities
**{"left_gripper_joint_{}_vel".format(i): i + 75 for i in range(5)},
**{f"left_gripper_joint_{i}_vel": i + 75 for i in range(5)},
"left_gripper_open_vel": 75, # alias of left_gripper_joint_0_vel
# [80, 83): left end effector positions
"left_eef_pos_x": 80,
@@ -102,6 +101,7 @@ STATE_VEC_IDX_MAPPING = {
}

import time

import pyarrow as pa

node = Node()
@@ -112,15 +112,15 @@ RIGHT_UNI_STATE_INDICES = [
STATE_VEC_IDX_MAPPING[f"right_arm_joint_{i}_pos"] for i in range(6)
] + [STATE_VEC_IDX_MAPPING["right_gripper_open"]]
MOBILE_BASE_UNI_STATE_INDICES = [STATE_VEC_IDX_MAPPING["base_vel_x"]] + [
STATE_VEC_IDX_MAPPING["base_angular_vel"]
STATE_VEC_IDX_MAPPING["base_angular_vel"],
]

for joint in data:
node.send_output(
"jointstate_left", pa.array(joint[LEFT_UNI_STATE_INDICES], type=pa.float32())
"jointstate_left", pa.array(joint[LEFT_UNI_STATE_INDICES], type=pa.float32()),
)
node.send_output(
"jointstate_right", pa.array(joint[RIGHT_UNI_STATE_INDICES], type=pa.float32())
"jointstate_right", pa.array(joint[RIGHT_UNI_STATE_INDICES], type=pa.float32()),
)
# node.send_output(
# "mobile_base", pa.array(joint[MOBILE_BASE_UNI_STATE_INDICES], type=pa.float32())


+ 4
- 6
examples/python-operator-dataflow/file_saver_op.py View File

@@ -1,11 +1,9 @@
import pyarrow as pa

from dora import DoraStatus


class Operator:
"""
Inferring object from images
"""Inferring object from images
"""

def __init__(self):
@@ -21,7 +19,7 @@ class Operator:
if dora_event["type"] == "INPUT" and dora_event["id"] == "file":
input = dora_event["value"][0].as_py()

with open(input["path"], "r") as file:
with open(input["path"]) as file:
self.last_file = file.read()
self.last_path = input["path"]
self.last_metadata = dora_event["metadata"]
@@ -36,8 +34,8 @@ class Operator:
"raw": input["raw"],
"path": input["path"],
"origin": dora_event["id"],
}
]
},
],
),
dora_event["metadata"],
)


+ 29
- 31
examples/python-operator-dataflow/keyboard_op.py View File

@@ -1,8 +1,7 @@
from pynput import keyboard
from pynput.keyboard import Key, Events
import pyarrow as pa
from dora import Node

from pynput import keyboard
from pynput.keyboard import Events, Key

node = Node()
buffer_text = ""
@@ -30,36 +29,35 @@ with keyboard.Events() as events:
cursor = 0
buffer_text += event.key.char
node.send_output("buffer", pa.array([buffer_text]))
else:
if event.key == Key.backspace:
buffer_text = buffer_text[:-1]
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.esc:
buffer_text = ""
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.enter:
node.send_output("submitted", pa.array([buffer_text]))
first_word = buffer_text.split(" ")[0]
if first_word in NODE_TOPIC:
node.send_output(first_word, pa.array([buffer_text]))
submitted_text.append(buffer_text)
buffer_text = ""
elif event.key == Key.backspace:
buffer_text = buffer_text[:-1]
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.esc:
buffer_text = ""
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.enter:
node.send_output("submitted", pa.array([buffer_text]))
first_word = buffer_text.split(" ")[0]
if first_word in NODE_TOPIC:
node.send_output(first_word, pa.array([buffer_text]))
submitted_text.append(buffer_text)
buffer_text = ""
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.ctrl:
ctrl = True
elif event.key == Key.space:
buffer_text += " "
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.up:
if len(submitted_text) > 0:
cursor = max(cursor - 1, -len(submitted_text))
buffer_text = submitted_text[cursor]
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.ctrl:
ctrl = True
elif event.key == Key.space:
buffer_text += " "
elif event.key == Key.down:
if len(submitted_text) > 0:
cursor = min(cursor + 1, 0)
buffer_text = submitted_text[cursor]
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.up:
if len(submitted_text) > 0:
cursor = max(cursor - 1, -len(submitted_text))
buffer_text = submitted_text[cursor]
node.send_output("buffer", pa.array([buffer_text]))
elif event.key == Key.down:
if len(submitted_text) > 0:
cursor = min(cursor + 1, 0)
buffer_text = submitted_text[cursor]
node.send_output("buffer", pa.array([buffer_text]))
elif event is not None and isinstance(event, Events.Release):
if event.key == Key.ctrl:
ctrl = False

