Merge branch 'main' into git-source

.github/workflows/cargo-release.yml

@@ -0,0 +1,104 @@
+name: Cargo Release
+
+permissions:
+  contents: write
+
+on:
+  release:
+    types:
+      - "published"
+  workflow_dispatch:
+
+jobs:
+  cargo-release:
+    name: "Cargo Release"
+
+    strategy:
+      matrix:
+        platform: [ubuntu-22.04]
+      fail-fast: false
+    runs-on: ${{ matrix.platform }}
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: r7kamura/rust-problem-matchers@v1.1.0
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        if: runner.os == 'Linux'
+        with:
+          # this might remove tools that are actually needed,
+          # if set to "true" but frees about 6 GB
+          tool-cache: true
+
+          # all of these default to true, but feel free to set to
+          # "false" if necessary for your workflow
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: true
+          swap-storage: true
+
+      - name: "Publish packages on `crates.io`"
+        if: runner.os == 'Linux'
+        env:
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+        run: |
+
+          # Publishing those crates from outer crates with no dependency to inner crates
+          # As cargo is going to rebuild the crates based on published dependencies
+          # we need to publish those outer crates first to be able to test the publication
+          # of inner crates.
+          #
+          # We should preferably test pre-releases before testing releases as
+          # cargo publish might catch release issues that the workspace manages to fix using
+          # workspace crates.
+          publish_if_not_exists() {
+              local package_name=$1
+              local version=$(cargo metadata --no-deps --format-version=1 | jq -r '.packages[] | select(.name=="'"$package_name"'") | .version')
+
+              if [[ -z $version ]]; then
+                  echo "error: package '$package_name' not found in the workspace."
+                  return 1
+              fi
+
+              if cargo search "$package_name" | grep -q "^$package_name = \"$version\""; then
+                  echo "package '$package_name' version '$version' already exists on crates.io. skipping publish."
+              else
+                  echo "publishing package '$package_name' version '$version'..."
+                  cargo publish --package "$package_name"
+              fi
+          }
+
+          # the dora-message package is versioned separately, so this publish command might fail if the version is already published
+          publish_if_not_exists dora-message
+
+          # Publish libraries crates
+          publish_if_not_exists dora-tracing
+          publish_if_not_exists dora-metrics
+          publish_if_not_exists dora-download
+          publish_if_not_exists dora-core
+          publish_if_not_exists communication-layer-pub-sub
+          publish_if_not_exists communication-layer-request-reply
+          publish_if_not_exists shared-memory-server
+          publish_if_not_exists dora-arrow-convert
+
+          # Publish rust API
+          publish_if_not_exists dora-operator-api-macros
+          publish_if_not_exists dora-operator-api-types
+          publish_if_not_exists dora-operator-api
+          publish_if_not_exists dora-node-api
+          publish_if_not_exists dora-operator-api-python
+          publish_if_not_exists dora-operator-api-c
+          publish_if_not_exists dora-node-api-c
+
+          # Publish binaries crates
+          publish_if_not_exists dora-coordinator
+          publish_if_not_exists dora-runtime
+          publish_if_not_exists dora-daemon
+          publish_if_not_exists dora-cli
+
+          # Publish ROS2 bridge
+          publish_if_not_exists dora-ros2-bridge-msg-gen
+          publish_if_not_exists dora-ros2-bridge

.github/workflows/ci.yml

@@ -127,6 +127,26 @@ jobs:
       - name: "C++ Dataflow example"
         timeout-minutes: 15
         run: cargo run --example cxx-dataflow
+      - name: "Install Arrow C++ Library"
+        timeout-minutes: 10
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            # For Ubuntu
+            sudo apt-get update
+            sudo apt-get install -y -V ca-certificates lsb-release wget
+            wget https://apache.jfrog.io/artifactory/arrow/$(lsb_release --id --short | tr 'A-Z' 'a-z')/apache-arrow-apt-source-latest-$(lsb_release --codename --short).deb
+            sudo apt-get install -y -V ./apache-arrow-apt-source-latest-$(lsb_release --codename --short).deb
+            sudo apt-get update
+            sudo apt-get install -y -V libarrow-dev libarrow-glib-dev
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            # For macOS
+            brew update
+            brew install apache-arrow
+          fi
+      - name: "C++ Dataflow2 example"
+        timeout-minutes: 15
+        run: cargo run --example cxx-arrow-dataflow
       - name: "Cmake example"
         if: runner.os == 'Linux'
         timeout-minutes: 30
@@ -280,7 +300,7 @@ jobs:
         run: |
           cargo install --path binaries/cli --locked
       - name: "Test CLI (Rust)"
-        timeout-minutes: 30
+        timeout-minutes: 45
         # fail-fast by using bash shell explictly
         shell: bash
         run: |
@@ -312,7 +332,7 @@ jobs:
           enable-cache: true
 
       - name: "Test CLI (Python)"
-        timeout-minutes: 30
+        timeout-minutes: 45
         # fail-fast by using bash shell explictly
         shell: bash
         run: |
@@ -366,7 +386,7 @@ jobs:
 
           dora destroy
 
-          # Run Python queue latency test 
+          # Run Python queue latency test
           echo "Running CI Queue Latency Test"
           dora run tests/queue_size_latest_data_python/dataflow.yaml --uv
 
@@ -374,13 +394,13 @@ jobs:
           echo "Running CI Queue + Timeout Test"
           dora run tests/queue_size_and_timeout_python/dataflow.yaml --uv
 
-          # Run Rust queue latency test 
+          # Run Rust queue latency test
           echo "Running CI Queue Size Latest Data Rust Test"
           dora build tests/queue_size_latest_data_rust/dataflow.yaml --uv
           dora run tests/queue_size_latest_data_rust/dataflow.yaml --uv
 
       - name: "Test CLI (C)"
-        timeout-minutes: 30
+        timeout-minutes: 45
         # fail-fast by using bash shell explictly
         shell: bash
         if: runner.os == 'Linux'
@@ -399,7 +419,7 @@ jobs:
           dora destroy
 
       - name: "Test CLI (C++)"
-        timeout-minutes: 30
+        timeout-minutes: 45
         # fail-fast by using bash shell explictly
         shell: bash
         if: runner.os == 'Linux'
@@ -491,6 +511,8 @@ jobs:
             target: aarch64-unknown-linux-musl
           - runner: ubuntu-22.04
             target: armv7-unknown-linux-musleabihf
+          - runner: ubuntu-22.04
+            target: x86_64-pc-windows-gnu
           - runner: macos-13
             target: aarch64-apple-darwin
           - runner: macos-13
@@ -501,9 +523,13 @@ jobs:
       - uses: r7kamura/rust-problem-matchers@v1.1.0
       - name: "Add toolchains"
         run: rustup target add ${{ matrix.platform.target }}
-      - name: "Build"
+      - name: Install system-level dependencies
+        if: runner.target == 'x86_64-pc-windows-gnu'
+        run: |
+          sudo apt install g++-mingw-w64-x86-64 gcc-mingw-w64-x86-64
+      - name: "Check"
         uses: actions-rs/cargo@v1
         with:
           use-cross: true
           command: check
-          args: --target  ${{ matrix.platform.target }} -p dora-cli
+          args: --target  ${{ matrix.platform.target }} --all --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python

.github/workflows/docker-image.yml

@@ -0,0 +1,31 @@
+name: Docker Image CI/CD
+
+on:
+  push:
+    branches: ["main"]
+    paths:
+      - "docker/**"
+  pull_request:
+    paths:
+      - "docker/**"
+
+jobs:
+  build_and_push:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: "Login to GitHub Container Registry"
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{github.actor}}
+          password: ${{secrets.GITHUB_TOKEN}}
+
+      - name: Build the Docker image
+        run: |
+          docker build docker/slim --platform linux/amd64,linux/arm64,linux/arm32v6,linux/arm32v7 -t multi-platform --tag ghcr.io/dora-rs/dora-slim:latest
+          docker push ghcr.io/dora-rs/dora-slim:latest

.github/workflows/node_hub_test.sh

@@ -27,8 +27,8 @@ else
         cargo test
 
         pip install "maturin[zig]"
-        maturin build --zig --release
-        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
+        maturin build --zig 
+        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel on multiple platforms
         if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
             # Free up ubuntu space
             sudo apt-get clean
@@ -37,29 +37,18 @@ else
             sudo rm -rf /opt/ghc/
 
             maturin publish --skip-existing --zig
-        fi
-
-        # aarch64-unknown-linux-gnu
-        rustup target add aarch64-unknown-linux-gnu
-        maturin build --target aarch64-unknown-linux-gnu --zig --release
-        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
-        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            # aarch64-unknown-linux-gnu
+            rustup target add aarch64-unknown-linux-gnu
             maturin publish --target aarch64-unknown-linux-gnu --skip-existing --zig
-        fi
                 
-        # armv7-unknown-linux-musleabihf
-        rustup target add armv7-unknown-linux-musleabihf
-        maturin build --target armv7-unknown-linux-musleabihf --zig --release
-        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
-        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            # armv7-unknown-linux-musleabihf
+            rustup target add armv7-unknown-linux-musleabihf
+            # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
             maturin publish --target armv7-unknown-linux-musleabihf --skip-existing --zig
-        fi
 
-        # x86_64-pc-windows-gnu
-        rustup target add x86_64-pc-windows-gnu
-        maturin build --target x86_64-pc-windows-gnu --release
-        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
-        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            # x86_64-pc-windows-gnu
+            rustup target add x86_64-pc-windows-gnu
+            # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
             maturin publish --target x86_64-pc-windows-gnu --skip-existing 
         fi
 

.github/workflows/release.yml

@@ -1,8 +1,43 @@
-name: Release
+# This file was autogenerated by dist: https://opensource.axo.dev/cargo-dist/
+#
+# Copyright 2022-2024, axodotdev
+# SPDX-License-Identifier: MIT or Apache-2.0
+#
+# CI that:
+#
+# * checks for a Git Tag that looks like a release
+# * builds artifacts with dist (archives, installers, hashes)
+# * uploads those artifacts to temporary workflow zip
+# * on success, uploads the artifacts to a GitHub Release
+#
+# Note that a GitHub Release with this tag is assumed to exist as a draft
+# with the appropriate title/body, and will be undrafted for you.
 
+name: Release
 permissions:
-  contents: write
+  "contents": "write"
 
+# This task will run whenever you push a git tag that looks like a version
+# like "1.0.0", "v0.1.0-prerelease.1", "my-app/0.1.0", "releases/v1.0.0", etc.
+# Various formats will be parsed into a VERSION and an optional PACKAGE_NAME, where
+# PACKAGE_NAME must be the name of a Cargo package in your workspace, and VERSION
+# must be a Cargo-style SemVer Version (must have at least major.minor.patch).
+#
+# If PACKAGE_NAME is specified, then the announcement will be for that
+# package (erroring out if it doesn't have the given version or isn't dist-able).
+#
+# If PACKAGE_NAME isn't specified, then the announcement will be for all
+# (dist-able) packages in the workspace with that version (this mode is
+# intended for workspaces with only one dist-able package, or with all dist-able
+# packages versioned/released in lockstep).
+#
+# If you push multiple tags at once, separate instances of this workflow will
+# spin up, creating an independent announcement for each one. However, GitHub
+# will hard limit this to 3 tags per commit, as it will assume more tags is a
+# mistake.
+#
+# If there's a prerelease-style suffix to the version, then the release(s)
+# will be marked as a prerelease.
 on:
   release:
     types:
@@ -10,174 +45,245 @@ on:
   workflow_dispatch:
 
 jobs:
-  cargo-release:
-    name: "Cargo Release"
-
-    strategy:
-      matrix:
-        platform: [ubuntu-22.04]
-      fail-fast: false
-    runs-on: ${{ matrix.platform }}
-
+  # Run 'dist plan' (or host) to determine what tasks we need to do
+  plan:
+    runs-on: "ubuntu-22.04"
+    outputs:
+      val: ${{ steps.plan.outputs.manifest }}
+      tag: ${{ !github.event.pull_request && github.ref_name || '' }}
+      tag-flag: ${{ !github.event.pull_request && format('--tag={0}', github.ref_name) || '' }}
+      publishing: ${{ !github.event.pull_request }}
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     steps:
-      - uses: actions/checkout@v3
-
-      - uses: r7kamura/rust-problem-matchers@v1.1.0
-      - name: Free Disk Space (Ubuntu)
-        uses: jlumbroso/free-disk-space@main
-        if: runner.os == 'Linux'
-        with:
-          # this might remove tools that are actually needed,
-          # if set to "true" but frees about 6 GB
-          tool-cache: true
-
-          # all of these default to true, but feel free to set to
-          # "false" if necessary for your workflow
-          android: true
-          dotnet: true
-          haskell: true
-          large-packages: false
-          docker-images: true
-          swap-storage: true
-
-      - name: "Publish packages on `crates.io`"
-        if: runner.os == 'Linux'
-        env:
-          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Install dist
+        # we specify bash to get pipefail; it guards against the `curl` command
+        # failing. otherwise `sh` won't catch that `curl` returned non-0
+        shell: bash
+        run: "curl --proto '=https' --tlsv1.2 -LsSf https://github.com/axodotdev/cargo-dist/releases/download/v0.28.0/cargo-dist-installer.sh | sh"
+      - name: Cache dist
+        uses: actions/upload-artifact@v4
+        with:
+          name: cargo-dist-cache
+          path: ~/.cargo/bin/dist
+      # sure would be cool if github gave us proper conditionals...
+      # so here's a doubly-nested ternary-via-truthiness to try to provide the best possible
+      # functionality based on whether this is a pull_request, and whether it's from a fork.
+      # (PRs run on the *source* but secrets are usually on the *target* -- that's *good*
+      # but also really annoying to build CI around when it needs secrets to work right.)
+      - id: plan
         run: |
+          dist ${{ (!github.event.pull_request && format('host --steps=create --tag={0}', github.ref_name)) || 'plan' }} --output-format=json > plan-dist-manifest.json
+          echo "dist ran successfully"
+          cat plan-dist-manifest.json
+          echo "manifest=$(jq -c "." plan-dist-manifest.json)" >> "$GITHUB_OUTPUT"
+      - name: "Upload dist-manifest.json"
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-plan-dist-manifest
+          path: plan-dist-manifest.json
 
-          # Publishing those crates from outer crates with no dependency to inner crates
-          # As cargo is going to rebuild the crates based on published dependencies 
-          # we need to publish those outer crates first to be able to test the publication 
-          # of inner crates. 
-          #
-          # We should preferably test pre-releases before testing releases as
-          # cargo publish might catch release issues that the workspace manages to fix using 
-          # workspace crates.
-          publish_if_not_exists() {
-              local package_name=$1
-              local version=$(cargo metadata --no-deps --format-version=1 | jq -r '.packages[] | select(.name=="'"$package_name"'") | .version')
-
-              if [[ -z $version ]]; then
-                  echo "error: package '$package_name' not found in the workspace."
-                  return 1
-              fi
-
-              if cargo search "$package_name" | grep -q "^$package_name = \"$version\""; then
-                  echo "package '$package_name' version '$version' already exists on crates.io. skipping publish."
-              else
-                  echo "publishing package '$package_name' version '$version'..."
-                  cargo publish --package "$package_name"
-              fi
-          }
-
-          # the dora-message package is versioned separately, so this publish command might fail if the version is already published
-          publish_if_not_exists dora-message
-
-          # Publish libraries crates
-          publish_if_not_exists dora-tracing
-          publish_if_not_exists dora-metrics 
-          publish_if_not_exists dora-download 
-          publish_if_not_exists dora-core
-          publish_if_not_exists communication-layer-pub-sub
-          publish_if_not_exists communication-layer-request-reply
-          publish_if_not_exists shared-memory-server
-          publish_if_not_exists dora-arrow-convert
-
-          # Publish rust API
-          publish_if_not_exists dora-operator-api-macros
-          publish_if_not_exists dora-operator-api-types
-          publish_if_not_exists dora-operator-api
-          publish_if_not_exists dora-node-api
-          publish_if_not_exists dora-operator-api-python
-          publish_if_not_exists dora-operator-api-c
-          publish_if_not_exists dora-node-api-c
-
-          # Publish binaries crates
-          publish_if_not_exists dora-coordinator
-          publish_if_not_exists dora-runtime
-          publish_if_not_exists dora-daemon
-          publish_if_not_exists dora-cli
-
-          # Publish ROS2 bridge 
-          publish_if_not_exists dora-ros2-bridge-msg-gen
-          publish_if_not_exists dora-ros2-bridge
-  unix:
-    runs-on: ${{ matrix.platform.runner }}
+  # Build and packages all the platform-specific things
+  build-local-artifacts:
+    name: build-local-artifacts (${{ join(matrix.targets, ', ') }})
+    # Let the initial task tell us to not run (currently very blunt)
+    needs:
+      - plan
+    if: ${{ fromJson(needs.plan.outputs.val).ci.github.artifacts_matrix.include != null && (needs.plan.outputs.publishing == 'true' || fromJson(needs.plan.outputs.val).ci.github.pr_run_mode == 'upload') }}
     strategy:
-      matrix:
-        platform:
-          - runner: ubuntu-22.04
-            target: x86_64-unknown-linux-gnu
-          - runner: ubuntu-22.04
-            target: i686-unknown-linux-gnu
-          - runner: ubuntu-22.04
-            target: aarch64-unknown-linux-gnu
-          - runner: ubuntu-22.04
-            target: aarch64-unknown-linux-musl
-          - runner: ubuntu-22.04
-            target: armv7-unknown-linux-musleabihf
-          - runner: macos-13
-            target: aarch64-apple-darwin
-          - runner: macos-13
-            target: x86_64-apple-darwin
       fail-fast: false
+      # Target platforms/runners are computed by dist in create-release.
+      # Each member of the matrix has the following arguments:
+      #
+      # - runner: the github runner
+      # - dist-args: cli flags to pass to dist
+      # - install-dist: expression to run to install dist on the runner
+      #
+      # Typically there will be:
+      # - 1 "global" task that builds universal installers
+      # - N "local" tasks that build each platform's binaries and platform-specific installers
+      matrix: ${{ fromJson(needs.plan.outputs.val).ci.github.artifacts_matrix }}
+    runs-on: ${{ matrix.runner }}
+    container: ${{ matrix.container && matrix.container.image || null }}
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      BUILD_MANIFEST_NAME: target/distrib/${{ join(matrix.targets, '-') }}-dist-manifest.json
     steps:
-      - uses: actions/checkout@v3
-      - uses: r7kamura/rust-problem-matchers@v1.1.0
-      - name: "Add toolchains"
-        run: rustup target add ${{ matrix.platform.target }}
-      - name: "Build"
-        uses: actions-rs/cargo@v1
-        with:
-          use-cross: true
-          command: build
-          args: --release --target  ${{ matrix.platform.target }} -p dora-cli
-      - name: "Archive"
-        run: zip  -j -r ${{ matrix.platform.target }}.zip target/${{ matrix.platform.target }}/release/dora
-
-      - name: "Upload asset"
-        uses: actions/upload-release-asset@v1.0.1
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: enable windows longpaths
+        run: |
+          git config --global core.longpaths true
+      - uses: actions/checkout@v4
         with:
-          upload_url: ${{ github.event.release.upload_url }}
-          asset_path: ${{ matrix.platform.target }}.zip
-          asset_name: dora-${{ github.ref_name }}-${{ matrix.platform.target }}.zip
-          asset_content_type: application/zip
-
-  windows-release:
-    name: "Windows Release"
-
-    strategy:
-      matrix:
-        platform:
-          - runner: windows-2022
-            target: x86_64-pc-windows-msvc
+          submodules: recursive
+      - name: Install Rust non-interactively if not already installed
+        if: ${{ matrix.container }}
+        run: |
+          if ! command -v cargo > /dev/null 2>&1; then
+            curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+            echo "$HOME/.cargo/bin" >> $GITHUB_PATH
+          fi
+      - name: Install dist
+        run: ${{ matrix.install_dist.run }}
+      # Get the dist-manifest
+      - name: Fetch local artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: artifacts-*
+          path: target/distrib/
+          merge-multiple: true
+      - name: Install dependencies
+        run: |
+          ${{ matrix.packages_install }}
+      - name: Build artifacts
+        run: |
+          # Actually do builds and make zips and whatnot
+          dist build ${{ needs.plan.outputs.tag-flag }} --print=linkage --output-format=json ${{ matrix.dist_args }} > dist-manifest.json
+          echo "dist ran successfully"
+      - id: cargo-dist
+        name: Post-build
+        # We force bash here just because github makes it really hard to get values up
+        # to "real" actions without writing to env-vars, and writing to env-vars has
+        # inconsistent syntax between shell and powershell.
+        shell: bash
+        run: |
+          # Parse out what we just built and upload it to scratch storage
+          echo "paths<<EOF" >> "$GITHUB_OUTPUT"
+          dist print-upload-files-from-manifest --manifest dist-manifest.json >> "$GITHUB_OUTPUT"
+          echo "EOF" >> "$GITHUB_OUTPUT"
 
-      fail-fast: false
-    runs-on: ${{ matrix.platform.runner }}
+          cp dist-manifest.json "$BUILD_MANIFEST_NAME"
+      - name: "Upload artifacts"
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-build-local-${{ join(matrix.targets, '_') }}
+          path: |
+            ${{ steps.cargo-dist.outputs.paths }}
+            ${{ env.BUILD_MANIFEST_NAME }}
 
+  # Build and package all the platform-agnostic(ish) things
+  build-global-artifacts:
+    needs:
+      - plan
+      - build-local-artifacts
+    runs-on: "ubuntu-22.04"
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      BUILD_MANIFEST_NAME: target/distrib/global-dist-manifest.json
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Install cached dist
+        uses: actions/download-artifact@v4
+        with:
+          name: cargo-dist-cache
+          path: ~/.cargo/bin/
+      - run: chmod +x ~/.cargo/bin/dist
+      # Get all the local artifacts for the global tasks to use (for e.g. checksums)
+      - name: Fetch local artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: artifacts-*
+          path: target/distrib/
+          merge-multiple: true
+      - id: cargo-dist
+        shell: bash
+        run: |
+          dist build ${{ needs.plan.outputs.tag-flag }} --output-format=json "--artifacts=global" > dist-manifest.json
+          echo "dist ran successfully"
 