+ 36
- 35
examples/python-operator-dataflow/llm_op.py View File

@@ -1,13 +1,13 @@
from dora import DoraStatus
import pylcs
import os
import pyarrow as pa
from transformers import AutoModelForCausalLM, AutoTokenizer
import json
import os
import re
import time

import pyarrow as pa
import pylcs
from dora import DoraStatus
from transformers import AutoModelForCausalLM, AutoTokenizer

MODEL_NAME_OR_PATH = "TheBloke/deepseek-coder-6.7B-instruct-GPTQ"
# MODEL_NAME_OR_PATH = "hanspeterlyngsoeraaschoujensen/deepseek-math-7b-instruct-GPTQ"

@@ -64,14 +64,16 @@ tokenizer = AutoTokenizer.from_pretrained(MODEL_NAME_OR_PATH, use_fast=True)


def extract_python_code_blocks(text):
"""
Extracts Python code blocks from the given text that are enclosed in triple backticks with a python language identifier.
"""Extracts Python code blocks from the given text that are enclosed in triple backticks with a python language identifier.

Parameters:
Parameters
----------
- text: A string that may contain one or more Python code blocks.

Returns:
Returns
-------
- A list of strings, where each string is a block of Python code extracted from the text.

"""
pattern = r"```python\n(.*?)\n```"
matches = re.findall(pattern, text, re.DOTALL)
@@ -80,21 +82,22 @@ def extract_python_code_blocks(text):
matches = re.findall(pattern, text, re.DOTALL)
if len(matches) == 0:
return [text]
else:
matches = [remove_last_line(matches[0])]
matches = [remove_last_line(matches[0])]

return matches


def extract_json_code_blocks(text):
"""
Extracts json code blocks from the given text that are enclosed in triple backticks with a json language identifier.
"""Extracts json code blocks from the given text that are enclosed in triple backticks with a json language identifier.

Parameters:
Parameters
----------
- text: A string that may contain one or more json code blocks.

Returns:
Returns
-------
- A list of strings, where each string is a block of json code extracted from the text.

"""
pattern = r"```json\n(.*?)\n```"
matches = re.findall(pattern, text, re.DOTALL)
@@ -108,14 +111,16 @@ def extract_json_code_blocks(text):


def remove_last_line(python_code):
"""
Removes the last line from a given string of Python code.
"""Removes the last line from a given string of Python code.

Parameters:
Parameters
----------
- python_code: A string representing Python source code.

Returns:
Returns
-------
- A string with the last line removed.