-      - uses: r7kamura/rust-problem-matchers@v1.1.0
+          # Parse out what we just built and upload it to scratch storage
+          echo "paths<<EOF" >> "$GITHUB_OUTPUT"
+          jq --raw-output ".upload_files[]" dist-manifest.json >> "$GITHUB_OUTPUT"
+          echo "EOF" >> "$GITHUB_OUTPUT"
 
-      - name: "Build binaries"
-        timeout-minutes: 60
-        run: "cargo build --release -p dora-cli"
+          cp dist-manifest.json "$BUILD_MANIFEST_NAME"
+      - name: "Upload artifacts"
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts-build-global
+          path: |
+            ${{ steps.cargo-dist.outputs.paths }}
+            ${{ env.BUILD_MANIFEST_NAME }}
+  # Determines if we should publish/announce
+  host:
+    needs:
+      - plan
+      - build-local-artifacts
+      - build-global-artifacts
+    # Only run if we're "publishing", and only if local and global didn't fail (skipped is fine)
+    if: ${{ always() && needs.plan.outputs.publishing == 'true' && (needs.build-global-artifacts.result == 'skipped' || needs.build-global-artifacts.result == 'success') && (needs.build-local-artifacts.result == 'skipped' || needs.build-local-artifacts.result == 'success') }}
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    runs-on: "ubuntu-22.04"
+    outputs:
+      val: ${{ steps.host.outputs.manifest }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Install cached dist
+        uses: actions/download-artifact@v4
+        with:
+          name: cargo-dist-cache
+          path: ~/.cargo/bin/
+      - run: chmod +x ~/.cargo/bin/dist
+      # Fetch artifacts from scratch-storage
+      - name: Fetch artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: artifacts-*
+          path: target/distrib/
+          merge-multiple: true
+      - id: host
+        shell: bash
+        run: |
+          dist host ${{ needs.plan.outputs.tag-flag }} --steps=upload --steps=release --output-format=json > dist-manifest.json
+          echo "artifacts uploaded and released successfully"
+          cat dist-manifest.json
+          echo "manifest=$(jq -c "." dist-manifest.json)" >> "$GITHUB_OUTPUT"
+      - name: "Upload dist-manifest.json"
+        uses: actions/upload-artifact@v4
+        with:
+          # Overwrite the previous copy
+          name: artifacts-dist-manifest
+          path: dist-manifest.json
+      # Create a GitHub Release while uploading all files to it
+      - name: "Download GitHub Artifacts"
+        uses: actions/download-artifact@v4
+        with:
+          pattern: artifacts-*
+          path: artifacts
+          merge-multiple: true
+      - name: Cleanup
+        run: |
+          # Remove the granular manifests
+          rm -f artifacts/*-dist-manifest.json
+      - name: Create GitHub Release
+        env:
+          PRERELEASE_FLAG: "${{ fromJson(steps.host.outputs.manifest).announcement_is_prerelease && '--prerelease' || '' }}"
+          RELEASE_COMMIT: "${{ github.sha }}"
+        run: |
+          # If we're editing a release in place, we need to upload things ahead of time
+          gh release upload "${{ needs.plan.outputs.tag }}" artifacts/*
 
-      - name: Create Archive (Windows)
-        if: runner.os == 'Windows'
-        shell: powershell
-        run: Compress-Archive -Path target/release/dora.exe -DestinationPath archive.zip
+          gh release edit "${{ needs.plan.outputs.tag }}" --target "$RELEASE_COMMIT" $PRERELEASE_FLAG --draft=false
 
-      - name: "Upload release asset"
-        uses: actions/upload-release-asset@v1.0.1
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+  announce:
+    needs:
+      - plan
+      - host
+    # use "always() && ..." to allow us to wait for all publish jobs while
+    # still allowing individual publish jobs to skip themselves (for prereleases).
+    # "host" however must run to completion, no skipping allowed!
+    if: ${{ always() && needs.host.result == 'success' }}
+    runs-on: "ubuntu-22.04"
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v4
         with:
-          upload_url: ${{ github.event.release.upload_url }}
-          asset_path: archive.zip
-          asset_name: dora-${{ github.ref_name }}-${{ matrix.platform.target }}.zip
-          asset_content_type: application/zip
+          submodules: recursive

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer"]
 	path = node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer
 	url = https://github.com/thu-ml/RoboticsDiffusionTransformer
+[submodule "node-hub/dora-magma/dora_magma/Magma"]
+	path = node-hub/dora-magma/dora_magma/Magma
+	url = https://github.com/microsoft/Magma

Cargo.toml

@@ -36,10 +36,12 @@ members = [
     "node-hub/openai-proxy-server",
     "node-hub/dora-kit-car",
     "node-hub/dora-object-to-pose",
+    "node-hub/dora-mistral-rs",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
     "libraries/extensions/ros2-bridge/python",
     "tests/queue_size_latest_data_rust/receive_data",
+
 ]
 
 [workspace.package]
@@ -144,6 +146,10 @@ path = "examples/rust-dataflow-url/run.rs"
 name = "cxx-dataflow"
 path = "examples/c++-dataflow/run.rs"
 
+[[example]]
+name = "cxx-arrow-dataflow"
+path = "examples/c++-arrow-dataflow/run.rs"
+
 [[example]]
 name = "python-dataflow"
 path = "examples/python-dataflow/run.rs"
@@ -173,3 +179,8 @@ path = "examples/cmake-dataflow/run.rs"
 name = "cxx-ros2-dataflow"
 path = "examples/c++-ros2-dataflow/run.rs"
 required-features = ["ros2-examples"]
+
+# The profile that 'dist' will build with
+[profile.dist]
+inherits = "release"
+lto = "thin"

README.md

@@ -89,130 +89,66 @@
 
 > Feel free to modify this README with your own nodes so that it benefits the community.
 
-### Camera
-
-| 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                                                                               | 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                                                                                    | 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                                                                           | 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                                                                                            | 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                                                                                        | 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(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(STT)
-
-| 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                                                                  | 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) |
-
-### Large Language Model(LLM)
-
-| 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) |
-
-### Vision Language Model(VLM)
-
-| 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(VLA)
-
-| 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                                                                                   | 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(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                                                                                               | 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                                                                  | 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                                                                              | 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 |           |         |         |
+| Type                          | Title                                                                                               | Support             | Description                                      | Downloads                                                                     | License                                                                    |
+| ----------------------------- | --------------------------------------------------------------------------------------------------- | ------------------- | ------------------------------------------------ | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------- |
+| Camera                        | [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?label=%20)      | ![License](https://img.shields.io/pypi/l/dora-pyorbbecksdk?label=%20)      |
+| Camera                        | [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?label=%20)       | ![License](https://img.shields.io/pypi/l/dora-pyrealsense?label=%20)       |
+| Camera                        | [OpenCV Video Capture](https://github.com/dora-rs/dora/blob/main/node-hub/opencv-video-capture)     | ✅                  | Image stream from OpenCV Camera                  | ![Downloads](https://img.shields.io/pypi/dm/opencv-video-capture?label=%20)   | ![License](https://img.shields.io/pypi/l/opencv-video-capture?label=%20)   |
+| Peripheral                    | [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?label=%20)          | ![License](https://img.shields.io/pypi/l/dora-keyboard?label=%20)          |
+| Peripheral                    | [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?label=%20)        | ![License](https://img.shields.io/pypi/l/dora-microphone?label=%20)        |
+| Peripheral                    | [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?label=%20)           | ![License](https://img.shields.io/pypi/l/dora-pyaudio?label=%20)           |
+| Actuator                      | [Feetech](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/feetech-client)                | 📐                  | Feetech Client                                   |                                                                               |                                                                            |
+| Actuator                      | [Dynamixel](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dynamixel-client)            | 📐                  | Dynamixel Client                                 |                                                                               |                                                                            |
+| Chassis                       | [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?label=%20)               | ![License](https://img.shields.io/pypi/l/dora-ugv?label=%20)               |
+| Chassis                       | [DJI - Robomaster S1](https://huggingface.co/datasets/dora-rs/dora-robomaster)                      | 📐                  | Robomaster Client                                |                                                                               |                                                                            |
+| Chassis                       | [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?label=%20)           | ![License](https://img.shields.io/pypi/l/dora-kit-car?label=%20)           |
+| Arm                           | [Alex Koch - Low Cost Robot](https://github.com/dora-rs/dora-lerobot/blob/main/robots/alexk-lcr)    | 📐                  | Alex Koch - Low Cost Robot Client                |                                                                               |                                                                            |
+| Arm                           | [Lebai - LM3](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lebai-client)              | 📐                  | Lebai client                                     |                                                                               |                                                                            |
+| Arm                           | [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?label=%20)             | ![License](https://img.shields.io/pypi/l/dora-piper?label=%20)             |
+| Robot                         | [Pollen - Reachy 1](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/dora-reachy1)        | 📐                  | Reachy 1 Client                                  |                                                                               |                                                                            |
+| Robot                         | [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?label=%20)           | ![License](https://img.shields.io/pypi/l/dora-reachy2?label=%20)           |
+| Robot                         | [Trossen - Aloha](https://github.com/dora-rs/dora-lerobot/blob/main/robots/aloha)                   | 📐                  | Aloha client                                     |                                                                               |                                                                            |
+| Voice Activity Detection(VAD) | [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?label=%20)               | ![License](https://img.shields.io/pypi/l/dora-vad?label=%20)               |
+| Speech to Text(STT)           | [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?label=%20)    | ![License](https://img.shields.io/pypi/l/dora-distil-whisper?label=%20)    |
+| Object Detection              | [Yolov8](https://github.com/dora-rs/dora/blob/main/node-hub/dora-yolo)                              | ✅                  | Object detection                                 | ![Downloads](https://img.shields.io/pypi/dm/dora-yolo?label=%20)              | ![License](https://img.shields.io/pypi/l/dora-yolo?label=%20)              |
+| Segmentation                  | [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?label=%20)              | ![License](https://img.shields.io/pypi/l/dora-sam2?label=%20)              |
+| Large Language Model(LLM)     | [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?label=%20)              | ![License](https://img.shields.io/pypi/l/dora-qwen?label=%20)              |
+| Vision Language Model(VLM)    | [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?label=%20)        | ![License](https://img.shields.io/pypi/l/dora-qwen2-5-vl?label=%20)        |
+| Vision Language Model(VLM)    | [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?label=%20)          | ![License](https://img.shields.io/pypi/l/dora-internvl?label=%20)          |
+| Vision Language Action(VLA)   | [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?label=%20)            | ![License](https://img.shields.io/pypi/l/dora-rdt-1b?label=%20)            |
+| Translation                   | [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?label=%20)     | ![License](https://img.shields.io/pypi/l/dora-argotranslate?label=%20)     |
+| Translation                   | [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?label=%20)              | ![License](https://img.shields.io/pypi/l/dora-opus?label=%20)              |
+| Text to Speech(TTS)           | [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?label=%20)        | ![License](https://img.shields.io/pypi/l/dora-kokoro-tts?label=%20)        |
+| Recorder                      | [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?label=%20) | ![License](https://img.shields.io/pypi/l/llama-factory-recorder?label=%20) |
+| Recorder                      | [LeRobot Recorder](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/lerobot-dashboard)    | 📐                  | LeRobot Recorder helper                          |                                                                               |                                                                            |
+| Visualization                 | [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?label=%20)              | ![License](https://img.shields.io/pypi/l/opencv-plot?label=%20)            |
+| Visualization                 | [Rerun](https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun)                              | ✅                  | Visualization tool                               | ![Downloads](https://img.shields.io/pypi/dm/dora-rerun?label=%20)             | ![License](https://img.shields.io/pypi/l/dora-rerun?label=%20)             |
+| Simulator                     | [Mujoco](https://github.com/dora-rs/dora-lerobot/blob/main/node-hub/mujoco-client)                  | 📐                  | Mujoco Simulator                                 |                                                                               |                                                                            |
+| Simulator                     | [Carla](https://github.com/dora-rs/dora-drives)                                                     | 📐                  | Carla Simulator                                  |                                                                               |                                                                            |
+| Simulator                     | [Gymnasium](https://github.com/dora-rs/dora-lerobot/blob/main/gym_dora)                             | 📐                  | Experimental OpenAI Gymnasium bridge             |                                                                               |                                                                            |
+
+## Examples
+
+| Type           | Title                                                                                                        | Description                                         | Last Commit                                                                                                        |
+| -------------- | ------------------------------------------------------------------------------------------------------------ | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
+| Audio          | [Speech to Text(STT)](https://github.com/dora-rs/dora/blob/main/examples/speech-to-text)                     | Transform speech to text.                           | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fspeech-to-text&label=%20)        |
+| Audio          | [Translation](https://github.com/dora-rs/dora/blob/main/examples/translation)                                | Translate audio in real time.                       | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Ftranslation&label=%20)           |
+| Vision         | [Vision Language Model(VLM)](https://github.com/dora-rs/dora/blob/main/examples/vlm)                         | Use a VLM to understand images.                     | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fvlm&label=%20)                   |
+| Vision         | [YOLO](https://github.com/dora-rs/dora/blob/main/examples/python-dataflow)                                   | Use YOLO to detect object within image.             | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fpython-dataflow&label=%20)       |
+| Vision         | [Camera](https://github.com/dora-rs/dora/blob/main/examples/camera)                                          | Simple webcam plot example                          | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fcamera&label=%20)                |
+| Model Training | [Piper RDT](https://github.com/dora-rs/dora/blob/main/examples/piper)                                        | Piper RDT Pipeline                                  | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fpiper&label=%20)                 |
+| Model Training | [LeRobot - Alexander Koch](https://raw.githubusercontent.com/dora-rs/dora-lerobot/refs/heads/main/README.md) | Training Alexander Koch Low Cost Robot with LeRobot | ![License](https://img.shields.io/github/last-commit/dora-rs/dora-lerobot?path=robots&label=%20)                   |
+| ROS2           | [C++ ROS2 Example](https://github.com/dora-rs/dora/blob/main/examples/c++-ros2-dataflow)                     | Example using C++ ROS2                              | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fc%2b%2b-ros2-dataflow&label=%20) |
+| ROS2           | [Rust ROS2 Example](https://github.com/dora-rs/dora/blob/main/examples/rust-ros2-dataflow)                   | Example using Rust ROS2                             | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Frust-ros2-dataflow&label=%20)    |
+| ROS2           | [Python ROS2 Example](https://github.com/dora-rs/dora/blob/main/examples/python-ros2-dataflow)               | Example using Python ROS2                           | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fpython-ros2-dataflow&label=%20)  |
+| Benchmark      | [GPU Benchmark](https://github.com/dora-rs/dora/blob/main/examples/cuda-benchmark)                           | GPU Benchmark of dora-rs                            | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fcuda-benchmark&label=%20)        |
+| Benchmark      | [CPU Benchmark](https://github.com/dora-rs/dora-benchmark/blob/main)                                         | CPU Benchmark of dora-rs                            | ![License](https://img.shields.io/github/last-commit/dora-rs/dora-benchmark?path=dora-rs&label=%20)                |
+| Tutorial       | [Rust Example](https://github.com/dora-rs/dora/blob/main/examples/rust-dataflow)                             | Example using Rust                                  | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Frust-dataflow&label=%20)         |
+| Tutorial       | [Python Example](https://github.com/dora-rs/dora/blob/main/examples/python-dataflow)                         | Example using Python                                | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fpython-dataflow&label=%20)       |
+| Tutorial       | [CMake Example](https://github.com/dora-rs/dora/blob/main/examples/cmake-dataflow)                           | Example using CMake                                 | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fcmake-dataflow&label=%20)        |
+| Tutorial       | [C Example](https://github.com/dora-rs/dora/blob/main/examples/c-dataflow)                                   | Example with C node                                 | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fc-dataflow&label=%20)            |
+| Tutorial       | [CUDA Example](https://github.com/dora-rs/dora/blob/main/examples/cuda-benchmark)                            | Example using CUDA Zero Copy                        | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fcuda-benchmark&label=%20)        |
+| Tutorial       | [C++ Example](https://github.com/dora-rs/dora/blob/main/examples/c++-dataflow)                               | Example with C++ node                               | ![License](https://img.shields.io/github/last-commit/dora-rs/dora?path=examples%2Fc%2b%2b-dataflow&label=%20)      |
 
 ## Getting Started
 

_typos.toml

@@ -1,3 +1,4 @@
 [default.extend-identifiers]
 # *sigh* this just isn't worth the cost of fixing
 DeviceNDArray = "DeviceNDArray"
+Feedforward_2nd_Gain = "Feedforward_2nd_Gain"

apis/c++/node/Cargo.toml

@@ -32,6 +32,7 @@ dora-ros2-bridge = { workspace = true, optional = true }
 futures-lite = { version = "2.2" }
 serde = { version = "1.0.164", features = ["derive"], optional = true }
 serde-big-array = { version = "0.5.1", optional = true }
+arrow = { workspace = true, features = ["ffi"] }
 
 [build-dependencies]
 cxx-build = "1.0.73"

apis/c++/node/build.rs

@@ -9,10 +9,7 @@ fn main() {
     println!("cargo:rerun-if-changed=src/lib.rs");
 
     // rename header files
-    let src_dir = target_dir()
-        .join("cxxbridge")
-        .join("dora-node-api-cxx")
-        .join("src");
+    let src_dir = origin_dir();
     let target_dir = src_dir.parent().unwrap();
     std::fs::copy(src_dir.join("lib.rs.h"), target_dir.join("dora-node-api.h")).unwrap();
     std::fs::copy(
@@ -28,8 +25,8 @@ fn main() {
     bridge_files.clear();
 }
 
-fn target_dir() -> PathBuf {
-    std::env::var("CARGO_TARGET_DIR")
+fn origin_dir() -> PathBuf {
+    let default_target = std::env::var("CARGO_TARGET_DIR")
         .map(PathBuf::from)
         .unwrap_or_else(|_| {
             let root = Path::new(env!("CARGO_MANIFEST_DIR"))
@@ -37,12 +34,26 @@ fn target_dir() -> PathBuf {
                 .nth(3)
                 .unwrap();
             root.join("target")
-        })
+        });
+    let cross_target = default_target
+        .join(std::env::var("TARGET").unwrap())
+        .join("cxxbridge")
+        .join("dora-node-api-cxx")
+        .join("src");
+
+    if cross_target.exists() {
+        cross_target
+    } else {
+        default_target
+            .join("cxxbridge")
+            .join("dora-node-api-cxx")
+            .join("src")
+    }
 }
 
 #[cfg(feature = "ros2-bridge")]
 mod ros2 {
-    use super::target_dir;
+    use super::origin_dir;
     use std::{
         io::{BufRead, BufReader},
         path::{Component, Path, PathBuf},
@@ -113,10 +124,7 @@ mod ros2 {
             .join("ros2_bindings.rs.cc");
 
         // copy message files to target directory
-        let target_path = target_dir()
-            .join("cxxbridge")
-            .join("dora-node-api-cxx")
-            .join("dora-ros2-bindings.h");
+        let target_path = origin_dir().parent().unwrap().join("dora-ros2-bindings.h");
 
         std::fs::copy(&header_path, &target_path).unwrap();
         println!("cargo:rerun-if-changed={}", header_path.display());

apis/c++/node/src/lib.rs

@@ -71,9 +71,26 @@ mod ffi {
 
         fn is_dora(self: &CombinedEvent) -> bool;
         fn downcast_dora(event: CombinedEvent) -> Result<Box<DoraEvent>>;
+
+        unsafe fn send_arrow_output(
+            output_sender: &mut Box<OutputSender>,
+            id: String,
+            array_ptr: *mut u8,
+            schema_ptr: *mut u8,
+        ) -> DoraResult;
+
+        unsafe fn event_as_arrow_input(
+            event: Box<DoraEvent>,
+            out_array: *mut u8,
+            out_schema: *mut u8,
+        ) -> DoraResult;
     }
 }
 
+mod arrow_ffi {
+    pub use arrow::ffi::{FFI_ArrowArray, FFI_ArrowSchema};
+}
+
 #[cfg(feature = "ros2-bridge")]
 pub mod ros2 {
     pub use dora_ros2_bridge::*;
@@ -161,6 +178,48 @@ fn event_as_input(event: Box<DoraEvent>) -> eyre::Result<ffi::DoraInput> {
     })
 }
 