"""
lines = python_code.split("\n") # Split the string into lines
if lines: # Check if there are any lines to remove
@@ -124,8 +129,7 @@ def remove_last_line(python_code):


def calculate_similarity(source, target):
"""
Calculate a similarity score between the source and target strings.
"""Calculate a similarity score between the source and target strings.
This uses the edit distance relative to the length of the strings.
"""
edit_distance = pylcs.edit_distance(source, target)
@@ -136,8 +140,7 @@ def calculate_similarity(source, target):


def find_best_match_location(source_code, target_block):
"""
Find the best match for the target_block within the source_code by searching line by line,
"""Find the best match for the target_block within the source_code by searching line by line,
considering blocks of varying lengths.
"""
source_lines = source_code.split("\n")
@@ -167,8 +170,7 @@ def find_best_match_location(source_code, target_block):


def replace_code_in_source(source_code, replacement_block: str):
"""
Replace the best matching block in the source_code with the replacement_block, considering variable block lengths.
"""Replace the best matching block in the source_code with the replacement_block, considering variable block lengths.
"""
replacement_block = extract_python_code_blocks(replacement_block)[0]
start_index, end_index = find_best_match_location(source_code, replacement_block)
@@ -178,8 +180,7 @@ def replace_code_in_source(source_code, replacement_block: str):
source_code[:start_index] + replacement_block + source_code[end_index:]
)
return new_source
else:
return source_code
return source_code


class Operator:
@@ -192,13 +193,13 @@ class Operator:
if dora_event["type"] == "INPUT" and dora_event["id"] == "code_modifier":
input = dora_event["value"][0].as_py()

with open(input["path"], "r", encoding="utf8") as f:
with open(input["path"], encoding="utf8") as f:
code = f.read()

user_message = input["user_message"]
start_llm = time.time()
output = self.ask_llm(
CODE_MODIFIER_TEMPLATE.format(code=code, user_message=user_message)
CODE_MODIFIER_TEMPLATE.format(code=code, user_message=user_message),
)

source_code = replace_code_in_source(code, output)
@@ -212,8 +213,8 @@ class Operator:
"path": input["path"],
"response": output,
"prompt": input["user_message"],
}
]
},
],
),
dora_event["metadata"],
)
@@ -226,7 +227,7 @@ class Operator:
elif dora_event["type"] == "INPUT" and dora_event["id"] == "message_sender":
user_message = dora_event["value"][0].as_py()
output = self.ask_llm(
MESSAGE_SENDER_TEMPLATE.format(user_message=user_message)
MESSAGE_SENDER_TEMPLATE.format(user_message=user_message),
)
outputs = extract_json_code_blocks(output)[0]
try:
@@ -293,7 +294,7 @@ if __name__ == "__main__":
current_directory = os.path.dirname(current_file_path)

path = current_directory + "object_detection.py"
with open(path, "r", encoding="utf8") as f:
with open(path, encoding="utf8") as f:
raw = f.read()

op.on_event(
@@ -306,7 +307,7 @@ if __name__ == "__main__":
"path": path,
"user_message": "send a star ",
},
]
],
),
"metadata": [],
},


+ 1
- 3
examples/python-operator-dataflow/microphone_op.py View File

@@ -1,7 +1,6 @@
import numpy as np
import pyarrow as pa
import sounddevice as sd

from dora import DoraStatus

# Set the parameters for recording
@@ -10,8 +9,7 @@ MAX_DURATION = 5


class Operator:
"""
Microphone operator that records the audio
"""Microphone operator that records the audio
"""

def on_event(


+ 1
- 4
examples/python-operator-dataflow/object_detection.py View File

@@ -1,10 +1,8 @@
import numpy as np
import pyarrow as pa

from dora import DoraStatus
from ultralytics import YOLO


CAMERA_WIDTH = 640
CAMERA_HEIGHT = 480

@@ -13,8 +11,7 @@ model = YOLO("yolov8n.pt")


class Operator:
"""
Inferring object from images
"""Inferring object from images
"""

def on_event(


+ 4
- 6
examples/python-operator-dataflow/plot.py View File

@@ -1,10 +1,9 @@
import os
import cv2

import cv2
from dora import DoraStatus
from utils import LABELS


CI = os.environ.get("CI")