+unsafe fn event_as_arrow_input(
+    event: Box<DoraEvent>,
+    out_array: *mut u8,
+    out_schema: *mut u8,
+) -> ffi::DoraResult {
+    // Cast to Arrow FFI types
+    let out_array = out_array as *mut arrow::ffi::FFI_ArrowArray;
+    let out_schema = out_schema as *mut arrow::ffi::FFI_ArrowSchema;
+
+    let Some(Event::Input {
+        id: _,
+        metadata: _,
+        data,
+    }) = event.0
+    else {
+        return ffi::DoraResult {
+            error: "Not an input event".to_string(),
+        };
+    };
+
+    if out_array.is_null() || out_schema.is_null() {
+        return ffi::DoraResult {
+            error: "Received null output pointer".to_string(),
+        };
+    }
+
+    let array_data = data.to_data();
+
+    match arrow::ffi::to_ffi(&array_data.clone()) {
+        Ok((ffi_array, ffi_schema)) => {
+            std::ptr::write(out_array, ffi_array);
+            std::ptr::write(out_schema, ffi_schema);
+            ffi::DoraResult {
+                error: String::new(),
+            }
+        }
+        Err(e) => ffi::DoraResult {
+            error: format!("Error exporting Arrow array to C++: {:?}", e),
+        },
+    }
+}
+
 pub struct OutputSender(dora_node_api::DoraNode);
 
 fn send_output(sender: &mut Box<OutputSender>, id: String, data: &[u8]) -> ffi::DoraResult {
@@ -180,6 +239,47 @@ pub struct MergedEvents {
     events: Option<Box<dyn Stream<Item = MergedEvent<ExternalEvent>> + Unpin>>,
     next_id: u32,
 }
+unsafe fn send_arrow_output(
+    sender: &mut Box<OutputSender>,
+    id: String,
+    array_ptr: *mut u8,
+    schema_ptr: *mut u8,
+) -> ffi::DoraResult {
+    let array_ptr = array_ptr as *mut arrow::ffi::FFI_ArrowArray;
+    let schema_ptr = schema_ptr as *mut arrow::ffi::FFI_ArrowSchema;
+
+    if array_ptr.is_null() || schema_ptr.is_null() {
+        return ffi::DoraResult {
+            error: "Received null Arrow array or schema pointer".to_string(),
+        };
+    }
+
+    let array = std::ptr::read(array_ptr);
+    let schema = std::ptr::read(schema_ptr);
+
+    std::ptr::write(array_ptr, std::mem::zeroed());
+    std::ptr::write(schema_ptr, std::mem::zeroed());
+
+    match arrow::ffi::from_ffi(array, &schema) {
+        Ok(array_data) => {
+            let arrow_array = arrow::array::make_array(array_data);
+            let result = sender
+                .0
+                .send_output(id.into(), Default::default(), arrow_array);
+            match result {
+                Ok(()) => ffi::DoraResult {
+                    error: String::new(),
+                },
+                Err(err) => ffi::DoraResult {
+                    error: format!("{err:?}"),
+                },
+            }
+        }
+        Err(e) => ffi::DoraResult {
+            error: format!("Error importing array from C++: {:?}", e),
+        },
+    }
+}
 
 impl MergedEvents {
     fn next(&mut self) -> MergedDoraEvent {

apis/python/node/Cargo.toml

@@ -10,8 +10,10 @@ repository.workspace = true
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [features]
-default = ["tracing", "telemetry"]
+default = ["tracing", "metrics", "telemetry", "async"]
 tracing = ["dora-node-api/tracing"]
+metrics = ["dora-node-api/metrics"]
+async = ["pyo3/experimental-async"]
 telemetry = ["dora-runtime/telemetry"]
 
 [dependencies]
@@ -22,11 +24,14 @@ eyre = "0.6"
 serde_yaml = "0.8.23"
 flume = "0.10.14"
 dora-runtime = { workspace = true, features = ["tracing", "metrics", "python"] }
+dora-daemon = { workspace = true }
+dora-download = { workspace = true }
 arrow = { workspace = true, features = ["pyarrow"] }
 pythonize = { workspace = true }
 futures = "0.3.28"
 dora-ros2-bridge-python = { workspace = true }
 # pyo3_special_method_derive = "0.4.2"
+tokio = { version = "1.24.2", features = ["rt"] }
 
 [lib]
 name = "dora"

apis/python/node/dora/__init__.pyi

@@ -124,7 +124,7 @@ class Ros2Context:
     ```
     """
 
-    def __init__(self, ros_paths: typing.List[str]=None) -> None:
+    def __init__(self, ros_paths: 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.

apis/python/node/dora/cuda.py

@@ -52,8 +52,7 @@ def ipc_buffer_to_ipc_handle(handle_buffer: pa.array) -> cuda.IpcMemHandle:
     ```
     """
     handle_buffer = handle_buffer.buffers()[1]
-    ipc_handle = pa.cuda.IpcMemHandle.from_buffer(handle_buffer)
-    return ipc_handle
+    return pa.cuda.IpcMemHandle.from_buffer(handle_buffer)
 
 
 def cudabuffer_to_numba(buffer: cuda.CudaBuffer, metadata: dict) -> DeviceNDArray:
@@ -76,8 +75,7 @@ def cudabuffer_to_numba(buffer: cuda.CudaBuffer, metadata: dict) -> DeviceNDArra
     shape = metadata["shape"]
     strides = metadata["strides"]
     dtype = metadata["dtype"]
-    device_arr = DeviceNDArray(shape, strides, dtype, gpu_data=buffer.to_numba())
-    return device_arr
+    return DeviceNDArray(shape, strides, dtype, gpu_data=buffer.to_numba())
 
 
 def cudabuffer_to_torch(buffer: cuda.CudaBuffer, metadata: dict) -> torch.Tensor:
@@ -97,6 +95,4 @@ def cudabuffer_to_torch(buffer: cuda.CudaBuffer, metadata: dict) -> torch.Tensor
     torch_tensor = cudabuffer_to_torch(cudabuffer, event["metadata"])  # on cuda
     ```
     """
-    device_arr = cudabuffer_to_numba(buffer, metadata)
-    torch_tensor = torch.as_tensor(device_arr, device="cuda")
-    return torch_tensor
+    return torch.as_tensor(cudabuffer_to_numba(buffer, metadata), device="cuda")

apis/python/node/generate_stubs.py

@@ -287,8 +287,7 @@ def arguments_stub(
         param_names = list(real_parameters.keys())
         if param_names and param_names[0] == "self":
             del param_names[0]
-        for name, t in zip(param_names, builtin[0]):
-            parsed_param_types[name] = t
+        parsed_param_types = {name: t for name, t in zip(param_names, builtin[0])}
 
     # Types from comment
     for match in re.findall(

apis/python/node/pyproject.toml

@@ -12,12 +12,13 @@ readme = "README.md"
 dependencies = ['pyarrow']
 
 [dependency-groups]
-dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+dev = ["pytest >=7.1.1", "ruff >=0.9.1"]
 
 [tool.maturin]
 features = ["pyo3/extension-module"]
 
 [tool.ruff.lint]
 extend-select = [
-  "D",   # pydocstyle
+    "D",  # pydocstyle
+    "UP",
 ]

apis/python/node/src/lib.rs

@@ -1,10 +1,15 @@
 #![allow(clippy::borrow_deref_ref)] // clippy warns about code generated by #[pymethods]
 
+use std::env::current_dir;
+use std::path::PathBuf;
 use std::sync::Arc;
 use std::time::Duration;
 
 use arrow::pyarrow::{FromPyArrow, ToPyArrow};
+use dora_daemon::Daemon;
+use dora_download::download_file;
 use dora_node_api::dora_core::config::NodeId;
+use dora_node_api::dora_core::descriptor::source_is_url;
 use dora_node_api::merged::{MergeExternalSend, MergedEvent};
 use dora_node_api::{DataflowId, DoraNode, EventStream};
 use dora_operator_api_python::{pydict_to_metadata, DelayedCleanup, NodeCleanupHandle, PyEvent};
@@ -52,14 +57,14 @@ impl Node {
         let dataflow_id = *node.dataflow_id();
         let node_id = node.id().clone();
         let node = DelayedCleanup::new(node);
-        let events = DelayedCleanup::new(events);
+        let events = events;
         let cleanup_handle = NodeCleanupHandle {
-            _handles: Arc::new((node.handle(), events.handle())),
+            _handles: Arc::new(node.handle()),
         };
         Ok(Node {
             events: Events {
                 inner: EventsInner::Dora(events),
-                cleanup_handle,
+                _cleanup_handle: cleanup_handle,
             },
             dataflow_id,
             node_id,
@@ -102,6 +107,43 @@ impl Node {
         }
     }
 
+    /// `.recv_async()` gives you the next input that the node has received asynchronously.
+    /// It does not blocks until the next event becomes available.
+    /// You can use timeout in seconds to return if no input is available.
+    /// It will return an Error if the timeout is reached.
+    /// It will return `None` when all senders has been dropped.
+    ///
+    /// warning::
+    ///     This feature is experimental as pyo3 async (rust-python FFI) is still in development.
+    ///
+    /// ```python
+    /// event = await node.recv_async()
+    /// ```
+    ///
+    /// You can also iterate over the event stream with a loop
+    ///
+    /// :type timeout: float, optional
+    /// :rtype: dict
+    #[pyo3(signature = (timeout=None))]
+    #[allow(clippy::should_implement_trait)]
+    pub async fn recv_async(&mut self, timeout: Option<f32>) -> PyResult<Option<Py<PyDict>>> {
+        let event = self
+            .events
+            .recv_async_timeout(timeout.map(Duration::from_secs_f32))
+            .await;
+        if let Some(event) = event {
+            // Get python
+            Python::with_gil(|py| {
+                let dict = event
+                    .to_py_dict(py)
+                    .context("Could not convert event into a dict")?;
+                Ok(Some(dict))
+            })
+        } else {
+            Ok(None)
+        }
+    }
+
     /// You can iterate over the event stream with a loop
     ///
     /// ```python
@@ -218,9 +260,9 @@ impl Node {
                         value
                             .to_pyarrow(py)
                             .context("failed to convert value to pyarrow")
-                            .unwrap_or_else(|err| PyErr::from(err).to_object(py))
+                            .unwrap_or_else(|err| err_to_pyany(err, py))
                     }),
-                    Err(err) => Python::with_gil(|py| PyErr::from(err).to_object(py)),
+                    Err(err) => Python::with_gil(|py| err_to_pyany(err, py)),
                 }
             });
             futures::pin_mut!(s);
@@ -239,32 +281,48 @@ impl Node {
     }
 }
 
+fn err_to_pyany(err: eyre::Report, gil: Python<'_>) -> Py<PyAny> {
+    PyErr::from(err)
+        .into_pyobject(gil)
+        .unwrap_or_else(|infallible| match infallible {})
+        .into_any()
+        .unbind()
+}
+
 struct Events {
     inner: EventsInner,
-    cleanup_handle: NodeCleanupHandle,
+    _cleanup_handle: NodeCleanupHandle,
 }
 
 impl Events {
     fn recv(&mut self, timeout: Option<Duration>) -> Option<PyEvent> {
+        let event = match &mut self.inner {
+            EventsInner::Dora(events) => match timeout {
+                Some(timeout) => events.recv_timeout(timeout).map(MergedEvent::Dora),
+                None => events.recv().map(MergedEvent::Dora),
+            },
+            EventsInner::Merged(events) => futures::executor::block_on(events.next()),
+        };
+        event.map(|event| PyEvent { event })
+    }
+
+    async fn recv_async_timeout(&mut self, timeout: Option<Duration>) -> Option<PyEvent> {
         let event = match &mut self.inner {
             EventsInner::Dora(events) => match timeout {
                 Some(timeout) => events
-                    .get_mut()
-                    .recv_timeout(timeout)
+                    .recv_async_timeout(timeout)
+                    .await
                     .map(MergedEvent::Dora),
-                None => events.get_mut().recv().map(MergedEvent::Dora),
+                None => events.recv_async().await.map(MergedEvent::Dora),
             },
-            EventsInner::Merged(events) => futures::executor::block_on(events.next()),
+            EventsInner::Merged(events) => events.next().await,
         };
-        event.map(|event| PyEvent {
-            event,
-            _cleanup: Some(self.cleanup_handle.clone()),
-        })
+        event.map(|event| PyEvent { event })
     }
 }
 
 enum EventsInner {
-    Dora(DelayedCleanup<EventStream>),
+    Dora(EventStream),
     Merged(Box<dyn Stream<Item = MergedEvent<PyObject>> + Unpin + Send + Sync>),
 }
 
@@ -302,11 +360,49 @@ pub fn start_runtime() -> eyre::Result<()> {
     dora_runtime::main().wrap_err("Dora Runtime raised an error.")
 }
 
+pub fn resolve_dataflow(dataflow: String) -> eyre::Result<PathBuf> {
+    let dataflow = if source_is_url(&dataflow) {
+        // try to download the shared library
+        let target_path = current_dir().context("Could not access the current dir")?;
+        let rt = tokio::runtime::Builder::new_current_thread()
+            .enable_all()
+            .build()
+            .context("tokio runtime failed")?;
+        rt.block_on(async { download_file(&dataflow, &target_path).await })
+            .wrap_err("failed to download dataflow yaml file")?
+    } else {
+        PathBuf::from(dataflow)
+    };
+    Ok(dataflow)
+}
+
+/// Run a Dataflow
+///
+/// :rtype: None
+#[pyfunction]
+#[pyo3(signature = (dataflow_path, uv=None))]
+pub fn run(dataflow_path: String, uv: Option<bool>) -> eyre::Result<()> {
+    let dataflow_path = resolve_dataflow(dataflow_path).context("could not resolve dataflow")?;
+    let rt = tokio::runtime::Builder::new_multi_thread()
+        .enable_all()
+        .build()
+        .context("tokio runtime failed")?;
+    let result = rt.block_on(Daemon::run_dataflow(&dataflow_path, uv.unwrap_or_default()))?;
+    match result.is_ok() {
+        true => Ok(()),
+        false => Err(eyre::eyre!(
+            "Dataflow failed to run with error: {:?}",
+            result.node_results
+        )),
+    }
+}
+
 #[pymodule]
 fn dora(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> {
     dora_ros2_bridge_python::create_dora_ros2_bridge_module(&m)?;
 
     m.add_function(wrap_pyfunction!(start_runtime, &m)?)?;
+    m.add_function(wrap_pyfunction!(run, &m)?)?;
     m.add_class::<Node>()?;
     m.setattr("__version__", env!("CARGO_PKG_VERSION"))?;
     m.setattr("__author__", "Dora-rs Authors")?;

apis/python/operator/src/lib.rs

@@ -19,14 +19,13 @@ use pyo3::{
 /// Dora Event
 pub struct PyEvent {
     pub event: MergedEvent<PyObject>,
-    pub _cleanup: Option<NodeCleanupHandle>,
 }
 
 /// Keeps the dora node alive until all event objects have been dropped.
 #[derive(Clone)]
 #[pyclass]
 pub struct NodeCleanupHandle {
-    pub _handles: Arc<(CleanupHandle<DoraNode>, CleanupHandle<EventStream>)>,
+    pub _handles: Arc<CleanupHandle<DoraNode>>,
 }
 
 /// Owned type with delayed cleanup (using `handle` method).
@@ -81,15 +80,41 @@ impl PyEvent {
     pub fn to_py_dict(self, py: Python<'_>) -> PyResult<Py<PyDict>> {
         let mut pydict = HashMap::new();
         match &self.event {
-            MergedEvent::Dora(_) => pydict.insert("kind", "dora".to_object(py)),
-            MergedEvent::External(_) => pydict.insert("kind", "external".to_object(py)),
+            MergedEvent::Dora(_) => pydict.insert(
+                "kind",
+                "dora"
+                    .into_pyobject(py)
+                    .context("Failed to create pystring")?
+                    .unbind()
+                    .into(),
+            ),
+            MergedEvent::External(_) => pydict.insert(
+                "kind",
+                "external"
+                    .into_pyobject(py)
+                    .context("Failed to create pystring")?
+                    .unbind()
+                    .into(),
+            ),
         };
         match &self.event {
             MergedEvent::Dora(event) => {
                 if let Some(id) = Self::id(event) {
-                    pydict.insert("id", id.into_py(py));
+                    pydict.insert(
+                        "id",
+                        id.into_pyobject(py)
+                            .context("Failed to create id pyobject")?
+                            .into(),
+                    );
                 }
-                pydict.insert("type", Self::ty(event).to_object(py));
+                pydict.insert(
+                    "type",
+                    Self::ty(event)
+                        .into_pyobject(py)
+                        .context("Failed to create event pyobject")?
+                        .unbind()
+                        .into(),
+                );
 
                 if let Some(value) = self.value(py)? {
                     pydict.insert("value", value);
@@ -98,7 +123,14 @@ impl PyEvent {
                     pydict.insert("metadata", metadata);
                 }
                 if let Some(error) = Self::error(event) {
-                    pydict.insert("error", error.to_object(py));
+                    pydict.insert(
+                        "error",
+                        error
+                            .into_pyobject(py)
+                            .context("Failed to create error pyobject")?
+                            .unbind()
+                            .into(),
+                    );
                 }
             }
             MergedEvent::External(event) => {
@@ -106,11 +138,10 @@ impl PyEvent {
             }
         }
 
-        if let Some(cleanup) = self._cleanup.clone() {
-            pydict.insert("_cleanup", cleanup.into_py(py));
-        }
-
-        Ok(pydict.into_py_dict_bound(py).unbind())
+        Ok(pydict
+            .into_py_dict(py)
+            .context("Failed to create py_dict")?
+            .unbind())
     }
 
     fn ty(event: &Event) -> &str {
@@ -148,7 +179,10 @@ impl PyEvent {
             Event::Input { metadata, .. } => Ok(Some(
                 metadata_to_pydict(metadata, py)
                     .context("Issue deserializing metadata")?
-                    .to_object(py),
+                    .into_pyobject(py)
+                    .context("Failed to create metadata_to_pydice")?
+                    .unbind()
+                    .into(),
             )),
             _ => Ok(None),
         }
@@ -218,7 +252,7 @@ pub fn metadata_to_pydict<'a>(
     metadata: &'a Metadata,
     py: Python<'a>,
 ) -> Result<pyo3::Bound<'a, PyDict>> {
-    let dict = PyDict::new_bound(py);
+    let dict = PyDict::new(py);
     for (k, v) in metadata.parameters.iter() {
         match v {
             Parameter::Bool(bool) => dict

apis/rust/node/Cargo.toml

@@ -8,8 +8,9 @@ license.workspace = true
 repository.workspace = true
 
 [features]
-default = ["tracing"]
+default = ["tracing", "metrics"]
 tracing = ["dep:dora-tracing"]
+metrics = ["dep:dora-metrics"]
 
 [dependencies]
 dora-core = { workspace = true }
@@ -22,6 +23,7 @@ flume = "0.10.14"
 bincode = "1.3.3"
 shared_memory_extended = "0.13.0"
 dora-tracing = { workspace = true, optional = true }
+dora-metrics = { workspace = true, optional = true }
 arrow = { workspace = true }
 futures = "0.3.28"
 futures-concurrency = "7.3.0"
@@ -29,6 +31,4 @@ futures-timer = "3.0.2"
 dora-arrow-convert = { workspace = true }
 aligned-vec = "0.5.0"
 serde_json = "1.0.86"
-
-[dev-dependencies]
-tokio = { version = "1.24.2", features = ["rt"] }
+tokio = { version = "1.24.2", features = ["rt", "rt-multi-thread"] }

apis/rust/node/src/node/mod.rs

@@ -31,8 +31,11 @@ use std::{
 };
 use tracing::{info, warn};
 
+#[cfg(feature = "metrics")]
+use dora_metrics::init_meter_provider;
 #[cfg(feature = "tracing")]
 use dora_tracing::set_up_tracing;
+use tokio::runtime::{Handle, Runtime};
 
 pub mod arrow_utils;
 mod control_channel;
@@ -40,6 +43,11 @@ mod drop_stream;
 
 pub const ZERO_COPY_THRESHOLD: usize = 4096;
 
+enum TokioRuntime {
+    Runtime(Runtime),
+    Handle(Handle),
+}
+
 pub struct DoraNode {
     id: NodeId,
     dataflow_id: DataflowId,
@@ -53,6 +61,7 @@ pub struct DoraNode {
 
     dataflow_descriptor: Descriptor,
     warned_unknown_output: BTreeSet<DataId>,
+    _rt: TokioRuntime,
 }
 
 impl DoraNode {
@@ -133,6 +142,39 @@ impl DoraNode {
         let clock = Arc::new(uhlc::HLC::default());
         let input_config = run_config.inputs.clone();
 
+        let rt = match Handle::try_current() {
+            Ok(handle) => TokioRuntime::Handle(handle),
+            Err(_) => TokioRuntime::Runtime(
+                tokio::runtime::Builder::new_multi_thread()
+                    .worker_threads(2)
+                    .enable_all()
+                    .build()
+                    .context("tokio runtime failed")?,
+            ),
+        };
+
+        let id = format!("{}/{}", dataflow_id, node_id);
+
+        #[cfg(feature = "metrics")]
+        match &rt {
+            TokioRuntime::Runtime(rt) => rt.spawn(async {
+                if let Err(e) = init_meter_provider(id)
+                    .await
+                    .context("failed to init metrics provider")
+                {
+                    warn!("could not create metric provider with err: {:#?}", e);
+                }
+            }),
+            TokioRuntime::Handle(handle) => handle.spawn(async {
+                if let Err(e) = init_meter_provider(id)
+                    .await
+                    .context("failed to init metrics provider")
+                {
+                    warn!("could not create metric provider with err: {:#?}", e);
+                }
+            }),
+        };
+
         let event_stream = EventStream::init(
             dataflow_id,
             &node_id,
@@ -159,6 +201,7 @@ impl DoraNode {
             cache: VecDeque::new(),
             dataflow_descriptor,
             warned_unknown_output: BTreeSet::new(),
+            _rt: rt,
         };
         Ok((node, event_stream))
     }

benches/llms/.gitignore

@@ -0,0 +1 @@
+*.csv

benches/llms/README.md

@@ -0,0 +1,10 @@
+# Benchmark LLM Speed
+
+Use the following command to run the benchmark:
+
+```bash
+dora build transformers.yaml --uv
+dora run transformers.yaml --uv
+```
+
+You should see a benchmark details.