CAMERA_WIDTH = 640
@@ -14,8 +13,7 @@ FONT = cv2.FONT_HERSHEY_SIMPLEX


class Operator:
"""
Plot image and bounding box
"""Plot image and bounding box
"""

def __init__(self):
@@ -63,7 +61,7 @@ class Operator:
)

cv2.putText(
image, self.buffer, (20, 14 + 21 * 14), FONT, 0.5, (190, 250, 0), 1
image, self.buffer, (20, 14 + 21 * 14), FONT, 0.5, (190, 250, 0), 1,
)

i = 0
@@ -111,7 +109,7 @@ class Operator:
{
"role": id,
"content": value[0].as_py(),
}
},
]

return DoraStatus.CONTINUE

+ 5
- 6
examples/python-operator-dataflow/sentence_transformers_op.py View File

@@ -1,11 +1,10 @@
from sentence_transformers import SentenceTransformer
from sentence_transformers import util

from dora import DoraStatus
import os
import sys
import torch

import pyarrow as pa
import torch
from dora import DoraStatus
from sentence_transformers import SentenceTransformer, util

SHOULD_BE_INCLUDED = [
"webcam.py",
@@ -24,7 +23,7 @@ def get_all_functions(path):
if file not in SHOULD_BE_INCLUDED:
continue
path = os.path.join(root, file)
with open(path, "r", encoding="utf8") as f:
with open(path, encoding="utf8") as f:
## add file folder to system path
sys.path.append(root)
## import module from path


+ 16
- 20
examples/python-operator-dataflow/webcam.py View File

@@ -4,7 +4,6 @@ import time
import cv2
import numpy as np
import pyarrow as pa

from dora import DoraStatus

CAMERA_WIDTH = 640
@@ -16,8 +15,7 @@ font = cv2.FONT_HERSHEY_SIMPLEX


class Operator:
"""
Sending image from webcam to the dataflow
"""Sending image from webcam to the dataflow
"""

def __init__(self):
@@ -39,22 +37,21 @@ class Operator:
frame = cv2.resize(frame, (CAMERA_WIDTH, CAMERA_HEIGHT))
self.failure_count = 0
## Push an error image in case the camera is not available.
elif self.failure_count > 10:
frame = np.zeros((CAMERA_HEIGHT, CAMERA_WIDTH, 3), dtype=np.uint8)
cv2.putText(
frame,
"No Webcam was found at index %d" % (CAMERA_INDEX),
(30, 30),
font,
0.75,
(255, 255, 255),
2,
1,
)
else:
if self.failure_count > 10:
frame = np.zeros((CAMERA_HEIGHT, CAMERA_WIDTH, 3), dtype=np.uint8)
cv2.putText(
frame,
"No Webcam was found at index %d" % (CAMERA_INDEX),
(int(30), int(30)),
font,
0.75,
(255, 255, 255),
2,
1,
)
else:
self.failure_count += 1
return DoraStatus.CONTINUE
self.failure_count += 1
return DoraStatus.CONTINUE

send_output(
"image",
@@ -68,8 +65,7 @@ class Operator:

if time.time() - self.start_time < 20 or CI != "true":
return DoraStatus.CONTINUE
else:
return DoraStatus.STOP
return DoraStatus.STOP

def __del__(self):
self.video_capture.release()

+ 1
- 4
examples/python-operator-dataflow/whisper_op.py View File

@@ -1,15 +1,12 @@
import pyarrow as pa
import whisper

from dora import DoraStatus


model = whisper.load_model("base")


class Operator:
"""
Transforming Speech to Text using OpenAI Whisper model
"""Transforming Speech to Text using OpenAI Whisper model
"""

def on_event(


+ 4
- 4
examples/python-ros2-dataflow/control_node.py View File

@@ -1,9 +1,9 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

import random
from dora import Node
import pyarrow as pa
from dora import Node

node = Node()

@@ -16,8 +16,8 @@ for i in range(500):
if event_id == "turtle_pose":
print(
f"""Pose: {event["value"].tolist()}""".replace("\r", "").replace(
"\n", " "
)
"\n", " ",
),
)
elif event_id == "tick":
direction = {