benches/llms/llama_cpp_python.yaml

@@ -0,0 +1,28 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+    env:
+      TEXT: "Please only generate the following output: This is a test"
+      TEXT_TRUTH: "This is a test"
+
+  - id: llm
+    build: pip install -e ../../node-hub/dora-llama-cpp-python
+    path: dora-llama-cpp-python
+    inputs:
+      text:
+        source: benchmark_script/text
+        queue-size: 10
+    outputs:
+      - text
+    env:
+      MODEL_NAME_OR_PATH: "Qwen/Qwen2.5-0.5B-Instruct-GGUF"
+      MODEL_FILE_PATTERN: "*fp16.gguf"
+      SYSTEM_PROMPT: "You're a very succinct AI assistant with short answers."
+      MAX_TOKENS: "512"
+      N_GPU_LAYERS: "35" # Enable GPU acceleration
+      N_THREADS: "16" # CPU threads
+      CONTEXT_SIZE: "4096" # Maximum context window

benches/llms/mistralrs.yaml

@@ -0,0 +1,19 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+    env:
+      TEXT: "Please only generate the following output: This is a test"
+      TEXT_TRUTH: "This is a test"
+
+  - id: llm
+    build: |
+      cargo build -p dora-mistral-rs --release
+    path: ../../target/release/dora-mistral-rs
+    inputs:
+      text: benchmark_script/text
+    outputs:
+      - text

benches/llms/phi4.yaml

@@ -0,0 +1,20 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+    env:
+      TEXT: "Please only generate the following output: This is a test"
+      TEXT_TRUTH: "This is a test"
+
+  - id: llm
+    build: |
+      pip install flash-attn --no-build-isolation
+      pip install -e ../../node-hub/dora-phi4
+    path: dora-phi4
+    inputs:
+      text: benchmark_script/text
+    outputs:
+      - text

benches/llms/qwen2.5.yaml

@@ -0,0 +1,19 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+    env:
+      TEXT: "Please only generate the following output: This is a test"
+      TEXT_TRUTH: "This is a test"
+
+  - id: llm
+    build: |
+      pip install -e ../../node-hub/dora-qwen
+    path: dora-qwen
+    inputs:
+      text: benchmark_script/text
+    outputs:
+      - text

benches/llms/transformers.yaml

@@ -0,0 +1,20 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+    env:
+      TEXT: "Please only generate the following output: This is a test"
+      TEXT_TRUTH: "This is a test"
+
+  - id: llm
+    build: pip install -e ../../node-hub/dora-transformers
+    path: dora-transformers
+    inputs:
+      text: benchmark_script/text
+    outputs:
+      - text
+    env:
+      MODEL_NAME: "Qwen/Qwen2.5-0.5B-Instruct" # Model from Hugging Face

benches/mllm/.gitignore

@@ -0,0 +1 @@
+*.csv

benches/mllm/README.md

@@ -0,0 +1,10 @@
+# Benchmark LLM Speed
+
+Use the following command to run the benchmark:
+
+```bash
+dora build transformers.yaml --uv
+dora run transformers.yaml --uv
+```
+
+You should see a benchmark details.

benches/mllm/benchmark_script.py

@@ -0,0 +1,220 @@
+"""TODO: Add docstring."""
+
+import argparse
+import ast
+
+# Create an empty csv file with header in the current directory if file does not exist
+import csv
+import os
+import time
+from io import BytesIO
+
+import cv2
+import librosa
+import numpy as np
+import pyarrow as pa
+import requests
+from dora import Node
+from PIL import Image
+
+CAT_URL = "https://i.ytimg.com/vi/fzzjgBAaWZw/hqdefault.jpg"
+
+
+def get_cat_image():
+    """
+    Get a cat image as a numpy array.
+
+    :return: Cat image as a numpy array.
+    """
+    # Fetch the image from the URL
+    response = requests.get(CAT_URL)
+    response.raise_for_status()
+
+    # Open the image using PIL
+
+    image = Image.open(BytesIO(response.content))
+    # Convert the image to a numpy array
+
+    image_array = np.array(image)
+    cv2.resize(image_array, (640, 480))
+    # Convert RGB to BGR for
+
+    return image_array
+
+
+AUDIO_URL = "https://github.com/dora-rs/dora-rs.github.io/raw/refs/heads/main/static/Voicy_C3PO%20-Don't%20follow%20me.mp3"
+
+
+def get_c3po_audio():
+    """
+    Download the C-3PO audio and load it into a NumPy array using librosa.
+    """
+    # Download the audio file
+    response = requests.get(AUDIO_URL)
+    if response.status_code != 200:
+        raise Exception(
+            f"Failed to download audio file. Status code: {response.status_code}"
+        )
+
+    # Save the audio file temporarily
+    temp_audio_file = "temp_audio.mp3"
+    with open(temp_audio_file, "wb") as f:
+        f.write(response.content)
+
+    # Load the audio file into a NumPy array using librosa
+    audio_data, sample_rate = librosa.load(temp_audio_file, sr=None)
+
+    # Optionally, you can remove the temporary file after loading
+
+    os.remove(temp_audio_file)
+
+    return audio_data, sample_rate
+
+
+def write_to_csv(filename, header, row):
+    """
+    Create a CSV file with a header if it does not exist, and write a row to it.
+    If the file exists, append the row to the file.
+
+    :param filename: Name of the CSV file.
+    :param header: List of column names to use as the header.
+    :param row: List of data to write as a row in the CSV file.
+    """
+    file_exists = os.path.exists(filename)
+
+    with open(
+        filename, mode="a" if file_exists else "w", newline="", encoding="utf8"
+    ) as file:
+        writer = csv.writer(file)
+
+        # Write the header if the file is being created
+        if not file_exists:
+            writer.writerow(header)
+            print(f"File '{filename}' created with header: {header}")
+
+        # Write the row
+        writer.writerow(row)
+        print(f"Row written to '{filename}': {row}")
+
+
+def main():
+    # Handle dynamic nodes, ask for the name of the node in the dataflow, and the same values as the ENV variables.
+    """TODO: Add docstring."""
+    parser = argparse.ArgumentParser(description="Simple arrow sender")
+
+    parser.add_argument(
+        "--name",
+        type=str,
+        required=False,
+        help="The name of the node in the dataflow.",
+        default="pyarrow-sender",
+    )
+    parser.add_argument(
+        "--text",
+        type=str,
+        required=False,
+        help="Arrow Data as string.",
+        default=None,
+    )
+
+    args = parser.parse_args()
+
+    text = os.getenv("TEXT", args.text)
+    text_truth = os.getenv("TEXT_TRUTH", args.text)
+
+    cat = get_cat_image()
+    audio, sample_rate = get_c3po_audio()
+    if text is None:
+        raise ValueError(
+            "No data provided. Please specify `TEXT` environment argument or as `--text` argument",
+        )
+    try:
+        text = ast.literal_eval(text)
+    except Exception:  # noqa
+        print("Passing input as string")
+
+    if isinstance(text, (str, int, float)):
+        text = pa.array([text])
+    else:
+        text = pa.array(text)  # initialize pyarrow array
+    node = Node(
+        args.name,
+    )  # provide the name to connect to the dataflow if dynamic node
+    name = node.dataflow_descriptor()["nodes"][1]["path"]
+
+    durations = []
+    speed = []
+    for _ in range(10):
+        node.send_output(
+            "image",
+            pa.array(cat.ravel()),
+            {"encoding": "rgb8", "width": cat.shape[1], "height": cat.shape[0]},
+        )
+        node.send_output(
+            "audio",
+            pa.array(audio.ravel()),
+            {"sample_rate": sample_rate},
+        )
+        time.sleep(0.1)
+        start_time = time.time()
+        node.send_output("text", text)
+        event = node.next()
+        duration = time.time() - start_time
+        if event is not None and event["type"] == "INPUT":
+            received_text = event["value"][0].as_py()
+            tokens = event["metadata"].get("tokens", 6)
+            assert text_truth in received_text, (
+                f"Expected '{text_truth}', got {received_text}"
+            )
+            durations.append(duration)
+            speed.append(tokens / duration)
+            time.sleep(0.1)
+    durations = np.array(durations)
+    speed = np.array(speed)
+    print(
+        f"\nAverage duration: {sum(durations) / len(durations)}"
+        + f"\nMax duration: {max(durations)}"
+        + f"\nMin duration: {min(durations)}"
+        + f"\nMedian duration: {np.median(durations)}"
+        + f"\nMedian frequency: {1 / np.median(durations)}"
+        + f"\nAverage speed: {sum(speed) / len(speed)}"
+        + f"\nMax speed: {max(speed)}"
+        + f"\nMin speed: {min(speed)}"
+        + f"\nMedian speed: {np.median(speed)}"
+        + f"\nTotal tokens: {tokens}"
+    )
+    write_to_csv(
+        "benchmark.csv",
+        [
+            "path",
+            "date",
+            "average_duration(s)",
+            "max_duration(s)",
+            "min_duration(s)",
+            "median_duration(s)",
+            "median_frequency(Hz)",
+            "average_speed(tok/s)",
+            "max_speed(tok/s)",
+            "min_speed(tok/s)",
+            "median_speed(tok/s)",
+            "total_tokens",
+        ],
+        [
+            name,
+            time.strftime("%Y-%m-%d %H:%M:%S"),
+            sum(durations) / len(durations),
+            max(durations),
+            min(durations),
+            np.median(durations),
+            1 / np.median(durations),
+            sum(speed) / len(speed),
+            max(speed),
+            min(speed),
+            np.median(speed),
+            tokens,
+        ],
+    )
+
+
+if __name__ == "__main__":
+    main()

benches/mllm/phi4.yaml

@@ -0,0 +1,23 @@
+nodes:
+  - id: benchmark_script
+    path: benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+      - image
+      - audio
+    env:
+      TEXT: "Please only generate the following output: This is a cat"
+      TEXT_TRUTH: "This is a cat"
+
+  - id: llm
+    build: |
+      pip install -e ../../node-hub/dora-phi4
+    path: dora-phi4
+    inputs:
+      text: benchmark_script/text
+      image: benchmark_script/image
+      audio: benchmark_script/audio
+    outputs:
+      - text

benches/vlm/.gitignore

@@ -0,0 +1 @@
+*.csv

benches/vlm/README.md

@@ -0,0 +1,10 @@
+# Benchmark LLM Speed
+
+Use the following command to run the benchmark:
+
+```bash
+dora build transformers.yaml --uv
+dora run transformers.yaml --uv
+```
+
+You should see a benchmark details.

benches/vlm/magma.yaml

@@ -0,0 +1,20 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+      - image
+    env:
+      TEXT: "Please only generate the following output: This is a cat"
+      TEXT_TRUTH: "This is a cat"
+
+  - id: llm
+    build: pip install -e ../../node-hub/dora-magma
+    path: dora-magma
+    inputs:
+      text: benchmark_script/text
+      image: benchmark_script/image
+    outputs:
+      - text

benches/vlm/phi4.yaml

@@ -0,0 +1,22 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: llm/text
+    outputs:
+      - text
+      - image
+    env:
+      TEXT: "Please only generate the following output: This is a cat"
+      TEXT_TRUTH: "This is a cat"
+
+  - id: llm
+    build: |
+      pip install flash-attn --no-build-isolation
+      pip install -e ../../node-hub/dora-phi4
+    path: dora-phi4
+    inputs:
+      text: benchmark_script/text
+      image: benchmark_script/image
+    outputs:
+      - text

benches/vlm/qwen2.5vl.yaml

@@ -0,0 +1,22 @@
+nodes:
+  - id: benchmark_script
+    path: ../mllm/benchmark_script.py
+    inputs:
+      text: vlm/text
+    outputs:
+      - text
+      - image
+    env:
+      TEXT: "Please only generate the following output: This is a cat"
+      TEXT_TRUTH: "This is a cat"
+
+  - id: vlm
+    # Comment flash_attn if not on cuda hardware
+    build: |
+      pip install -e ../../node-hub/dora-qwen2-5-vl
+    path: dora-qwen2-5-vl
+    inputs:
+      image: benchmark_script/image
+      text: benchmark_script/text
+    outputs:
+      - text

binaries/cli/Cargo.toml

@@ -50,6 +50,12 @@ tabwriter = "1.4.0"
 log = { version = "0.4.21", features = ["serde"] }
 colored = "2.1.0"
 env_logger = "0.11.3"
+self_update = { version = "0.27.0", features = [
+    "rustls",
+    "archive-zip",
+    "archive-tar",
+    "compression-flate2",
+], default-features = false }
 pyo3 = { workspace = true, features = [
     "extension-module",
     "abi3",
@@ -60,3 +66,7 @@ pyo3 = { workspace = true, features = [
 name = "dora_cli"
 path = "src/lib.rs"
 crate-type = ["lib", "cdylib"]
+
+[package.metadata.dist]
+# Enable dora-cli binary to be distributed
+dist = true

binaries/cli/build.rs

@@ -0,0 +1,6 @@
+fn main() {
+    println!(
+        "cargo:rustc-env=TARGET={}",
+        std::env::var("TARGET").unwrap()
+    );
+}

binaries/cli/pyproject.toml

@@ -16,4 +16,5 @@ features = ["python", "pyo3/extension-module"]
 [tool.ruff.lint]
 extend-select = [
   "D",   # pydocstyle
+  "UP"
 ]

binaries/cli/src/build.rs

@@ -23,39 +23,43 @@ pub fn build(dataflow: String, uv: bool) -> eyre::Result<()> {
         match node.kind()? {
             dora_core::descriptor::NodeKind::Standard(_) => {
                 if let Some(build) = &node.build {
-                    run_build_command(build, working_dir, uv).with_context(|| {
-                        format!("build command failed for standard node `{}`", node.id)
-                    })?
+                    run_build_command(build, working_dir, uv, node.env.clone()).with_context(
+                        || format!("build command failed for standard node `{}`", node.id),
+                    )?
                 }
             }
             dora_core::descriptor::NodeKind::Runtime(runtime_node) => {
                 for operator in &runtime_node.operators {
                     if let Some(build) = &operator.config.build {
-                        run_build_command(build, working_dir, uv).with_context(|| {
-                            format!(
-                                "build command failed for operator `{}/{}`",
-                                node.id, operator.id
-                            )
-                        })?;
+                        run_build_command(build, working_dir, uv, node.env.clone()).with_context(
+                            || {
+                                format!(
+                                    "build command failed for operator `{}/{}`",
+                                    node.id, operator.id
+                                )
+                            },
+                        )?;
                     }
                 }
             }
             dora_core::descriptor::NodeKind::Custom(custom_node) => {
                 if let Some(build) = &custom_node.build {
-                    run_build_command(build, working_dir, uv).with_context(|| {
-                        format!("build command failed for custom node `{}`", node.id)
-                    })?
+                    run_build_command(build, working_dir, uv, node.env.clone()).with_context(
+                        || format!("build command failed for custom node `{}`", node.id),
+                    )?
                 }
             }
             dora_core::descriptor::NodeKind::Operator(operator) => {
                 if let Some(build) = &operator.config.build {
-                    run_build_command(build, working_dir, uv).with_context(|| {
-                        format!(
-                            "build command failed for operator `{}/{}`",
-                            node.id,
-                            operator.id.as_ref().unwrap_or(&default_op_id)
-                        )
-                    })?
+                    run_build_command(build, working_dir, uv, node.env.clone()).with_context(
+                        || {
+                            format!(
+                                "build command failed for operator `{}/{}`",
+                                node.id,
+                                operator.id.as_ref().unwrap_or(&default_op_id)
+                            )
+                        },
+                    )?
                 }
             }
         }

binaries/cli/src/lib.rs

@@ -240,6 +240,20 @@ enum Command {
         #[clap(long)]
         quiet: bool,
     },
+
+    Self_ {
+        #[clap(subcommand)]
+        command: SelfSubCommand,
+    },
+}
+
+#[derive(Debug, clap::Subcommand)]
+enum SelfSubCommand {
+    Update {
+        /// Only check for updates without installing
+        #[clap(long)]
+        check_only: bool,
+    },
 }
 
 #[derive(Debug, clap::Args)]
@@ -312,7 +326,8 @@ fn run(args: Args) -> eyre::Result<()> {
                 .context("failed to set up tracing subscriber")?;
         }
         Command::Run { .. } => {
-            set_up_tracing_opts("run", Some("info"), None)
+            let log_level = std::env::var("RUST_LOG").ok().or(Some("info".to_string()));
+            set_up_tracing_opts("run", log_level.as_deref(), None)
                 .context("failed to set up tracing subscriber")?;
         }
         _ => {
@@ -537,6 +552,61 @@ fn run(args: Args) -> eyre::Result<()> {
             .context("failed to run dora-daemon")?
         }
         Command::Runtime => dora_runtime::main().context("Failed to run dora-runtime")?,
+        Command::Self_ { command } => match command {
+            SelfSubCommand::Update { check_only } => {
+                println!("Checking for updates...");
+
+                #[cfg(target_os = "linux")]
+                let bin_path_in_archive = format!("dora-cli-{}/dora", env!("TARGET"));
+                #[cfg(target_os = "macos")]
+                let bin_path_in_archive = format!("dora-cli-{}/dora", env!("TARGET"));
+                #[cfg(target_os = "windows")]
+                let bin_path_in_archive = String::from("dora.exe");
+
+                let status = self_update::backends::github::Update::configure()
+                    .repo_owner("dora-rs")
+                    .repo_name("dora")
+                    .bin_path_in_archive(&bin_path_in_archive)
+                    .bin_name("dora")
+                    .show_download_progress(true)
+                    .current_version(env!("CARGO_PKG_VERSION"))
+                    .build()?;
+
+                if check_only {
+                    // Only check if an update is available
+                    match status.get_latest_release() {
+                        Ok(release) => {
+                            let current_version = self_update::cargo_crate_version!();
+                            if current_version != release.version {
+                                println!(
+                                    "An update is available: {}. Run 'dora self update' to update",
+                                    release.version
+                                );
+                            } else {
+                                println!(
+                                    "Dora CLI is already at the latest version: {}",
+                                    current_version
+                                );
+                            }
+                        }
+                        Err(e) => println!("Failed to check for updates: {}", e),
+                    }
+                } else {
+                    // Perform the actual update
+                    match status.update() {
+                        Ok(update_status) => match update_status {
+                            self_update::Status::UpToDate(version) => {
+                                println!("Dora CLI is already at the latest version: {}", version);
+                            }
+                            self_update::Status::Updated(version) => {
+                                println!("Successfully updated Dora CLI to version: {}", version);
+                            }
+                        },
+                        Err(e) => println!("Failed to update: {}", e),
+                    }
+                }
+            }
+        },
     };
 
     Ok(())

binaries/cli/src/template/python/__node-name__/pyproject.toml

@@ -17,5 +17,6 @@ __node-name__ = "__node_name__.main:main"
 
 [tool.ruff.lint]
 extend-select = [
-  "D",
+  "D",   # pydocstyle
+  "UP"
 ]

binaries/cli/src/template/python/listener/listener-template.py

@@ -2,6 +2,7 @@
 
 from dora import Node
 
+
 def main():
     """Listen for input events and print received messages."""
     node = Node()

binaries/cli/src/template/python/talker/talker-template.py

@@ -3,6 +3,7 @@
 import pyarrow as pa
 from dora import Node
 
+
 def main():
     """Process node input events and send speech output."""
     node = Node()

binaries/daemon/src/spawn.rs

@@ -21,7 +21,7 @@ use dora_message::{
     common::{LogLevel, LogMessage},
     daemon_to_coordinator::{DataMessage, NodeExitStatus, Timestamped},
     daemon_to_node::{NodeConfig, RuntimeConfig},
-    descriptor::GitRepoRev,
+    descriptor::{EnvValue, GitRepoRev},
     DataflowId,
 };
 use dora_node_api::{
@@ -107,7 +107,8 @@ impl Spawner<'_> {
                             .await?
                     }
                     dora_message::descriptor::NodeSource::GitBranch { repo, rev } => {
-                        self.spawn_git_node(&n, repo, rev, logger).await?
+                        self.spawn_git_node(&n, repo, rev, logger, &node.env)
+                            .await?
                     }
                 };
                 let Some(mut command) = command else {
@@ -512,6 +513,7 @@ impl Spawner<'_> {
         repo_addr: &String,
         rev: &Option<GitRepoRev>,
         logger: &mut NodeLogger<'_>,
+        node_env: &Option<BTreeMap<String, EnvValue>>,
     ) -> Result<Option<tokio::process::Command>, eyre::Error> {
         let dataflow_id = self.dataflow_id;
         let repo_url = Url::parse(repo_addr).context("failed to parse git repository URL")?;
@@ -604,8 +606,9 @@ impl Spawner<'_> {
             let build = build.to_owned();
             let clone_dir = clone_dir.clone();
             let uv = self.uv;
+            let node_env = node_env.clone();
             let task = tokio::task::spawn_blocking(move || {
-                run_build_command(&build, &clone_dir, uv).context("build command failed")
+                run_build_command(&build, &clone_dir, uv, node_env).context("build command failed")
             });
             task.await??;
         }

binaries/runtime/src/operator/python.rs

@@ -10,6 +10,7 @@ use dora_node_api::{merged::MergedEvent, Event, Parameter};
 use dora_operator_api_python::PyEvent;
 use dora_operator_api_types::DoraStatus;
 use eyre::{bail, eyre, Context, Result};
+use pyo3::ffi::c_str;
 use pyo3::{
     pyclass,
     types::{IntoPyDict, PyAnyMethods, PyDict, PyDictMethods, PyTracebackMethods},
@@ -23,7 +24,7 @@ use tokio::sync::{mpsc::Sender, oneshot};
 use tracing::{error, field, span, warn};
 
 fn traceback(err: pyo3::PyErr) -> eyre::Report {
-    let traceback = Python::with_gil(|py| err.traceback_bound(py).and_then(|t| t.format().ok()));
+    let traceback = Python::with_gil(|py| err.traceback(py).and_then(|t| t.format().ok()));
     if let Some(traceback) = traceback {
         eyre::eyre!("{traceback}\n{err}")
     } else {
@@ -75,9 +76,7 @@ pub fn run(
             let parent_path = parent_path
                 .to_str()
                 .ok_or_else(|| eyre!("module path is not valid utf8"))?;
-            let sys = py
-                .import_bound("sys")
-                .wrap_err("failed to import `sys` module")?;
+            let sys = py.import("sys").wrap_err("failed to import `sys` module")?;
             let sys_path = sys
                 .getattr("path")
                 .wrap_err("failed to import `sys.path` module")?;
@@ -89,14 +88,16 @@ pub fn run(
                 .wrap_err("failed to append module path to python search path")?;
         }
 
-        let module = py.import_bound(module_name).map_err(traceback)?;
+        let module = py.import(module_name).map_err(traceback)?;
         let operator_class = module
             .getattr("Operator")
             .wrap_err("no `Operator` class found in module")?;
 
-        let locals = [("Operator", operator_class)].into_py_dict_bound(py);
+        let locals = [("Operator", operator_class)]
+            .into_py_dict(py)
+            .context("Failed to create py_dict")?;
         let operator = py
-            .eval_bound("Operator()", None, Some(&locals))
+            .eval(c_str!("Operator()"), None, Some(&locals))
             .map_err(traceback)?;
         operator.setattr(
             "dataflow_descriptor",
@@ -141,11 +142,11 @@ pub fn run(
                         })?;
                     // Reload module
                     let module = py
-                        .import_bound(module_name)
+                        .import(module_name)
                         .map_err(traceback)
                         .wrap_err(format!("Could not retrieve {module_name} while reloading"))?;
                     let importlib = py
-                        .import_bound("importlib")
+                        .import("importlib")
                         .wrap_err("failed to import `importlib` module")?;
                     let module = importlib
                         .call_method("reload", (module,), None)
@@ -155,9 +156,11 @@ pub fn run(
                         .wrap_err("no `Operator` class found in module")?;
 
                     // Create a new reloaded operator
-                    let locals = [("Operator", reloaded_operator_class)].into_py_dict_bound(py);
+                    let locals = [("Operator", reloaded_operator_class)]
+                        .into_py_dict(py)
+                        .context("Failed to create py_dict")?;
                     let operator: Py<pyo3::PyAny> = py
-                        .eval_bound("Operator()", None, Some(&locals))
+                        .eval(c_str!("Operator()"), None, Some(&locals))
                         .map_err(traceback)
                         .wrap_err("Could not initialize reloaded operator")?
                         .into();
@@ -214,7 +217,6 @@ pub fn run(
 
                 let py_event = PyEvent {
                     event: MergedEvent::Dora(event),
-                    _cleanup: None,
                 }
                 .to_py_dict(py)
                 .context("Could not convert event to pydict bound")?;

dist-workspace.toml

@@ -0,0 +1,42 @@
+[workspace]
+members = ["cargo:binaries/cli"]
+
+# Config for 'dist'
+[dist]
+# The preferred dist version to use in CI (Cargo.toml SemVer syntax)
+cargo-dist-version = "0.28.0"
+# CI backends to support
+ci = "github"
+# The installers to generate for each app
+installers = ["shell", "powershell"]
+# Target platforms to build apps for (Rust target-triple syntax)
+targets = [
+    "aarch64-apple-darwin",
+    "aarch64-unknown-linux-gnu",
+    "x86_64-apple-darwin",
+    "x86_64-unknown-linux-gnu",
+    "x86_64-pc-windows-msvc",
+]
+# Path that installers should place binaries in
+install-path = "~/.dora/bin"
+# Whether to install an updater program
+install-updater = false
+# Build only the required packages, and individually
+precise-builds = true
+# Whether to consider the binaries in a package for distribution (defaults true)
+dist = false
+# Whether dist should create a Github Release or use an existing draft
+create-release = false
+# The archive format to use for non-windows builds (defaults .tar.xz)
+unix-archive = ".tar.gz"
+# Skip checking whether the specified configuration files are up to date
+allow-dirty = ["ci"]
+
+[dist.github-custom-runners]
+x86_64-pc-windows-msvc = "windows-2022"
+x86_64-unknown-linux-gnu = "ubuntu-22.04"
+aarch64-unknown-linux-gnu = "ubuntu-22.04"
+global = "ubuntu-22.04"
+
+[dist.bin-aliases]
+dora-cli = ["dora"]

docker/slim/Dockerfile

@@ -0,0 +1,32 @@
+FROM python:3.12-slim
+
+# Install system dependencies
+RUN apt-get update && apt-get install -y \
+    git \
+    curl \
+    build-essential \
+    pkg-config \
+    libssl-dev \
+    ffmpeg \
+    libsm6 \
+    libxext6 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Rust (required for Dora)
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+# Install uv
+RUN pip install --no-cache-dir uv
+
+# Install latest Dora
+RUN pip install --no-cache-dir dora-rs-cli
+
+# Create a working directory
+WORKDIR /app
+
+# Set environment variables
+ENV PYTHONUNBUFFERED=1
+
+# Default command when container starts
+CMD ["bash"]

docker/slim/README.md

@@ -0,0 +1,51 @@
+# slim Dora Docker Environment
+
+This Dockerfile provides a slim environment for running Dora applications with Python and uv package manager.
+
+## What's Included
+
+- Python 3.12
+- Rust (required for Dora)
+- uv package manager
+- Latest Dora release
+
+## Building the Image
+
+```bash
+docker build . -t dora-slim
+```
+
+## Running the Container
+
+```bash
+docker run -it --rm --device=/dev/video0 dora-slim
+```
+
+## Running not in interactive
+
+```bash
+docker run --rm dora-slim dora --help
+```
+
+## Running with privilege as well as USB connection
+
+```bash
+docker run --rm  --device=/dev/video0 dora-slim dora --help
+```
+
+## Usage
+
+Once inside the container, you can:
+
+```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
+```
+
+This container is designed to provide a consistent environment for Dora development without requiring complex setup on the host machine.

examples/alexk-lcr/ASSEMBLING.md

@@ -0,0 +1,40 @@
+# Dora pipeline Robots
+
+AlexK Low Cost Robot is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate the arms, the camera, and record/replay episodes with LeRobot.
+
+## Assembling
+
+**Please read the instructions carefully before buying or printing the parts.**
+
+You will need to get the parts for a Follower arm and a Leader:
+
+- [AlexK Follower Low Cost Robot](https://github.com/AlexanderKoch-Koch/low_cost_robot/?tab=readme-ov-file#follower-arm)
+- [AlexK Leader Low Cost Robot](https://github.com/AlexanderKoch-Koch/low_cost_robot/?tab=readme-ov-file#follower-arm)
+
+You **must** assemble the arm **with the extension** to be able to do some of the tasks.
+
+You then need to print the Follower arm and the Leader arm. The STL files are:
+
+- [AlexK Follower Low Cost Robot](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main/hardware/follower/stl)
+- [AlexK Leader Low Cost Robot](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main/hardware/leader/stl)
+
+Some parts **must** be replaced by the ones in this repository:
+
+- [Dora-LeRobot Base Leader Low Cost Robot](assets/stl/LEADER_Base.stl)
+
+If you struggle buying XL330 Frame or XL330/XL430 Idler Wheel, here are STL files that can be printed instead:
+
+- [XL330 Frame](assets/stl/XL330_Frame.stl)
+- [XL330 Idler Wheel](assets/stl/XL330_Idler_Wheel.stl)
+- [XL430 Idler Wheel](assets/stl/XL430_Idler_Wheel.stl)
+
+Please then follow the [YouTube Tutorial by Alexander Koch](https://youtu.be/RckrXOEoWrk?si=ZXDnnlF6BQd_o7v8) to
+assemble the arm correctly.
+Note that the tutorial is for the arm without the extension, so you will have to adapt the assembly.
+
+Then you can place the two cameras on your desk, following this [image]()
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/alexk-lcr/CONFIGURING.md

@@ -0,0 +1,90 @@
+# Dora pipeline Robots
+
+AlexK Low Cost Robot is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate the arms, the camera, and record/replay episodes with LeRobot.
+
+## Configuring
+
+Once you have assembled the robot, and installed the required software, you can configure the robot. It's essential to
+configure it
+correctly for the robot to work as expected. Here are the reasons why you need to configure the robot:
+
+- You may have done some 'mistakes' during the assembly, like inverting the motors, or changing the offsets by rotating
+  the motors before assembling the robot. So your configuration will be different from the one we used to record the
+  data set.
+- The recording pipeline needs to know the position of the motors to record the data set correctly. If the motors are
+  calibrated differently, the data set will be incorrect.
+
+**Please read the instructions carefully before configuring the robot.**
+
+The first thing to do is to configure the Servo BUS:
+
+- Setting all the servos to the same baud rate (1M).
+- Setting the ID of the servos from the base (1) to the gripper (6) for the Follower and Leader arms.
+
+Those steps can be done using the official wizard provided by the
+manufacturer [ROBOTICS](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/).
+
+After that, you need to configure the homing offsets and drive mode to have the same behavior for every user. We
+recommend using our on-board tool to set all of that automatically:
+
+- Connect the Follower arm to your computer.
+- Retrieve the device port from the official wizard.
+- Run the configuration tool with the following command and follow the instructions:
+
+```bash
+cd dora/
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+python ./examples/alexk-lcr/configure.py --port /dev/ttyUSB0 --follower --left # (or right)
+```
+
+**Note:** change `/dev/ttyUSB0` to the device port you retrieved from the official wizard (like `COM3` on Windows).
+**Note:** The configuration tool will disable all torque so you can move the arm freely to the Position 1.
+**Note:** You will be asked to set the arm in two different positions. The two positions are:
+
+![image](https://github.com/Hennzau/Hennzau/blob/main/assets/Koch_arm_positions.png)
+
+**Node:** You will be asked the path of the configuration file, you can press enter to use the default one.
+
+- Repeat the same steps for the Leader arm:
+
+```bash
+python ./examples/alexk-lcr/configure.py --port /dev/ttyUSB1 --leader --left # (or right)
+```
+
+**Note:** change `/dev/ttyUSB1` to the device port you retrieved from the official wizard (like `COM4` on Windows).
+**Note:** The configuration tool will disable all torque so you can move the arm freely to the Position 1.
+**Node:** You will be asked the path of the configuration file, you can press enter to use the default one.
+
+After following the guide, you should have the following configuration:
+
+![image](https://github.com/Hennzau/Hennzau/blob/main/assets/Koch_arm_wanted_configuration.png)
+
+This configuration has to be exported into environment variables inside the graph file. Here is an example of the
+configuration:
+
+```YAML
+nodes:
+  - id: lcr-follower
+    env:
+      PORT: /dev/ttyUSB0
+      CONFIG: ../configs/follower.left.json # relative path to `./examples/alexk-lcr/configs/follower.json`
+
+  - id: lcr-to-lcr
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+```
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/alexk-lcr/INSTALLATION.md

@@ -0,0 +1,82 @@
+# Dora pipeline Robots
+
+AlexK Low Cost Robot is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate the arms, the camera, and record/replay episodes with LeRobot.
+
+## Installation
+
+Dataflow-oriented robotic application (Dora) is a framework that makes creation of robotic applications fast and simple.
+See [Dora repository](https://github.com/dora-rs/dora).
+
+**Please read the instructions carefully before installing the required software and environment to run the robot.**
+
+You must install Dora before attempting to run the AlexK Low Cost Robot pipeline. Here are the steps to install Dora:
+
+- Install Rust by following the instructions at [Rustup](https://rustup.rs/). (You may need to install Visual Studio C++
+  build tools on Windows.)
+- Install Dora by running the following command:
+
+```bash
+cargo install dora-cli
+```
+
+Now you're ready to run Rust dataflow applications! We decided to only make Python dataflow for AlexK Low Cost Robot, so
+you may need to setup your Python environment:
+
+- Install Python 3.12 or later by following the instructions at [Python](https://www.python.org/downloads/).
+- Clone this repository by running the following command:
+
+```bash
+git clone https://github.com/dora-rs/dora
+```
+
+- Open a bash terminal and navigate to the repository by running the following command:
+
+```bash
+cd dora
+```
+
+- Create a virtual environment by running the following command (you can find where is all your pythons executable with
+  the command `whereis python3` on Linux, on default for Windows it's located
+  in `C:\Users\<User>\AppData\Local\Programs\Python\Python3.12\python.exe)`):
+
+```bash
+path_to_your_python3_executable -m venv venv
+```
+
+- Activate the virtual environment and install the required Python packages by running the following command:
+
+```bash
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+pip install -r examples/alexk-lcr/requirements.txt
+```
+
+If you want to install the required Python packages in development mode, you can run the following command, but you will
+have to avoid using `dora build` during execution procedure:
+
+```bash
+pip install -r examples/alexk-lcr/development.txt # You **MUST** be inside dora to run this command
+```
+
+**Note**: You're totally free to use your own Python environment, a Conda environment, or whatever you prefer, you will
+have to activate
+your custom python environment before running `dora up && dora start [graph].yml`.
+
+In order to record episodes, you need ffmpeg installed on your system. You can download it from
+the [official website](https://ffmpeg.org/download.html). If you're on Windows, you can download the latest build
+from [here](https://www.gyan.dev/ffmpeg/builds/). You can
+extract the zip file and add the `bin` folder to your PATH.
+If you're on Linux, you can install ffmpeg using the package manager of your distribution. (
+e.g `sudo apt install ffmpeg` on Ubuntu, `brew install ffmpeg` on macOS)
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/alexk-lcr/README.md

@@ -0,0 +1,174 @@
+# Dora pipeline Robots
+
+AlexK Low Cost Robot is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to record episodes for LeRobot.
+
+## Assembling
+
+Check the [ASSEMBLING.md](ASSEMBLING.md) file for instructions on how to assemble the robot from scratch using the
+provided parts from the [AlexK Low Cost Robot](https://github.com/AlexanderKoch-Koch/low_cost_robot)
+
+## Installation
+
+Check the [INSTALLATION.md](INSTALLATION.md) file for instructions on how to install the required software and
+environment
+to run the robot.
+
+## Configuring
+
+Check the [CONFIGURING.md](CONFIGURING.md) file for instructions on how to configure the robot to record episodes for
+LeRobot and teleoperate the robot.
+
+## Recording
+
+It's probably better to check the [examples](#examples) below before trying to record episodes. It will give you a
+better
+understanding of how Dora works.
+
+Check the [RECORDING.md](RECORDING.md) file for instructions on how to record episodes for LeRobot.
+
+## Examples
+
+There are also some other example applications in the `graphs` folder. Have fun!
+
+Here is a list of the available examples:
+
+- `mono_teleop_real.yml`: A simple real teleoperation pipeline that allows you to control a follower arm using a leader
+  arm. It
+  does not record the episodes, so you don't need to have a camera.
+
+You must configure the arms, retrieve the device port, and modify the file `mono_teleop_real.yml` to set the correct
+environment variables. (e.g. `PORT` and `CONFIG`, `LEADER_CONTROL` and `FOLLOWER_CONTROL`)
+
+```bash
+cd dora/
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/mono_teleop_real.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/mono_teleop_real.yml
+```
+
+[![](https://mermaid.ink/img/pako:eNqVUsFOxCAQ_RUy591Urz14MF496W0xZCzTlkihmUI2ZrP_LtDtutomRg4w83jvMcCcoPGaoAZxGa31x6ZHDuL1UTohbMPKEmriJTMuEI_eYqAFar1NskyZ4nvHOPZCKaU9Y1rEIQdvmXu7G8xAfJkzqUSFJUQWVAWoBmOtmar7u4OU17gqPHJaujJtK8R-L8ZorRr9ZILxLgEPGxdaqi_8hYqTWPC1fuMJZsvfFjP6p8H_qv9-7dWHZFHn8UaUijiyCaR-wmsv2EE6f0CjUzecsreE0NNAEuoUauQPCdKdEw9j8C-froE6cKQdsI9dD3WLdkpZHHWq5Mlg-urhipI2wfPz3Gyl585fka3hkA?type=png)](https://mermaid.live/edit#pako:eNqVUsFOxCAQ_RUy591Urz14MF496W0xZCzTlkihmUI2ZrP_LtDtutomRg4w83jvMcCcoPGaoAZxGa31x6ZHDuL1UTohbMPKEmriJTMuEI_eYqAFar1NskyZ4nvHOPZCKaU9Y1rEIQdvmXu7G8xAfJkzqUSFJUQWVAWoBmOtmar7u4OU17gqPHJaujJtK8R-L8ZorRr9ZILxLgEPGxdaqi_8hYqTWPC1fuMJZsvfFjP6p8H_qv9-7dWHZFHn8UaUijiyCaR-wmsv2EE6f0CjUzecsreE0NNAEuoUauQPCdKdEw9j8C-froE6cKQdsI9dD3WLdkpZHHWq5Mlg-urhipI2wfPz3Gyl585fka3hkA)
+
+- `bi_teleop_real.yml`: A simple real tele operation pipeline that allows you to control two follower arm using two
+  leader arm
+  (left and right). It does not record the episodes, so you don't need to have a camera.
+
+You must configure the arms, retrieve the device port, and modify the file `bi_teleop_real.yml` to set the correct
+environment variables. (e.g. `PORT` and `CONFIG`)
+
+```bash
+cd dora/
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/bi_teleop_real.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/bi_teleop_real.yml
+```
+
+[![](https://mermaid.ink/img/pako:eNqlVMFugzAM_ZUo51ZsVw47TLvutN2aKsqIgWghQSZRNVX99yWhtAXBNjoOxrz4vdgmzpEWVgLNKTk_pbaHohboyPszM4ToArmG0gUjJOAIUsYBtlYLByO8tDqoXINRVfVUoMdmFPqFq0TnPyoUbU0459KiCC-yi84-Mm5XnWoAzzYGJS9FERIJWQKyRmmtuuzxYcfYxc9SHBjJTDLzDLLdktZrzVvbKaesCcDTjy0a6kjMgSQ6MuALSkud7XeYivXo36TuKGv6O6eykV5ZcUMPOR1QOeBjeFF1XVLLx2l9t385huv6PSt2T23zA_Sflk916YaGjBqhZJj9Y9yHUVdDA4zmwZUCPxll5hTihHf27csUNHfoYUPR-qqmeSl0F758K0M-L0qEMWwuKEjlLL72V0u6YU7fOOqbHg?type=png)](https://mermaid.live/edit#pako:eNqlVMFugzAM_ZUo51ZsVw47TLvutN2aKsqIgWghQSZRNVX99yWhtAXBNjoOxrz4vdgmzpEWVgLNKTk_pbaHohboyPszM4ToArmG0gUjJOAIUsYBtlYLByO8tDqoXINRVfVUoMdmFPqFq0TnPyoUbU0459KiCC-yi84-Mm5XnWoAzzYGJS9FERIJWQKyRmmtuuzxYcfYxc9SHBjJTDLzDLLdktZrzVvbKaesCcDTjy0a6kjMgSQ6MuALSkud7XeYivXo36TuKGv6O6eykV5ZcUMPOR1QOeBjeFF1XVLLx2l9t385huv6PSt2T23zA_Sflk916YaGjBqhZJj9Y9yHUVdDA4zmwZUCPxll5hTihHf27csUNHfoYUPR-qqmeSl0F758K0M-L0qEMWwuKEjlLL72V0u6YU7fOOqbHg)
+
+- `mono_teleop_simu.yml`: A simple simulation tele operation pipeline that allows you to control a simulated follower
+  arm using a leader arm. It does not record the episodes, so you don't need to have a camera.
+
+You must configure the arms, retrieve the device port, and modify the file `mono_teleop_simu.yml` to set the correct
+environment variables. (e.g. `PORT` and `CONFIG`)
+
+```bash
+cd dora/
+
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/mono_teleop_simu.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/mono_teleop_simu.yml
+```
+
+[![](https://mermaid.ink/img/pako:eNp1UstuwyAQ_JUV50Rurz70UPXaU3sLFdqatY2CwcKgqIry711w4ubhcoDdYWZ3eBxF4zWJWsB5tNYfmh5DhM9X6QBsE5Ql1BQumXGRwugtRrpArbcsy5QpfXcBxx6UUtoH5AV2OfjK3OvdaAYK5zmTSlRYAFlQFaAajLVmqp6fdlIucVV45LR0Zbp1AdstRNPsAScYk7Vq9JOJxjveeFk50Jxl1UJk5Yw-au-Ov2a1lFpt_HdR_yuL9TXBXffM7TxedWHXh2AiqVv4sZbYCG47oNH88sdcW4rY00BS1BxqDHsppDsxD1P0Hz-uEXUMiTYi-NT1om7RTpylUbOTN4P8rMOCkjbRh_f5Y5X_dfoF5ZjY9g?type=png)](https://mermaid.live/edit#pako:eNp1UstuwyAQ_JUV50Rurz70UPXaU3sLFdqatY2CwcKgqIry711w4ubhcoDdYWZ3eBxF4zWJWsB5tNYfmh5DhM9X6QBsE5Ql1BQumXGRwugtRrpArbcsy5QpfXcBxx6UUtoH5AV2OfjK3OvdaAYK5zmTSlRYAFlQFaAajLVmqp6fdlIucVV45LR0Zbp1AdstRNPsAScYk7Vq9JOJxjveeFk50Jxl1UJk5Yw-au-Ov2a1lFpt_HdR_yuL9TXBXffM7TxedWHXh2AiqVv4sZbYCG47oNH88sdcW4rY00BS1BxqDHsppDsxD1P0Hz-uEXUMiTYi-NT1om7RTpylUbOTN4P8rMOCkjbRh_f5Y5X_dfoF5ZjY9g)
+
+- `mono_teleop_real_and_simu.yml`: A simple real and simulation tele operation pipeline that allows you to control a
+  simulated and real follower arm using a real leader arm. It does not record the episodes, so you don't need to have a
+  camera.
+
+You must configure the arms, retrieve the device port, and modify the file `mono_teleop_real_and_simu.yml` to set the
+correct
+environment variables. (e.g. `PORT` and `CONFIG`)
+
+```bash
+cd dora/
+
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/mono_teleop_real_and_simu.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/mono_teleop_real_and_simu.yml
+```
+
+[![](https://mermaid.ink/img/pako:eNqdU8luwyAQ_RXEOZHbqw89VL321N5ChajBMQqLxaKoivLvHXCM3IS0lX3Aw-O9YRbmhDvLBW4xuny9ssduYC6g92diEFKdo0owLty8kyYIN1rFgpih3iqQVSnUSx2veRfQx8-9Y-OAKKXcOgY_tEvGRxIsT4PUoJrWRMpWZiGUBE0GGi2Vkr55fNgRUuwm84ThxOSlEgrablGQ3QExj8aoFB2tl0FaAwdPlRLM4qQrVNAWpzf6StEml9cuJvRfDm5SgPQKf9mSWoXyvdVUf2lmEu0tW4gg4qOT0Oaf8D1fq3Muz2hdLn_Kc_fvqmrBrK5FVuMNhhg0kxxm75TuIDgMQguCWzA5cweCiTkDj8Vg375Mh9vgothgZ-N-wG3PlIddHDlE9CIZzIouqOAyWPc6jXae8PM3I_doSQ?type=png)](https://mermaid.live/edit#pako:eNqdU8luwyAQ_RXEOZHbqw89VL321N5ChajBMQqLxaKoivLvHXCM3IS0lX3Aw-O9YRbmhDvLBW4xuny9ssduYC6g92diEFKdo0owLty8kyYIN1rFgpih3iqQVSnUSx2veRfQx8-9Y-OAKKXcOgY_tEvGRxIsT4PUoJrWRMpWZiGUBE0GGi2Vkr55fNgRUuwm84ThxOSlEgrablGQ3QExj8aoFB2tl0FaAwdPlRLM4qQrVNAWpzf6StEml9cuJvRfDm5SgPQKf9mSWoXyvdVUf2lmEu0tW4gg4qOT0Oaf8D1fq3Muz2hdLn_Kc_fvqmrBrK5FVuMNhhg0kxxm75TuIDgMQguCWzA5cweCiTkDj8Vg375Mh9vgothgZ-N-wG3PlIddHDlE9CIZzIouqOAyWPc6jXae8PM3I_doSQ)
+
+- `mono_replay_real.yml`: A simple real replay pipeline that allows you to replay a recorded episode.
+
+You must configure the dataset path and episode index in the file `mono_replay_real.yml` to set the correct
+environment variables. (e.g. `PATH`, `EPISODE`). You must also configure the follower arm, retrieve the device port, and
+modify the file `mono_replay_real.yml` to set the correct environment variables. (e.g. `PORT` and `CONFIG`)
+
+```bash
+cd dora/
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/mono_replay_real.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/mono_replay_real.yml
+```
+
+[![](https://mermaid.ink/img/pako:eNptkbFuAyEMhl_F8pzohmw3dKiydmq3UCH38N2hcoB8oCiK8u4BmkZNWwbz8_PZCPuMQzCMPcJtjS4ch5kkwduz8gDC0dFJD86yT9Vwg-gxuIKxKL_mj0kozqC1NkGobHCo4r2yP2-TXVhusUJNNQqgJnTN6BbrnF273e6g1F13jWNvlG_h_wzYbiFm53QMq002-GI8_f3Ag9FyvnFa4Sg2sZ4C_ary-GvcYHl5IWtK5861qMI088IK-yINyadC5S-Fo5zC68kP2CfJvEEJeZqxH8mt5ZSjocR7S6VNy91lY1OQl6_BtPlcrmjBlKg?type=png)](https://mermaid.live/edit#pako:eNptkbFuAyEMhl_F8pzohmw3dKiydmq3UCH38N2hcoB8oCiK8u4BmkZNWwbz8_PZCPuMQzCMPcJtjS4ch5kkwduz8gDC0dFJD86yT9Vwg-gxuIKxKL_mj0kozqC1NkGobHCo4r2yP2-TXVhusUJNNQqgJnTN6BbrnF273e6g1F13jWNvlG_h_wzYbiFm53QMq002-GI8_f3Ag9FyvnFa4Sg2sZ4C_ary-GvcYHl5IWtK5861qMI088IK-yINyadC5S-Fo5zC68kP2CfJvEEJeZqxH8mt5ZSjocR7S6VNy91lY1OQl6_BtPlcrmjBlKg)
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/alexk-lcr/RECORDING.md