+ 1
- 2
examples/python-ros2-dataflow/random_turtle.py View File

@@ -1,5 +1,4 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-

from dora import Node, Ros2Context, Ros2NodeOptions, Ros2QosPolicies

@@ -18,7 +17,7 @@ topic_qos = Ros2QosPolicies(reliable=True, max_blocking_time=0.1)

# Create a publisher to cmd_vel topic
turtle_twist_topic = ros2_node.create_topic(
"/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos
"/turtle1/cmd_vel", "geometry_msgs/Twist", topic_qos,
)
twist_writer = ros2_node.create_publisher(turtle_twist_topic)



+ 6
- 4
examples/reachy2/parse_bbox.py View File

@@ -11,14 +11,16 @@ IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))


def extract_bboxes(json_text):
"""
Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.
"""Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.

Parameters:
Parameters
----------
json_text (str): JSON string containing bounding box data, including ```json markers.

Returns:
Returns
-------
np.ndarray: NumPy array of bounding boxes.

"""
# Ensure all lines are stripped of whitespace and markers
lines = json_text.strip().splitlines()


+ 6
- 4
examples/reachy2/parse_bbox_minimal.py View File

@@ -11,14 +11,16 @@ IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))


def extract_bboxes(json_text) -> (np.ndarray, np.ndarray):
"""
Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.
"""Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.

Parameters:
Parameters
----------
json_text (str): JSON string containing bounding box data, including ```json markers.

Returns:
Returns
-------
np.ndarray: NumPy array of bounding boxes.

"""
# Ensure all lines are stripped of whitespace and markers
lines = json_text.strip().splitlines()


+ 15
- 14
examples/reachy2/pick_place.py View File

@@ -80,14 +80,16 @@ stop = True


def extract_bboxes(json_text) -> (np.ndarray, np.ndarray):
"""
Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.
"""Extracts bounding boxes from a JSON string with markdown markers and returns them as a NumPy array.

Parameters:
Parameters
----------
json_text (str): JSON string containing bounding box data, including ```json markers.

Returns:
Returns
-------
np.ndarray: NumPy array of bounding boxes.

"""
# Ensure all lines are stripped of whitespace and markers
lines = json_text.strip().splitlines()
@@ -120,8 +122,8 @@ def handle_speech(last_text):
"text_vlm",
pa.array(
[
f"Given the prompt: {cache['text']}. Output the two bounding boxes for the two objects"
]
f"Given the prompt: {cache['text']}. Output the two bounding boxes for the two objects",
],
),
metadata={"image_id": "image_depth"},
)
@@ -176,16 +178,15 @@ def wait_for_events(ids: list[str], timeout=None, cache={}):
def get_prompt():
text = wait_for_event(id="text", timeout=0.3)
if text is None:
return
return None
text = text[0].as_py()

words = text.lower().split()
if len(ACTIVATION_WORDS) > 0 and all(
word not in ACTIVATION_WORDS for word in words
):
return
else:
return text
return None
return text


last_text = ""
@@ -205,7 +206,7 @@ while True:
metadata={"encoding": "jointstate", "duration": 1},
)
_, cache = wait_for_events(
ids=["response_r_arm", "response_l_arm"], timeout=2, cache=cache
ids=["response_r_arm", "response_l_arm"], timeout=2, cache=cache,
)
# handle_speech(cache["text"])

@@ -270,7 +271,7 @@ while True:
[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:
@@ -351,7 +352,7 @@ while True:
0,
0,
100,
]
],
),
metadata={"encoding": "xyzrpy", "duration": "0.75"},
)
@@ -388,7 +389,7 @@ while True:
0,
0,
100,
]
],
),
metadata={"encoding": "xyzrpy", "duration": "0.75"},
)


+ 1
- 1
examples/reachy2/state_machine.py View File

@@ -187,7 +187,7 @@ while True:
[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:


+ 1
- 1
examples/translation/pretty_print.py View File

@@ -33,7 +33,7 @@ for event in node:
if event["type"] == "INPUT":
# The sentence to be printed
sentence = event["value"][0].as_py()
if event["id"] not in previous_texts.keys():
if event["id"] not in previous_texts:

previous_texts[event["id"]] = ["", "", sentence]
else:


+ 19
- 21
libraries/extensions/ros2-bridge/python/test_utils.py View File

@@ -1,7 +1,6 @@
import numpy as np
import pyarrow as pa


# Marker Message Example
TEST_ARRAYS = [
("std_msgs", "UInt8", pa.array([{"data": np.uint8(2)}])),
@@ -23,12 +22,12 @@ TEST_ARRAYS = [
"label": "a",
"size": np.uint32(10),
"stride": np.uint32(20),
}
},
],
"data_offset": np.uint32(30),
},
}
]
},
],
),
),
(
@@ -44,12 +43,12 @@ TEST_ARRAYS = [
"label": "a",
"size": np.uint32(10),
"stride": np.uint32(20),
}
},
],
"data_offset": np.uint32(30),
},
}
]
},
],
),
),
(
@@ -99,7 +98,7 @@ TEST_ARRAYS = [
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
}
},
],
"colors": [
{
@@ -107,15 +106,15 @@ TEST_ARRAYS = [
"g": np.float32(1.0), # Numpy type
"b": np.float32(1.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
} # Numpy array for colors
}, # Numpy array for colors
],
"texture_resource": "",
"uv_coordinates": [{}],
"text": "",
"mesh_resource": "",
"mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent
}
]
},
],
),
),
(
@@ -167,7 +166,7 @@ TEST_ARRAYS = [
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
}
},
],
"colors": [
{
@@ -175,17 +174,17 @@ TEST_ARRAYS = [
"g": np.float32(1.0), # Numpy type
"b": np.float32(1.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
} # Numpy array for colors
}, # Numpy array for colors
],
"texture_resource": "",
"uv_coordinates": [{}],
"text": "",
"mesh_resource": "",
"mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent
}
]
}
]
},
],
},
],
),
),
(
@@ -254,16 +253,15 @@ TEST_ARRAYS = [
"a": np.float32(1.0), # 32-bit float
},
],
}
]
},
],
),
),
]


def is_subset(subset, superset):
"""
Check if subset is a subset of superset, to avoid false negatives linked to default values.
"""Check if subset is a subset of superset, to avoid false negatives linked to default values.
"""
if isinstance(subset, pa.Array):
return is_subset(subset.to_pylist(), superset.to_pylist())


+ 1
- 1
node-hub/dora-ios-lidar/dora_ios_lidar/__init__.py View File

@@ -5,7 +5,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m

# Read the content of the README file
try:
with open(readme_path, "r", encoding="utf-8") as f:
with open(readme_path, encoding="utf-8") as f:
__doc__ = f.read()
except FileNotFoundError:
__doc__ = "README file not found."

+ 0
- 1
node-hub/dora-ios-lidar/dora_ios_lidar/__main__.py View File

@@ -1,5 +1,4 @@
from .main import main


if __name__ == "__main__":
main()

+ 6
- 7
node-hub/dora-ios-lidar/dora_ios_lidar/main.py View File

@@ -16,8 +16,7 @@ class DemoApp:
self.stop = False

def on_new_frame(self):
"""
This method is called from non-main thread, therefore cannot be used for presenting UI.
"""This method is called from non-main thread, therefore cannot be used for presenting UI.
"""
self.event.set() # Notify the main thread to stop waiting and process new frame.