@@ -0,0 +1,80 @@
+# Dora pipeline Robots
+
+AlexK Low Cost Robot is a low-cost robotic arm that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate the arms, the camera, and record/replay episodes with LeRobot.
+
+## Recording
+
+This section explains how to record episodes for LeRobot using the AlexK Low Cost Robot.
+
+Recording is the process of tele operating the robot and saving the episodes to a dataset. The dataset is used to train
+the robot to perform tasks autonomously.
+
+To record episodes with Dora, you have to configure the Dataflow `record_mono_teleop_real.yml` file to integrate the
+arms and the camera. The graph file is located in the `graphs` folder.
+
+Make sure to:
+
+- Adjust the serial ports of `lcr-leader` and `lcr-follower` in the `record_mono_teleop_real.yml` file.
+- Adjust the camera PATH in the `record_mono_teleop_real.yml` file.
+- Adjust image and video WIDTH and HEIGHT in the `record_mono_teleop_real.yml` file, if needed.
+- Adjust recording framerate with your camera framerate in the `record_mono_teleop_real.yml` file.
+- Adjust CONFIG path environment variables in the `record_mono_teleop_real.yml` file for both arms if needed.
+- Adjust `LEADER_CONTROL` and `FOLLOWER_CONTROL` environment variables in the `record_mono_teleop_real.yml` file if
+  needed.
+
+You can now start the Dora pipeline to record episodes for LeRobot:
+
+```bash
+cd dora
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+dora build ./examples/alexk-lcr/graphs/record_mono_teleop_real.yml # Only the first time, it will install all the requirements if needed
+
+dora up
+dora start ./examples/alexk-lcr/graphs/record_mono_teleop_real.yml
+```
+
+Then, you can tele operate the follower with the leader. A window will pop up showing the camera feed, and some text.
+
+1. Press space to start/stop recording
+2. Press return if you want to tell the recording that you failed the current episode, or the previous episode if you
+   have not started the current one
+3. Close the window to stop the recording
+4. Write down the location of the logs (e.g `018fc3a8-3b76-70f5-84a2-22b84df24739`), this is where the
+   dataset (and logs) are stored.
+
+You can now use our script to convert the logs to an understandable dataset:
+
+```bash
+cd dora
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+python ./datasets/build_dataset.py --record-path [path_to_recorded_logs] --dataset-name [dataset_name] --framerate [framerate]
+```
+
+**Note:** On default, the framerate is 30. If you have recorded with a different framerate, you will have to adjust it.
+
+## The dora graph
+
+[![](https://mermaid.ink/img/pako:eNqdVMFu2zAM_RVB57berjn0MOzaU3eLCoGR6ESobBqSnK4o-u-j5NizE6Np64NBPfE9Us-03qQhi3IjxempPb2YA4Qk_vxSrRDeBO0RLIZx5dqEoSMPCUeoJs-0IYU6bM1RG2gwQAaOziJpBmkUwUA7SjqgoWAzYinAabmtZgulnlQb-90-QHcQWuuyp7XY5uApU-e7yXHN0zsnlahkDSWqAlSN897F6uePrVJTXJU8bLmf8jpvU9zeiuTMs4Aout573VF0yVHLG_crLo2WZN6UytwRv-Sv-DpInksM6HWBi_75YFPy_JN99aQL7rJwJu8JZiRWeQkuoV7C3-jDNbDHQryYsZWzdi7ywGXyKeQ2Lf4t_IuRXAhm-v9an83lQiXgj1an4Xirc34-hNMx1ymf8RfMZOn85_m6L1fZNTiPtsxxifRVjYV9C7doFzEcIbd-V8B4x57qvltt5YNfai4U02DSQkDeSLa8AWf5onvLckqmAzao5IZDC-FZSdW-cx70iR5fWyM3KfR4IwP1-4Pc1OAjr_rOsvxvB3zlNBOK1iUKD8M9Wq7T93-SiOfx?type=png)](https://mermaid.live/edit#pako:eNqdVMFu2zAM_RVB57berjn0MOzaU3eLCoGR6ESobBqSnK4o-u-j5NizE6Np64NBPfE9Us-03qQhi3IjxempPb2YA4Qk_vxSrRDeBO0RLIZx5dqEoSMPCUeoJs-0IYU6bM1RG2gwQAaOziJpBmkUwUA7SjqgoWAzYinAabmtZgulnlQb-90-QHcQWuuyp7XY5uApU-e7yXHN0zsnlahkDSWqAlSN897F6uePrVJTXJU8bLmf8jpvU9zeiuTMs4Aout573VF0yVHLG_crLo2WZN6UytwRv-Sv-DpInksM6HWBi_75YFPy_JN99aQL7rJwJu8JZiRWeQkuoV7C3-jDNbDHQryYsZWzdi7ywGXyKeQ2Lf4t_IuRXAhm-v9an83lQiXgj1an4Xirc34-hNMx1ymf8RfMZOn85_m6L1fZNTiPtsxxifRVjYV9C7doFzEcIbd-V8B4x57qvltt5YNfai4U02DSQkDeSLa8AWf5onvLckqmAzao5IZDC-FZSdW-cx70iR5fWyM3KfR4IwP1-4Pc1OAjr_rOsvxvB3zlNBOK1iUKD8M9Wq7T93-SiOfx)
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/alexk-lcr/assets/simulation/lift_cube.xml

@@ -0,0 +1,135 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

examples/alexk-lcr/assets/simulation/pick_place_cube.xml

@@ -0,0 +1,135 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

examples/alexk-lcr/assets/simulation/push_cube.xml

@@ -0,0 +1,137 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+
+		<site name="cube_target" pos="1 0 0" size="0.01" rgba="1 0 0 1" />
+
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

examples/alexk-lcr/assets/simulation/reach_cube.xml

@@ -0,0 +1,135 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube" pos="0.1 0.1 0.01">
+			<freejoint name="cube"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

examples/alexk-lcr/assets/simulation/stack_two_cubes.xml

@@ -0,0 +1,141 @@
+<mujoco model="bd1 scene">
+	<option timestep="0.005"/>
+
+	<compiler angle="radian" autolimits="true"/>
+
+	<asset>
+		<mesh name="base" file="base.stl"/>
+		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>
+		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>
+		<mesh name="rotation_connector" file="rotation_connector.stl"/>
+		<mesh name="arm_connector" file="arm_connector.stl"/>
+		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>
+		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>
+		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>
+		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>
+		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>
+		<mesh name="connector" file="connector.stl"/>
+		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
+		<mesh name="static_side" file="static_side.stl"/>
+		<mesh name="moving_side" file="moving_side.stl"/>
+		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+
+	<visual>
+		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+		<rgba haze="0.15 0.25 0.35 1" />
+		<global azimuth="150" elevation="-20" offheight="640" />
+	</visual>
+
+	<worldbody>
+		<light pos="0 0 3" dir="0 0 -1" directional="false" />
+		<body name="floor">
+			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />
+		</body>
+
+		<body name="cube_red" pos="0.1 0.1 0.01">
+			<freejoint name="cube_red"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_red" rgba="0.5 0 0 1" priority="1"/>
+		</body>
+
+		<body name="cube_blue" pos="-0.1 -0.1 0.01">
+			<freejoint name="cube_blue"/>
+			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>
+			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_blue" rgba="0 0 0.5 1" priority="1"/>
+		</body>
+
+
+		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>
+		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>
+		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>
+		
+		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>
+		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">
+
+			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>
+			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>
+			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>
+			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>
+
+			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">
+
+				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>
+				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>
+				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">
+					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>
+					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>
+					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">
+						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>
+						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">
+							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>
+							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>
+							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>
+							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>
+							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>
+							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>
+
+							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">
+								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>
+								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>
+								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>
+							</body>
+						</body>
+					</body>
+				</body>
+			</body>
+		</body>
+	</worldbody>
+
+	<actuator>
+		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />
+		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />
+		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />
+		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />
+		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />
+		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />
+	</actuator>
+</mujoco>

examples/alexk-lcr/bus.py

@@ -0,0 +1,435 @@
+"""Module for managing Dynamixel servo bus communication and control.
+
+This module provides functionality for communicating with and controlling Dynamixel servos
+through a serial bus interface. It includes methods for reading and writing servo parameters,
+managing torque and operating modes, and handling joint positions and velocities.
+"""
+
+import enum
+from typing import Union
+
+import pyarrow as pa
+from dynamixel_sdk import (
+    COMM_SUCCESS,
+    DXL_HIBYTE,
+    DXL_HIWORD,
+    DXL_LOBYTE,
+    DXL_LOWORD,
+    GroupSyncRead,
+    GroupSyncWrite,
+    PacketHandler,
+    PortHandler,
+)
+
+PROTOCOL_VERSION = 2.0
+BAUD_RATE = 1_000_000
+TIMEOUT_MS = 1000
+
+
+def wrap_joints_and_values(
+    joints: Union[list[str], pa.Array],
+    values: Union[list[int], pa.Array],
+) -> pa.StructArray:
+    """Wrap joints and their corresponding values into a structured array.
+
+    Args:
+        joints: A list, numpy array, or pyarrow array of joint names.
+        values: A single integer value, or a list, numpy array, or pyarrow array of integer values.
+               If a single integer is provided, it will be broadcasted to all joints.
+
+    Returns:
+        A structured array with two fields:
+        - "joints": A string field containing the names of the joints.
+        - "values": An Int32Array containing the values corresponding to the joints.
+
+    Raises:
+        ValueError: If lengths of joints and values do not match.
+
+    Example:
+        joints = ["shoulder_pan", "shoulder_lift", "elbow_flex"]
+        values = [100, 200, 300]
+        struct_array = wrap_joints_and_values(joints, values)
+
+        This example wraps the given joints and their corresponding values into a structured array.
+
+        Another example with a single integer value:
+        joints = ["shoulder_pan", "shoulder_lift", "elbow_flex"]
+        value = 150
+        struct_array = wrap_joints_and_values(joints, value)
+
+        This example broadcasts the single integer value to all joints and wraps them into a structured array.
+
+    """
+    if isinstance(values, int):
+        values = [values] * len(joints)
+
+    if len(joints) != len(values):
+        raise ValueError("joints and values must have the same length")
+
+    mask = pa.array([False] * len(values), type=pa.bool_())
+
+    if isinstance(values, list):
+        mask = pa.array([value is None for value in values])
+
+    if isinstance(values, pa.Array):
+        mask = values.is_null()
+
+    return pa.StructArray.from_arrays(
+        arrays=[joints, values], names=["joints", "values"], mask=mask,
+    ).drop_null()
+
+
+class TorqueMode(enum.Enum):
+    """Enumeration for servo torque control modes."""
+
+    ENABLED = pa.scalar(1, pa.uint32())
+    DISABLED = pa.scalar(0, pa.uint32())
+
+
+class OperatingMode(enum.Enum):
+    """Enumeration for servo operating modes."""
+
+    VELOCITY = pa.scalar(1, pa.uint32())
+    POSITION = pa.scalar(3, pa.uint32())
+    EXTENDED_POSITION = pa.scalar(4, pa.uint32())
+    CURRENT_CONTROLLED_POSITION = pa.scalar(5, pa.uint32())
+    PWM = pa.scalar(16, pa.uint32())
+
+
+X_SERIES_CONTROL_TABLE = [
+    ("Model_Number", 0, 2),
+    ("Model_Information", 2, 4),
+    ("Firmware_Version", 6, 1),
+    ("ID", 7, 1),
+    ("Baud_Rate", 8, 1),
+    ("Return_Delay_Time", 9, 1),
+    ("Drive_Mode", 10, 1),
+    ("Operating_Mode", 11, 1),
+    ("Secondary_ID", 12, 1),
+    ("Protocol_Type", 13, 1),
+    ("Homing_Offset", 20, 4),
+    ("Moving_Threshold", 24, 4),
+    ("Temperature_Limit", 31, 1),
+    ("Max_Voltage_Limit", 32, 2),
+    ("Min_Voltage_Limit", 34, 2),
+    ("PWM_Limit", 36, 2),
+    ("Current_Limit", 38, 2),
+    ("Acceleration_Limit", 40, 4),
+    ("Velocity_Limit", 44, 4),
+    ("Max_Position_Limit", 48, 4),
+    ("Min_Position_Limit", 52, 4),
+    ("Shutdown", 63, 1),
+    ("Torque_Enable", 64, 1),
+    ("LED", 65, 1),
+    ("Status_Return_Level", 68, 1),
+    ("Registered_Instruction", 69, 1),
+    ("Hardware_Error_Status", 70, 1),
+    ("Velocity_I_Gain", 76, 2),
+    ("Velocity_P_Gain", 78, 2),
+    ("Position_D_Gain", 80, 2),
+    ("Position_I_Gain", 82, 2),
+    ("Position_P_Gain", 84, 2),
+    ("Feedforward_2nd_Gain", 88, 2),
+    ("Feedforward_1st_Gain", 90, 2),
+    ("Bus_Watchdog", 98, 1),
+    ("Goal_PWM", 100, 2),
+    ("Goal_Current", 102, 2),
+    ("Goal_Velocity", 104, 4),
+    ("Profile_Acceleration", 108, 4),
+    ("Profile_Velocity", 112, 4),
+    ("Goal_Position", 116, 4),
+    ("Realtime_Tick", 120, 2),
+    ("Moving", 122, 1),
+    ("Moving_Status", 123, 1),
+    ("Present_PWM", 124, 2),
+    ("Present_Current", 126, 2),
+    ("Present_Velocity", 128, 4),
+    ("Present_Position", 132, 4),
+    ("Velocity_Trajectory", 136, 4),
+    ("Position_Trajectory", 140, 4),
+    ("Present_Input_Voltage", 144, 2),
+    ("Present_Temperature", 146, 1),
+]
+
+MODEL_CONTROL_TABLE = {
+    "x_series": X_SERIES_CONTROL_TABLE,
+    "xl330-m077": X_SERIES_CONTROL_TABLE,
+    "xl330-m288": X_SERIES_CONTROL_TABLE,
+    "xl430-w250": X_SERIES_CONTROL_TABLE,
+    "xm430-w350": X_SERIES_CONTROL_TABLE,
+    "xm540-w270": X_SERIES_CONTROL_TABLE,
+}
+
+
+class DynamixelBus:
+    """Class for managing communication with Dynamixel servos on a serial bus."""
+
+    def __init__(self, port: str, description: dict[str, (int, str)]):
+        """Initialize the Dynamixel bus connection.
+
+        Args:
+            port: The serial port to connect to the Dynamixel bus.
+            description: A dictionary containing the description of the motors connected to the bus.
+                       The keys are the motor names and the values are tuples containing the motor id
+                       and the motor model.
+
+        """
+        self.port = port
+        self.descriptions = description
+        self.motor_ctrl = {}
+
+        for motor_name, (motor_id, motor_model) in description.items():
+            if motor_model not in MODEL_CONTROL_TABLE:
+                raise ValueError(f"Model {motor_model} is not supported.")
+
+            self.motor_ctrl[motor_name] = {}
+
+            self.motor_ctrl[motor_name]["id"] = motor_id
+            for data_name, address, bytes_size in MODEL_CONTROL_TABLE[motor_model]:
+                self.motor_ctrl[motor_name][data_name] = {
+                    "addr": address,
+                    "bytes_size": bytes_size,
+                }
+
+        self.port_handler = PortHandler(self.port)
+        self.packet_handler = PacketHandler(PROTOCOL_VERSION)
+
+        if not self.port_handler.openPort():
+            raise OSError(f"Failed to open port {self.port}")
+
+        self.port_handler.setBaudRate(BAUD_RATE)
+        self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
+
+        self.group_readers = {}
+        self.group_writers = {}
+
+    def close(self):
+        """Close the serial port connection."""
+        self.port_handler.closePort()
+
+    def write(self, data_name: str, data: pa.StructArray):
+        """Write data to the specified servo parameters.
+
+        Args:
+            data_name: Name of the parameter to write.
+            data: Structured array containing the data to write.
+
+        """
+        motor_ids = [
+            self.motor_ctrl[motor_name.as_py()]["id"]
+            for motor_name in data.field("joints")
+        ]
+
+        values = pa.Array.from_buffers(
+            pa.uint32(),
+            length=len(data.field("values")),
+            buffers=data.field("values").buffers(),
+        )
+
+        group_key = f"{data_name}_" + "_".join([str(idx) for idx in motor_ids])
+
+        first_motor_name = list(self.motor_ctrl.keys())[0]
+
+        packet_address = self.motor_ctrl[first_motor_name][data_name]["addr"]
+        packet_bytes_size = self.motor_ctrl[first_motor_name][data_name]["bytes_size"]
+
+        init_group = data_name not in self.group_readers
+
+        if init_group:
+            self.group_writers[group_key] = GroupSyncWrite(
+                self.port_handler,
+                self.packet_handler,
+                packet_address,
+                packet_bytes_size,
+            )
+
+        for idx, value in zip(motor_ids, values):
+            value = value.as_py()
+            if value is None:
+                continue
+
+            if packet_bytes_size == 1:
+                data = [
+                    DXL_LOBYTE(DXL_LOWORD(value)),
+                ]
+            elif packet_bytes_size == 2:
+                data = [
+                    DXL_LOBYTE(DXL_LOWORD(value)),
+                    DXL_HIBYTE(DXL_LOWORD(value)),
+                ]
+            elif packet_bytes_size == 4:
+                data = [
+                    DXL_LOBYTE(DXL_LOWORD(value)),
+                    DXL_HIBYTE(DXL_LOWORD(value)),
+                    DXL_LOBYTE(DXL_HIWORD(value)),
+                    DXL_HIBYTE(DXL_HIWORD(value)),
+                ]
+            else:
+                raise NotImplementedError(
+                    f"Value of the number of bytes to be sent is expected to be in [1, 2, 4], but {packet_bytes_size} "
+                    f"is provided instead.",
+                )
+
+            if init_group:
+                self.group_writers[group_key].addParam(idx, data)
+            else:
+                self.group_writers[group_key].changeParam(idx, data)
+
+        comm = self.group_writers[group_key].txPacket()
+        if comm != COMM_SUCCESS:
+            raise ConnectionError(
+                f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
+                f"{self.packet_handler.getTxRxResult(comm)}",
+            )
+
+    def read(self, data_name: str, motor_names: pa.Array) -> pa.StructArray:
+        """Read data from the specified servo parameters.
+
+        Args:
+            data_name: Name of the parameter to read.
+            motor_names: Array of motor names to read from.
+
+        Returns:
+            Structured array containing the read data.
+
+        """
+        motor_ids = [
+            self.motor_ctrl[motor_name.as_py()]["id"] for motor_name in motor_names
+        ]
+
+        group_key = f"{data_name}_" + "_".join([str(idx) for idx in motor_ids])
+
+        first_motor_name = list(self.motor_ctrl.keys())[0]
+
+        packet_address = self.motor_ctrl[first_motor_name][data_name]["addr"]
+        packet_bytes_size = self.motor_ctrl[first_motor_name][data_name]["bytes_size"]
+
+        if data_name not in self.group_readers:
+            self.group_readers[group_key] = GroupSyncRead(
+                self.port_handler,
+                self.packet_handler,
+                packet_address,
+                packet_bytes_size,
+            )
+
+            for idx in motor_ids:
+                self.group_readers[group_key].addParam(idx)
+
+        comm = self.group_readers[group_key].txRxPacket()
+        if comm != COMM_SUCCESS:
+            raise ConnectionError(
+                f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
+                f"{self.packet_handler.getTxRxResult(comm)}",
+            )
+
+        values = pa.array(
+            [
+                self.group_readers[group_key].getData(
+                    idx, packet_address, packet_bytes_size,
+                )
+                for idx in motor_ids
+            ],
+            type=pa.uint32(),
+        )
+        values = values.from_buffers(pa.int32(), len(values), values.buffers())
+
+        return wrap_joints_and_values(motor_names, values)
+
+    def write_torque_enable(self, torque_mode: pa.StructArray):
+        """Enable or disable torque for the specified servos.
+
+        Args:
+            torque_mode: Structured array containing the torque mode for each servo.
+
+        """
+        self.write("Torque_Enable", torque_mode)
+
+    def write_operating_mode(self, operating_mode: pa.StructArray):
+        """Set the operating mode for the specified servos.
+
+        Args:
+            operating_mode: Structured array containing the operating mode for each servo.
+
+        """
+        self.write("Operating_Mode", operating_mode)
+
+    def read_position(self, motor_names: pa.Array) -> pa.StructArray:
+        """Read the current position of the specified servos.
+
+        Args:
+            motor_names: Array of motor names to read positions from.
+
+        Returns:
+            Structured array containing the current positions.
+
+        """
+        return self.read("Present_Position", motor_names)
+
+    def read_velocity(self, motor_names: pa.Array) -> pa.StructArray:
+        """Read the current velocity of the specified servos.
+
+        Args:
+            motor_names: Array of motor names to read velocities from.
+
+        Returns:
+            Structured array containing the current velocities.
+
+        """
+        return self.read("Present_Velocity", motor_names)
+
+    def read_current(self, motor_names: pa.Array) -> pa.StructArray:
+        """Read the current current of the specified servos.
+
+        Args:
+            motor_names: Array of motor names to read currents from.
+
+        Returns:
+            Structured array containing the current currents.
+
+        """
+        return self.read("Present_Current", motor_names)
+
+    def write_goal_position(self, goal_position: pa.StructArray):
+        """Set the goal position for the specified servos.
+
+        Args:
+            goal_position: Structured array containing the goal positions.
+
+        """
+        self.write("Goal_Position", goal_position)
+
+    def write_goal_current(self, goal_current: pa.StructArray):
+        """Set the goal current for the specified servos.
+
+        Args:
+            goal_current: Structured array containing the goal currents.
+
+        """
+        self.write("Goal_Current", goal_current)
+
+    def write_position_p_gain(self, position_p_gain: pa.StructArray):
+        """Set the position P gain for the specified servos.
+
+        Args:
+            position_p_gain: Structured array containing the position P gains.
+
+        """
+        self.write("Position_P_Gain", position_p_gain)
+
+    def write_position_i_gain(self, position_i_gain: pa.StructArray):
+        """Set the position I gain for the specified servos.
+
+        Args:
+            position_i_gain: Structured array containing the position I gains.
+
+        """
+        self.write("Position_I_Gain", position_i_gain)
+
+    def write_position_d_gain(self, position_d_gain: pa.StructArray):
+        """Set the position D gain for the specified servos.
+
+        Args:
+            position_d_gain: Structured array containing the position D gains.
+
+        """
+        self.write("Position_D_Gain", position_d_gain)