@@ -28,13 +27,13 @@ class DemoApp:
def connect_to_device(self, dev_idx):
print("Searching for devices")
devs = Record3DStream.get_connected_devices()
print("{} device(s) found".format(len(devs)))
print(f"{len(devs)} device(s) found")
for dev in devs:
print("\tID: {}\n".format(dev.product_id))
print(f"\tID: {dev.product_id}\n")

if len(devs) <= dev_idx:
raise RuntimeError(
"Cannot connect to device #{}, try different index.".format(dev_idx)
f"Cannot connect to device #{dev_idx}, try different index.",
)

dev = devs[dev_idx]
@@ -45,7 +44,7 @@ class DemoApp:

def get_intrinsic_mat_from_coeffs(self, coeffs):
return np.array(
[[coeffs.fx, 0, coeffs.tx], [0, coeffs.fy, coeffs.ty], [0, 0, 1]]
[[coeffs.fx, 0, coeffs.tx], [0, coeffs.fy, coeffs.ty], [0, 0, 1]],
)

def start_processing_stream(self):
@@ -62,7 +61,7 @@ class DemoApp:
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()
self.session.get_intrinsic_mat(),
)

if depth.shape != rgb.shape:


+ 1
- 1
node-hub/dora-kokoro-tts/dora_kokoro_tts/__init__.py View File

@@ -5,7 +5,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m

# Read the content of the README file
try:
with open(readme_path, "r", encoding="utf-8") as f:
with open(readme_path, encoding="utf-8") as f:
__doc__ = f.read()
except FileNotFoundError:
__doc__ = "README file not found."

+ 0
- 1
node-hub/dora-kokoro-tts/dora_kokoro_tts/__main__.py View File

@@ -1,5 +1,4 @@
from .main import main


if __name__ == "__main__":
main()

+ 1
- 1
node-hub/dora-pyaudio/dora_pyaudio/main.py View File

@@ -42,7 +42,7 @@ def main():
event = node.next(timeout=0.01)
if event is None:
break
elif event["type"] == "INPUT":
if event["type"] == "INPUT":
if event["id"] == "audio":
audio = event["value"].to_numpy()
sr = event["metadata"].get("sample_rate", SAMPLE_RATE)


+ 1
- 1
node-hub/dora-qwen/dora_qwen/__init__.py View File

@@ -5,7 +5,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m

# Read the content of the README file
try:
with open(readme_path, "r", encoding="utf-8") as f:
with open(readme_path, encoding="utf-8") as f:
__doc__ = f.read()
except FileNotFoundError:
__doc__ = "README file not found."

+ 0
- 1
node-hub/dora-qwen/dora_qwen/__main__.py View File

@@ -1,5 +1,4 @@
from .main import main


if __name__ == "__main__":
main()

+ 6
- 6
node-hub/dora-qwen/dora_qwen/main.py View File

@@ -15,13 +15,13 @@ def get_model_gguf():
from llama_cpp import Llama

llm = Llama.from_pretrained(
repo_id="Qwen/Qwen2.5-0.5B-Instruct-GGUF", filename="*fp16.gguf", verbose=False
repo_id="Qwen/Qwen2.5-0.5B-Instruct-GGUF", filename="*fp16.gguf", verbose=False,
)
return llm


def get_model_darwin():
from mlx_lm import load # noqa
from mlx_lm import load

model, tokenizer = load("mlx-community/Qwen2.5-0.5B-Instruct-8bit")
return model, tokenizer
@@ -31,7 +31,7 @@ def get_model_huggingface():
model_name = "Qwen/Qwen2.5-0.5B-Instruct"

model = AutoModelForCausalLM.from_pretrained(
model_name, torch_dtype="auto", device_map="auto"
model_name, torch_dtype="auto", device_map="auto",
)
tokenizer = AutoTokenizer.from_pretrained(model_name)
return model, tokenizer
@@ -43,7 +43,7 @@ ACTIVATION_WORDS = os.getenv("ACTIVATION_WORDS", "what how who where you").split
def generate_hf(model, tokenizer, prompt: str, history) -> str:
history += [{"role": "user", "content": prompt}]
text = tokenizer.apply_chat_template(
history, tokenize=False, add_generation_prompt=True
history, tokenize=False, add_generation_prompt=True,
)
model_inputs = tokenizer([text], return_tensors="pt").to(model.device)
generated_ids = model.generate(**model_inputs, max_new_tokens=512)
@@ -91,11 +91,11 @@ def main():
from mlx_lm import generate