examples/alexk-lcr/configure.py

@@ -0,0 +1,219 @@
+"""Module for configuring and setting up the Low Cost Robot (LCR) hardware.
+
+This module provides functionality for initializing and configuring the LCR robot's
+servo motors and other hardware components.
+
+The program will:
+1. Disable all torque motors of provided LCR.
+2. Ask the user to move the LCR to the position 1 (see CONFIGURING.md for more details).
+3. Record the position of the LCR.
+4. Ask the user to move the LCR to the position 2 (see CONFIGURING.md for more details).
+5. Record the position of the LCR.
+8. Calculate interpolation functions.
+9. Let the user verify in real time that the LCR is working properly.
+
+It will also enable all appropriate operating modes for the LCR.
+"""
+
+import argparse
+import json
+import time
+
+import pyarrow as pa
+from bus import DynamixelBus, OperatingMode, TorqueMode
+from pwm_position_control.functions import construct_control_table
+from pwm_position_control.tables import (
+    construct_logical_to_pwm_conversion_table_arrow,
+    construct_pwm_to_logical_conversion_table_arrow,
+)
+from pwm_position_control.transform import pwm_to_logical_arrow, wrap_joints_and_values
+
+FULL_ARM = pa.array(
+    [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper",
+    ],
+    type=pa.string(),
+)
+
+ARM_WITHOUT_GRIPPER = pa.array(
+    ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll"],
+    type=pa.string(),
+)
+
+GRIPPER = pa.array(["gripper"], type=pa.string())
+
+
+def pause():
+    """Pause execution and wait for user input to continue."""
+    input("Press Enter to continue...")
+
+
+def configure_servos(bus: DynamixelBus):
+    """Configure servo motors with appropriate settings.
+
+    Args:
+        bus: DynamixelBus instance for servo communication
+
+    """
+    bus.write_torque_enable(
+        wrap_joints_and_values(FULL_ARM, [TorqueMode.DISABLED.value] * 6),
+    )
+
+    bus.write_operating_mode(
+        wrap_joints_and_values(
+            ARM_WITHOUT_GRIPPER, [OperatingMode.EXTENDED_POSITION.value] * 5,
+        ),
+    )
+
+    bus.write_operating_mode(
+        wrap_joints_and_values(
+            GRIPPER, [OperatingMode.CURRENT_CONTROLLED_POSITION.value],
+        ),
+    )
+
+
+def main():
+    """Initialize and configure the LCR robot hardware components."""
+    parser = argparse.ArgumentParser(
+        description="LCR Auto Configure: This program is used to automatically configure the Low Cost Robot (LCR) for "
+        "the user.",
+    )
+
+    parser.add_argument("--port", type=str, required=True, help="The port of the LCR.")
+    parser.add_argument(
+        "--right",
+        action="store_true",
+        help="If the LCR is on the right side of the user.",
+    )
+    parser.add_argument(
+        "--left",
+        action="store_true",
+        help="If the LCR is on the left side of the user.",
+    )
+    parser.add_argument(
+        "--follower",
+        action="store_true",
+        help="If the LCR is the follower of the user.",
+    )
+    parser.add_argument(
+        "--leader", action="store_true", help="If the LCR is the leader of the user.",
+    )
+
+    args = parser.parse_args()
+
+    if args.right and args.left:
+        raise ValueError("You cannot specify both --right and --left.")
+
+    if args.follower and args.leader:
+        raise ValueError("You cannot specify both --follower and --leader.")
+
+    targets = (
+        wrap_joints_and_values(FULL_ARM, [0, -90, 90, 0, -90, 0]),
+        wrap_joints_and_values(FULL_ARM, [90, 0, 0, 90, 0, -90]),
+    )
+
+    arm = DynamixelBus(
+        args.port,
+        {
+            "shoulder_pan": (1, "x_series"),
+            "shoulder_lift": (2, "x_series"),
+            "elbow_flex": (3, "x_series"),
+            "wrist_flex": (4, "x_series"),
+            "wrist_roll": (5, "x_series"),
+            "gripper": (6, "x_series"),
+        },
+    )
+
+    configure_servos(arm)
+
+    print("Please move the LCR to the first position.")
+    pause()
+    pwm_position_1 = arm.read_position(FULL_ARM)
+
+    print("Please move the LCR to the second position.")
+    pause()
+    pwm_position_2 = arm.read_position(FULL_ARM)
+
+    print("Configuration completed.")
+
+    pwm_positions = (pwm_position_1, pwm_position_2)
+
+    pwm_to_logical_conversion_table = construct_pwm_to_logical_conversion_table_arrow(
+        pwm_positions, targets,
+    )
+    logical_to_pwm_conversion_table = construct_logical_to_pwm_conversion_table_arrow(
+        pwm_positions, targets,
+    )
+
+    control_table_json = {}
+    for i in range(len(FULL_ARM)):
+        model = (
+            "xl430-w250"
+            if i <= 1 and args.follower
+            else "xl330-m288" if args.follower else "xl330-m077"
+        )
+
+        control_table_json[FULL_ARM[i].as_py()] = {
+            "id": i + 1,
+            "model": model,
+            "torque": (
+                True if args.follower else True if args.leader and i == 5 else False
+            ),
+            "goal_current": (
+                500
+                if args.follower and i == 5
+                else 40 if args.leader and i == 5 else None
+            ),
+            "goal_position": -40.0 if args.leader and i == 5 else None,
+            "pwm_to_logical": pwm_to_logical_conversion_table[FULL_ARM[i].as_py()],
+            "logical_to_pwm": logical_to_pwm_conversion_table[FULL_ARM[i].as_py()],
+            "P": (
+                640
+                if model == "xl430-w250"
+                else 1500 if model == "xl330-m288" and i != 5 else 250
+            ),
+            "I": 0,
+            "D": 3600 if model == "xl430-w250" else 600,
+        }
+
+    left = "left" if args.left else "right"
+    leader = "leader" if args.leader else "follower"
+
+    path = (
+        input(
+            f"Please enter the path of the configuration file (default is ./examples/alexk-lcr/configs/{leader}.{left}.json): ",
+        )
+        or f"./examples/alexk-lcr/configs/{leader}.{left}.json"
+    )
+
+    with open(path, "w") as file:
+        json.dump(control_table_json, file)
+
+    control_table = construct_control_table(
+        pwm_to_logical_conversion_table, logical_to_pwm_conversion_table,
+    )
+
+    while True:
+        try:
+            pwm_position = arm.read_position(FULL_ARM)
+            logical_position = pwm_to_logical_arrow(
+                pwm_position, control_table, ranged=True,
+            ).field("values")
+
+            print(f"Logical Position: {logical_position}")
+
+        except ConnectionError:
+            print(
+                "Connection error occurred. Please check the connection and try again.",
+            )
+
+        time.sleep(0.5)
+
+
+if __name__ == "__main__":
+    main()

examples/alexk-lcr/graphs/bi_teleop_real.yml

@@ -0,0 +1,74 @@
+nodes:
+  - id: lcr-left-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10 # pull the position every 10ms
+      write_goal_position: lcr-to-lcr-left/leader_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030111
+      CONFIG: ../configs/leader.left.json
+
+  - id: lcr-to-lcr-left
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_lcr.py
+    inputs:
+      leader_position: lcr-left-leader/position
+      follower_position: lcr-left-follower/position
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-left-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10
+      write_goal_position: lcr-to-lcr-left/follower_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0031141
+      CONFIG: ../configs/follower.left.json
+
+  - id: lcr-right-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10 # pull the position every 10ms
+      write_goal_position: lcr-to-lcr-right/leader_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030531
+      CONFIG: ../configs/leader.right.json
+
+  - id: lcr-to-lcr-right
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_lcr.py
+    inputs:
+      leader_position: lcr-right-leader/position
+      follower_position: lcr-right-follower/position
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.right.json
+      FOLLOWER_CONTROL: ../configs/follower.right.json
+
+  - id: lcr-right-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10
+      write_goal_position: lcr-to-lcr-right/follower_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0032531
+      CONFIG: ../configs/follower.right.json

examples/alexk-lcr/graphs/mono_replay_real.yml

@@ -0,0 +1,40 @@
+nodes:
+  - id: replay-client
+    build: pip install ../../../node-hub/replay-client
+    path: replay-client
+    inputs:
+      pull_position: dora/timer/millis/33
+    outputs:
+      - position
+      - end
+    env:
+      PATH: ../../../datasets/enzo2
+      EPISODE: 1
+
+  - id: replay-to-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_replay_to_lcr.py
+    inputs:
+      leader_position:
+        source: replay-client/position
+        queue_size: 1
+      follower_position:
+        source: lcr-follower/position
+        queue_size: 1
+    outputs:
+      - follower_goal
+    env:
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/33
+      write_goal_position: replay-to-lcr/follower_goal
+      end: replay-client/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0031141
+      CONFIG: ../configs/follower.left.json

examples/alexk-lcr/graphs/mono_teleop_real.yml

@@ -0,0 +1,37 @@
+nodes:
+  - id: lcr-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10
+      write_goal_position: lcr-to-lcr/leader_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030111
+      CONFIG: ../configs/leader.left.json
+
+  - id: lcr-to-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_lcr.py
+    inputs:
+      leader_position: lcr-leader/position
+      follower_position: lcr-follower/position
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: dora/timer/millis/10
+      write_goal_position: lcr-to-lcr/follower_goal
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0031141
+      CONFIG: ../configs/follower.left.json

examples/alexk-lcr/graphs/mono_teleop_real_and_simu.yml

@@ -0,0 +1,70 @@
+nodes:
+  - id: lcr-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: simu-lcr-follower/tick
+      write_goal_position: lcr-to-lcr/leader_goal
+      end: simu-lcr-follower/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030111
+      CONFIG: ../configs/leader.left.json
+
+  - id: lcr-to-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_lcr.py
+    inputs:
+      leader_position: lcr-leader/position
+      follower_position: lcr-follower/position
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: simu-lcr-follower/tick
+      write_goal_position: lcr-to-lcr/follower_goal
+      end: simu-lcr-follower/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0031141
+      CONFIG: ../configs/follower.left.json
+
+  - id: lcr-to-simu-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_simu_lcr.py
+    inputs:
+      leader_position:
+        source: lcr-leader/position
+        queue_size: 1
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+
+  - id: simu-lcr-follower
+    build: pip install ../../../node-hub/mujoco-client
+    # for windows
+    # path: mujoco-client
+    # for macos
+    path: mjpython
+    args: ../../../node-hub/mujoco-client/mujoco_client/main.py
+    inputs:
+      write_goal_position: lcr-to-simu-lcr/follower_goal
+      tick: dora/timer/millis/10
+    outputs:
+      - position
+      - tick
+      - end
+    env:
+      SCENE: ../assets/simulation/reach_cube.xml
+      CONFIG: ../configs/follower.left.json

examples/alexk-lcr/graphs/mono_teleop_simu.yml

@@ -0,0 +1,43 @@
+nodes:
+  - id: lcr-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position: simu-lcr-follower/tick
+      write_goal_position: lcr-to-simu-lcr/leader_goal
+      end: simu-lcr-follower/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030111
+      CONFIG: ../configs/leader.left.json
+
+  - id: lcr-to-simu-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_simu_lcr.py
+    inputs:
+      leader_position: lcr-leader/position
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+
+  - id: simu-lcr-follower
+    build: pip install ../../../node-hub/mujoco-client
+    # for windows
+    # path: mujoco-client
+    # for macos
+    path: mjpython
+    args: ../../../node-hub/mujoco-client/mujoco_client/main.py
+    inputs:
+      write_goal_position: lcr-to-simu-lcr/follower_goal
+      tick: dora/timer/millis/10
+    outputs:
+      - position
+      - tick
+      - end
+
+    env:
+      SCENE: ../assets/simulation/reach_cube.xml
+      CONFIG: ../configs/follower.left.json

examples/alexk-lcr/graphs/record_mono_teleop_real.yml

@@ -0,0 +1,119 @@
+nodes:
+  - id: lcr-leader
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position:
+        source: lerobot-dashboard/tick
+        queue_size: 1
+      write_goal_position: lcr-to-lcr/leader_goal
+      end: lerobot-dashboard/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0030111
+      CONFIG: ../configs/leader.left.json
+
+  - id: lcr-to-lcr
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_lcr.py
+    inputs:
+      leader_position:
+        source: lcr-leader/position
+        queue_size: 1
+      follower_position:
+        source: lcr-follower/position
+        queue_size: 1
+    outputs:
+      - follower_goal
+      - leader_goal
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-to-record
+    build: pip install git+https://github.com/Hennzau/pwm-position-control
+    path: ../nodes/interpolate_lcr_to_record.py
+    inputs:
+      leader_position:
+        source: lcr-leader/position
+        queue_size: 1
+      follower_position:
+        source: lcr-follower/position
+        queue_size: 1
+    outputs:
+      - logical_goal
+      - logical_position
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+
+  - id: lcr-follower
+    build: pip install ../../../node-hub/dynamixel-client
+    path: dynamixel-client
+    inputs:
+      pull_position:
+        source: lerobot-dashboard/tick
+        queue_size: 1
+      write_goal_position:
+        source: lcr-to-lcr/follower_goal
+        queue_size: 1
+      end: lerobot-dashboard/end
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem575E0031141
+      CONFIG: ../configs/follower.left.json
+
+  - id: opencv-video-capture
+    build: pip install ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick:
+        source: lerobot-dashboard/tick
+        queue_size: 1
+    outputs:
+      - image
+    env:
+      PATH: 1
+      IMAGE_WIDTH: 860
+      IMAGE_HEIGHT: 540
+
+  - id: video-encoder
+    build: pip install ../../../node-hub/video-encoder
+    path: video-encoder
+    inputs:
+      image: opencv-video-capture/image
+      episode_index: lerobot-dashboard/episode
+    outputs:
+      - image
+    env:
+      VIDEO_NAME: cam_up
+      FPS: 30
+
+  - id: lerobot-dashboard
+    build: pip install ../../../node-hub/lerobot-dashboard
+    path: lerobot-dashboard
+    inputs:
+      tick:
+        source: dora/timer/millis/16
+        queue_size: 1
+      image_left: opencv-video-capture/image
+    outputs:
+      - tick
+      - episode
+      - failed
+      - end
+    env:
+      WINDOW_WIDTH: 1720
+      WINDOW_HEIGHT: 540
+
+  - id: dora-record
+    build: cargo install dora-record
+    path: dora-record
+    inputs:
+      action: lcr-to-record/logical_goal
+      observation.state: lcr-to-record/logical_position
+      episode_index: lerobot-dashboard/episode
+      failed_episode_index: lerobot-dashboard/failed
+      observation.images.cam_up: video-encoder/image

examples/alexk-lcr/nodes/interpolate_lcr_to_lcr.py

@@ -0,0 +1,153 @@
+"""Module for interpolating between LCR robot configurations.
+
+This module provides functionality for calculating and interpolating between
+different LCR robot configurations to ensure smooth transitions.
+"""
+
+import argparse
+import json
+import os
+
+import pyarrow as pa
+import pyarrow.compute as pc
+from dora import Node
+from pwm_position_control.load import load_control_table_from_json_conversion_tables
+from pwm_position_control.transform import (
+    logical_to_pwm_with_offset_arrow,
+    pwm_to_logical_arrow,
+    wrap_joints_and_values,
+)
+
+
+def main():
+    """Initialize and run the LCR interpolation node."""
+    parser = argparse.ArgumentParser(
+        description="Interpolation LCR Node: This Dora node is used to calculates appropriate goal positions for the "
+        "LCR followers knowing a Leader position and Follower position.",
+    )
+
+    parser.add_argument(
+        "--name",
+        type=str,
+        required=False,
+        help="The name of the node in the dataflow.",
+        default="lcr-to-lcr",
+    )
+    parser.add_argument(
+        "--leader-control",
+        type=str,
+        help="The configuration file for controlling the leader.",
+        default=None,
+    )
+    parser.add_argument(
+        "--follower-control",
+        type=str,
+        help="The configuration file for controlling the follower.",
+        default=None,
+    )
+
+    args = parser.parse_args()
+
+    if not os.environ.get("LEADER_CONTROL") and args.leader_control is None:
+        raise ValueError(
+            "The leader control is not set. Please set the configuration of the leader in the environment variables or "
+            "as an argument.",
+        )
+
+    if not os.environ.get("FOLLOWER_CONTROL") and args.follower_control is None:
+        raise ValueError(
+            "The follower control is not set. Please set the configuration of the follower in the environment "
+            "variables or as an argument.",
+        )
+
+    with open(
+        os.environ.get("LEADER_CONTROL")
+        if args.leader_control is None
+        else args.leader_control,
+    ) as file:
+        leader_control = json.load(file)
+        load_control_table_from_json_conversion_tables(leader_control, leader_control)
+
+    with open(
+        os.environ.get("FOLLOWER_CONTROL")
+        if args.follower_control is None
+        else args.follower_control,
+    ) as file:
+        follower_control = json.load(file)
+        load_control_table_from_json_conversion_tables(
+            follower_control, follower_control,
+        )
+
+    initial_mask = [
+        True if leader_control[joint]["goal_position"] is not None else False
+        for joint in leader_control.keys()
+    ]
+    logical_leader_initial_goal = wrap_joints_and_values(
+        [
+            joint
+            for joint in leader_control.keys()
+            if leader_control[joint]["goal_position"] is not None
+        ],
+        [
+            leader_control[joint]["goal_position"]
+            for joint in leader_control.keys()
+            if leader_control[joint]["goal_position"] is not None
+        ],
+    )
+
+    node = Node(args.name)
+
+    leader_initialized = False
+    follower_initialized = False
+
+    follower_position = None
+
+    for event in node:
+        event_type = event["type"]
+
+        if event_type == "INPUT":
+            event_id = event["id"]
+
+            if event_id == "leader_position":
+                leader_position = event["value"]
+
+                if not leader_initialized:
+                    leader_initialized = True
+
+                    pwm_goal = logical_to_pwm_with_offset_arrow(
+                        leader_position.filter(initial_mask),
+                        logical_leader_initial_goal,
+                        leader_control,
+                    )
+
+                    node.send_output("leader_goal", pwm_goal, event["metadata"])
+
+                if not follower_initialized:
+                    continue
+
+                leader_position = pwm_to_logical_arrow(leader_position, leader_control)
+
+                interpolation = pa.array([1, 1, 1, 1, 1, 700 / 450], type=pa.float32())
+
+                logical_goal = wrap_joints_and_values(
+                    leader_position.field("joints"),
+                    pc.multiply(leader_position.field("values"), interpolation),
+                )
+
+                pwm_goal = logical_to_pwm_with_offset_arrow(
+                    follower_position, logical_goal, follower_control,
+                )
+
+                node.send_output("follower_goal", pwm_goal, event["metadata"])
+
+            elif event_id == "follower_position":
+                follower_position = event["value"]
+                follower_initialized = True
+
+        elif event_type == "ERROR":
+            print("[lcr-to-lcr] error: ", event["error"])
+            break
+
+
+if __name__ == "__main__":
+    main()