response = generate(
model, tokenizer, prompt=text, verbose=False, max_tokens=50
model, tokenizer, prompt=text, verbose=False, max_tokens=50,
)

node.send_output(
output_id="text", data=pa.array([response]), metadata={}
output_id="text", data=pa.array([response]), metadata={},
)




+ 2
- 3
node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py View File

@@ -46,7 +46,7 @@ try:
)
except (ImportError, ModuleNotFoundError):
model = Qwen2_5_VLForConditionalGeneration.from_pretrained(
MODEL_NAME_OR_PATH, torch_dtype="auto", device_map="auto"
MODEL_NAME_OR_PATH, torch_dtype="auto", device_map="auto",
)


@@ -60,7 +60,6 @@ processor = AutoProcessor.from_pretrained(MODEL_NAME_OR_PATH)

def generate(frames: dict, question, history, past_key_values=None, image_id=None):
"""Generate the response to the question given the image using Qwen2 model."""

if image_id is not None:
images = [frames[image_id]]
else:
@@ -219,7 +218,7 @@ def main():
continue
# set the max number of tiles in `max_num`
response, history, past_key_values = generate(
frames, text, history, past_key_values, image_id
frames, text, history, past_key_values, image_id,
)
node.send_output(
"text",


+ 0
- 1
node-hub/dora-rdt-1b/tests/test_dora_rdt_1b.py View File

@@ -38,7 +38,6 @@ def test_download_policy():
def test_download_vision_model():
# Skip vision test as it is currently failing on macOS
# See: https://github.com/dora-rs/dora/actions/runs/13484462433/job/37673857429
pass
from dora_rdt_1b.main import get_vision_model

(vision_encoder, image_processor) = get_vision_model()


+ 6
- 6
node-hub/dora-sam2/dora_sam2/main.py View File

@@ -119,8 +119,8 @@ def main():
{
"masks": masks.ravel(),
"labels": event["value"]["labels"],
}
]
},
],
),
metadata={
"image_id": image_id,
@@ -129,7 +129,7 @@ def main():
},
)

elif "boxes2d" in event_id:
if "boxes2d" in event_id:

if isinstance(event["value"], pa.StructArray):
boxes2d = event["value"][0].get("bbox").values.to_numpy()
@@ -159,7 +159,7 @@ 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:
@@ -190,8 +190,8 @@ def main():
{
"masks": masks.ravel(),
"labels": event["value"]["labels"],
}
]
},
],
),
metadata={
"image_id": image_id,


+ 1
- 1
tests/queue_size_and_timeout_python/receive_data.py View File

@@ -22,7 +22,7 @@ def main() -> None:

i += 1
print(
f"[{i}, {j}] Sent: {sent_in_s}, Received: {received_in_s}, Difference: {received_in_s - sent_in_s}"
f"[{i}, {j}] Sent: {sent_in_s}, Received: {received_in_s}, Difference: {received_in_s - sent_in_s}",
)
assert received_in_s - sent_in_s < 1.0
time.sleep(0.1)


+ 1
- 1
tests/queue_size_latest_data_python/receive_data.py View File

@@ -1,6 +1,6 @@
from dora import Node
import time

from dora import Node

node = Node()



+ 3
- 2
tests/queue_size_latest_data_python/send_data.py View File

@@ -1,7 +1,8 @@
from dora import Node
import time
import pyarrow as pa
import numpy as np
import pyarrow as pa
from dora import Node

node = Node()



+ 27
- 0
yolo.yml View File

@@ -0,0 +1,27 @@
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
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
boxes2d: object-detection/bbox

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