examples/alexk-lcr/nodes/interpolate_lcr_to_record.py

@@ -0,0 +1,115 @@
+"""TODO: Add docstring."""
+
+import argparse
+import json
+import os
+
+import pyarrow as pa
+import pyarrow.compute as pc
+from dora import Node
+from pwm_position_control.load import load_control_table_from_json_conversion_tables
+from pwm_position_control.transform import (
+    pwm_to_logical_arrow,
+    wrap_joints_and_values,
+)
+
+
+def main():
+    """TODO: Add docstring."""
+    parser = argparse.ArgumentParser(
+        description="Interpolation LCR Node: This Dora node is used to calculates appropriate goal positions for the "
+        "LCR followers knowing a Leader position and Follower position.",
+    )
+
+    parser.add_argument(
+        "--name",
+        type=str,
+        required=False,
+        help="The name of the node in the dataflow.",
+        default="lcr-to-record",
+    )
+    parser.add_argument(
+        "--leader-control",
+        type=str,
+        help="The configuration file for controlling the leader.",
+        default=None,
+    )
+    parser.add_argument(
+        "--follower-control",
+        type=str,
+        help="The configuration file for controlling the follower.",
+        default=None,
+    )
+
+    args = parser.parse_args()
+
+    if not os.environ.get("LEADER_CONTROL") and args.leader_control is None:
+        raise ValueError(
+            "The leader control is not set. Please set the configuration of the leader in the environment variables or "
+            "as an argument.",
+        )
+
+    if not os.environ.get("FOLLOWER_CONTROL") and args.follower_control is None:
+        raise ValueError(
+            "The follower control is not set. Please set the configuration of the follower in the environment "
+            "variables or as an argument.",
+        )
+
+    with open(
+        os.environ.get("LEADER_CONTROL")
+        if args.leader_control is None
+        else args.leader_control,
+    ) as file:
+        leader_control = json.load(file)
+        load_control_table_from_json_conversion_tables(leader_control, leader_control)
+
+    with open(
+        os.environ.get("FOLLOWER_CONTROL")
+        if args.follower_control is None
+        else args.follower_control,
+    ) as file:
+        follower_control = json.load(file)
+        load_control_table_from_json_conversion_tables(
+            follower_control, follower_control,
+        )
+
+    node = Node(args.name)
+
+    for event in node:
+        event_type = event["type"]
+
+        if event_type == "INPUT":
+            event_id = event["id"]
+
+            if event_id == "leader_position":
+                leader_position = event["value"]
+
+                leader_position = pwm_to_logical_arrow(leader_position, leader_control)
+
+                interpolation = pa.array([1, 1, 1, 1, 1, 700 / 450], type=pa.float32())
+
+                logical_goal = wrap_joints_and_values(
+                    leader_position.field("joints"),
+                    pc.multiply(leader_position.field("values"), interpolation),
+                )
+
+                node.send_output("logical_goal", logical_goal, event["metadata"])
+
+            elif event_id == "follower_position":
+                follower_position = event["value"]
+
+                follower_position = pwm_to_logical_arrow(
+                    follower_position, follower_control,
+                )
+
+                node.send_output(
+                    "logical_position", follower_position, event["metadata"],
+                )
+
+        elif event_type == "ERROR":
+            print("[lcr-to-record] error: ", event["error"])
+            break
+
+
+if __name__ == "__main__":
+    main()

examples/alexk-lcr/nodes/interpolate_lcr_to_simu_lcr.py

@@ -0,0 +1,138 @@
+"""Module for interpolating between LCR and simulated LCR configurations.
+
+This module provides functionality for calculating and interpolating between
+physical LCR robot configurations and their simulated counterparts.
+"""
+
+import argparse
+import json
+import os
+
+import numpy as np
+import pyarrow as pa
+import pyarrow.compute as pc
+from dora import Node
+from pwm_position_control.load import load_control_table_from_json_conversion_tables
+from pwm_position_control.transform import (
+    logical_to_pwm_with_offset_arrow,
+    pwm_to_logical_arrow,
+    wrap_joints_and_values,
+)
+
+
+def main():
+    """Initialize and run the LCR to simulated LCR interpolation node."""
+    parser = argparse.ArgumentParser(
+        description="Interpolation LCR Node: This Dora node is used to calculates appropriate goal positions for the "
+        "LCR followers knowing a Leader position and Follower position.",
+    )
+
+    parser.add_argument(
+        "--name",
+        type=str,
+        required=False,
+        help="The name of the node in the dataflow.",
+        default="lcr-to-simu-lcr",
+    )
+    parser.add_argument(
+        "--leader-control",
+        type=str,
+        help="The configuration file for controlling the leader.",
+        default=None,
+    )
+
+    args = parser.parse_args()
+
+    if not os.environ.get("LEADER_CONTROL") and args.leader_control is None:
+        raise ValueError(
+            "The leader control is not set. Please set the configuration of the leader in the environment variables or "
+            "as an argument.",
+        )
+
+    with open(
+        os.environ.get("LEADER_CONTROL")
+        if args.leader_control is None
+        else args.leader_control,
+    ) as file:
+        leader_control = json.load(file)
+        load_control_table_from_json_conversion_tables(leader_control, leader_control)
+
+    initial_mask = [
+        True if leader_control[joint]["goal_position"] is not None else False
+        for joint in leader_control.keys()
+    ]
+    logical_leader_initial_goal = wrap_joints_and_values(
+        [
+            joint
+            for joint in leader_control.keys()
+            if leader_control[joint]["goal_position"] is not None
+        ],
+        [
+            leader_control[joint]["goal_position"]
+            for joint in leader_control.keys()
+            if leader_control[joint]["goal_position"] is not None
+        ],
+    )
+
+    node = Node(args.name)
+
+    leader_initialized = False
+
+    for event in node:
+        event_type = event["type"]
+
+        if event_type == "INPUT":
+            event_id = event["id"]
+
+            if event_id == "leader_position":
+                leader_position = event["value"]
+
+                if not leader_initialized:
+                    leader_initialized = True
+
+                    physical_goal = logical_to_pwm_with_offset_arrow(
+                        leader_position.filter(initial_mask),
+                        logical_leader_initial_goal,
+                        leader_control,
+                    )
+
+                    node.send_output("leader_goal", physical_goal, event["metadata"])
+
+                leader_position = pwm_to_logical_arrow(leader_position, leader_control)
+
+                interpolation_m = pa.array(
+                    [
+                        np.pi / 180,
+                        np.pi / 180,
+                        np.pi / 180,
+                        np.pi / 180,
+                        np.pi / 180,
+                        np.pi / 180 * 700 / 450,
+                    ],
+                    type=pa.float32(),
+                )
+
+                interpolation_a = pa.array([0, 0, 0, 0, 90, 0], type=pa.float32())
+
+                logical_goal = wrap_joints_and_values(
+                    pa.array(
+                        [
+                            joint.as_py() + "_joint"
+                            for joint in leader_position.field("joints")
+                        ],
+                    ),
+                    pc.multiply(
+                        pc.add(leader_position.field("values"), interpolation_a),
+                        interpolation_m,
+                    ),
+                )
+
+                node.send_output("follower_goal", logical_goal, event["metadata"])
+
+        elif event_type == "ERROR":
+            print("[lcr-to-simu] error: ", event["error"])
+            break
+
+
+if __name__ == "__main__":
+    main()

examples/alexk-lcr/nodes/interpolate_replay_to_lcr.py

@@ -0,0 +1,85 @@
+"""TODO: Add docstring."""
+
+import argparse
+import json
+import os
+
+from dora import Node
+from pwm_position_control.load import load_control_table_from_json_conversion_tables
+from pwm_position_control.transform import logical_to_pwm_with_offset_arrow
+
+
+def main():
+    """TODO: Add docstring."""
+    parser = argparse.ArgumentParser(
+        description="Interpolation LCR Node: This Dora node is used to calculates appropriate goal positions for the "
+        "LCR followers knowing a Leader position and Follower position.",
+    )
+
+    parser.add_argument(
+        "--name",
+        type=str,
+        required=False,
+        help="The name of the node in the dataflow.",
+        default="replay-to-lcr",
+    )
+    parser.add_argument(
+        "--follower-control",
+        type=str,
+        help="The configuration file for controlling the follower.",
+        default=None,
+    )
+
+    args = parser.parse_args()
+
+    if not os.environ.get("FOLLOWER_CONTROL") and args.follower_control is None:
+        raise ValueError(
+            "The follower control is not set. Please set the configuration of the follower in the environment "
+            "variables or as an argument.",
+        )
+
+    with open(
+        os.environ.get("FOLLOWER_CONTROL")
+        if args.follower_control is None
+        else args.follower_control,
+    ) as file:
+        follower_control = json.load(file)
+        load_control_table_from_json_conversion_tables(
+            follower_control, follower_control,
+        )
+
+    node = Node(args.name)
+
+    follower_initialized = False
+
+    follower_position = None
+
+    for event in node:
+        event_type = event["type"]
+
+        if event_type == "INPUT":
+            event_id = event["id"]
+
+            if event_id == "leader_position":
+                leader_position = event["value"]
+
+                if not follower_initialized:
+                    continue
+
+                physical_goal = logical_to_pwm_with_offset_arrow(
+                    follower_position, leader_position, follower_control,
+                )
+
+                node.send_output("follower_goal", physical_goal, event["metadata"])
+
+            elif event_id == "follower_position":
+                follower_position = event["value"]
+                follower_initialized = True
+
+        elif event_type == "ERROR":
+            print("[replay-to-lcr] error: ", event["error"])
+            break
+
+
+if __name__ == "__main__":
+    main()

examples/aloha/ASSEMBLING.md

@@ -0,0 +1,64 @@
+# Dora pipeline Robots
+
+Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
+
+- To check if the robot is connected, install dynamixel
+  wizard [here](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/)
+- Dynamixel wizard is a very helpful debugging tool that connects to individual motors of the robot. It allows
+  things such as rebooting the motor (very useful!), torque on/off, and sending commands.
+  However, it has no knowledge about the kinematics of the robot, so be careful about collisions.
+  The robot _will_ collapse if motors are torque off i.e. there is no automatically engaged brakes in joints.
+- Open Dynamixel wizard, go into `options` and select:
+    - Protocol 2.0
+    - All ports
+    - 1000000 bps
+    - ID range from 0-10
+- Note: repeat above everytime before you scan.
+- Then hit `Scan`. There should be 4 devices showing up, each with 9 motors.
+- One issue that arises is the port each robot binds to can change over time, e.g. a robot that
+  is initially `ttyUSB0` might suddenly become `ttyUSB5`. To resolve this, we bind each robot to a fixed symlink
+  port with the following mapping:
+    - `ttyDXL_master_right`: right master robot (master: the robot that the operator would be holding)
+    - `ttyDXL_puppet_right`: right puppet robot (puppet: the robot that performs the task)
+    - `ttyDXL_master_left`: left master robot
+    - `ttyDXL_puppet_left`: left puppet robot
+- Take `ttyDXL_master_right`: right master robot as an example:
+
+    1. Find the port that the right master robot is currently binding to, e.g. `ttyUSB0`
+    2. run `udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial` to obtain the serial number. Use the first
+       one that shows up, the format should look similar to `FT6S4DSP`.
+    3. `sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules` and add the following line:
+
+       SUBSYSTEM=="tty", ATTRS{serial}=="<serial number here>", ENV{ID_MM_DEVICE_IGNORE}="1",
+       ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_right"
+
+    4. This will make sure the right master robot is _always_ binding to `ttyDXL_master_right`
+    5. Repeat with the rest of 3 arms.
+
+> You have an example of the given rules in `hardware_config.yml`.
+
+```bash
+cd dora
+
+sudo cp examples/aloha/hardware_config/99-interbotix-udev.rules /etc/udev/rules.d
+sudo cp examples/aloha/hardware_config/99-fixed-interbotix-udev.rules /etc/udev/rules.d
+```
+
+- To apply the changes, run `sudo udevadm control --reload && sudo udevadm trigger`
+- If successful, you should be able to find `ttyDXL*` in your `/dev`
+
+## Documentation
+
+https://github.com/Interbotix/interbotix_ros_toolboxes/blob/humble/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py
+
+https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py#L380-L398
+
+## Acknowledgement
+
+This work is inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance
+improvement.
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/aloha/CONFIGURING.md

@@ -0,0 +1,95 @@
+# Dora pipeline Robots
+
+Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
+
+## Configuring
+
+Once you have assembled the robot, and installed the required software, you can configure the robot. It's essential to
+configure it
+correctly for the robot to work as expected. Here are the reasons why you need to configure the robot:
+
+- You may have done some 'mistakes' during the assembly, like inverting the motors, or changing the offsets by rotating
+  the motors before assembling the robot. So your configuration will be different from the one we used to record the
+  data set.
+- The recording pipeline needs to know the position of the motors to record the data set correctly. If the motors are
+  calibrated differently, the data set will be incorrect.
+
+**Please read the instructions carefully before configuring the robot.**
+
+The first thing to do is to configure the Servo BUS:
+
+- Setting all the servos to the same baud rate (1M).
+- Setting the ID of the servos from the base (1) to the gripper (9) for the Follower and Leader arms.
+
+Those steps can be done using the official wizard provided by the
+manufacturer [ROBOTICS](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/).
+
+After that, you need to configure the homing offsets and drive mode to have the same behavior for every user. We
+recommend using our on-board tool to set all of that automatically:
+
+- Connect the Follower arm to your computer.
+- Retrieve the device port from the official wizard.
+- Run the configuration tool with the following command and follow the instructions:
+
+```bash
+cd dora/
+
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+python ./examples/aloha/configure.py --port /dev/ttyUSB0 --follower --left # (or right)
+```
+
+**Note:** change `/dev/ttyUSB0` to the device port you retrieved from the official wizard (like `COM3` on Windows).
+**Note:** The configuration tool will disable all torque so you can move the arm freely to the Position 1.
+**Note:** You will be asked to set the arm in two different positions. The two positions are:
+
+TODO: image for aloha
+
+**Node:** You will be asked the path of the configuration file, you can press enter to use the default one.
+
+- Repeat the same steps for the Leader arm:
+
+```bash
+python ./examples/aloha/configure.py --port /dev/ttyUSB1 --leader --left # (or right)
+```
+
+**Note:** change `/dev/ttyUSB1` to the device port you retrieved from the official wizard (like `COM4` on Windows).
+**Note:** The configuration tool will disable all torque so you can move the arm freely to the Position 1.
+**Node:** You will be asked the path of the configuration file, you can press enter to use the default one.
+
+After following the guide, you should have the following configuration:
+
+TODO: image for aloha
+
+This configuration has to be exported into environment variables inside the graph file. Here is an example of the
+configuration:
+
+```YAML
+nodes:
+  - id: aloha-follower
+    env:
+      PORT: /dev/ttyUSB0
+      CONFIG: ../configs/follower.left.json # relative path to `./examples/aloha/configs/follower.json`
+
+  - id: aloha-to-aloha
+    env:
+      LEADER_CONTROL: ../configs/leader.left.json
+      FOLLOWER_CONTROL: ../configs/follower.left.json
+```
+
+## Acknowledgement
+
+This work is inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance
+improvement.
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/aloha/INSTALLATION.md

@@ -0,0 +1,87 @@
+# Dora pipeline Robots
+
+Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
+
+## Installation
+
+Dataflow-oriented robotic application (Dora) is a framework that makes creation of robotic applications fast and simple.
+See [Dora repository](https://github.com/dora-rs/dora).
+
+**Please read the instructions carefully before installing the required software and environment to run the robot.**
+
+You must install Dora before attempting to run theAloha Robot pipeline. Here are the steps to install Dora:
+
+- Install Rust by following the instructions at [Rustup](https://rustup.rs/). (You may need to install Visual Studio C++
+  build tools on Windows.)
+- Install Dora by running the following command:
+
+```bash
+cargo install dora-cli
+```
+
+Now you're ready to run Rust dataflow applications! We decided to only make Python dataflow for Aloha Robot, so
+you may need to setup your Python environment:
+
+- Install Python 3.12 or later by following the instructions at [Python](https://www.python.org/downloads/).
+- Clone this repository by running the following command:
+
+```bash
+git clone https://github.com/dora-rs/dora
+```
+
+- Open a bash terminal and navigate to the repository by running the following command:
+
+```bash
+cd dora
+```
+
+- Create a virtual environment by running the following command (you can find where is all your pythons executable with
+  the command `whereis python3` on Linux, on default for Windows it's located
+  in `C:\Users\<User>\AppData\Local\Programs\Python\Python3.12\python.exe)`):
+
+```bash
+path_to_your_python3_executable -m venv venv
+```
+
+- Activate the virtual environment and install the required Python packages by running the following command:
+
+```bash
+# If you are using a custom environment, you will have to activate it before running the command
+source [your_custom_env_bin]/activate
+
+# If you followed the installation instructions, you can run the following command
+source venv/bin/activate # On Linux
+source venv/Scripts/activate # On Windows bash
+venv\Scripts\activate.bat # On Windows cmd
+venv\Scripts\activate.ps1 # On Windows PowerShell
+
+pip install -r examples/so100/requirements.txt
+```
+
+If you want to install the required Python packages in development mode, you can run the following command, but you will
+have to avoid using `dora build` during execution procedure:
+
+```bash
+pip install -r examples/aloha/development.txt # You **MUST** be inside dora to run this command
+```
+
+**Note**: You're totally free to use your own Python environment, a Conda environment, or whatever you prefer, you will
+have to activate
+your custom python environment before running `dora up && dora start [graph].yml`.
+
+In order to record episodes, you need ffmpeg installed on your system. You can download it from
+the [official website](https://ffmpeg.org/download.html). If you're on Windows, you can download the latest build
+from [here](https://www.gyan.dev/ffmpeg/builds/). You can
+extract the zip file and add the `bin` folder to your PATH.
+If you're on Linux, you can install ffmpeg using the package manager of your distribution. (
+e.g `sudo apt install ffmpeg` on Ubuntu, `brew install ffmpeg` on macOS)
+
+## Acknowledgement
+
+This work is inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance
+improvement.
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/aloha/README.md

@@ -0,0 +1,42 @@
+# Dora pipeline Robots
+
+Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
+
+## Assembling
+
+Check the [ASSEMBLING.md](ASSEMBLING.md) file for instructions on how to assemble the robot.
+
+## Installation
+
+Check the [INSTALLATION.md](INSTALLATION.md) file for instructions on how to install the required software and
+environment
+to run the robot.
+
+## Configuring
+
+Check the [CONFIGURING.md](CONFIGURING.md) file for instructions on how to configure the robot to record episodes for
+LeRobot and teleoperate the robot.
+
+## Recording
+
+It's probably better to check the [examples](#examples) below before trying to record episodes. It will give you a
+better
+understanding of how Dora works.
+
+Check the [RECORDING.md](RECORDING.md) file for instructions on how to record episodes for LeRobot.
+
+## Examples
+
+There are also some other example applications in the `graphs` folder. Have fun!
+
+Here is a list of the available examples:
+
+## Acknowledgement
+
+This work is inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance
+improvement.
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/aloha/RECORDING.md

@@ -0,0 +1,17 @@
+# Dora pipeline Robots
+
+Aloha is a bi manual robot that can be teleoperated using a similar arm. This repository contains
+the Dora pipeline to manipulate arms, cameras, and record/replay episodes with LeRobot.
+
+## Recording
+
+There is not a recording section for the robot at the moment.
+
+## Acknowledgement
+
+This work is inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance
+improvement.
+
+## License
+
+This library is licensed under the [Apache License 2.0](../../LICENSE).

examples/aloha/benchmark/python/README.md

@@ -0,0 +1,13 @@
+# Python API Powered Aloha inspired by [AlexanderKoch-Koch/low_cost_robot](https://github.com/AlexanderKoch-Koch/low_cost_robot)
+
+## Getting started
+
+Modify port and servo motor configuration.
+
+```bash
+python python teleoperate_real_robot.py
+```
+
+## Results
+
+On my run, I get about 50Hz teleoperation although the python calls does not block for as long.

examples/aloha/benchmark/python/dynamixel.py

@@ -0,0 +1,535 @@
+"""Module for managing Dynamixel servo communication and control.
+
+This module provides functionality for communicating with and controlling Dynamixel servos
+through a serial interface. It includes methods for reading and writing servo parameters,
+managing operating modes, and handling joint positions and velocities.
+"""
+
+from __future__ import annotations
+
+import enum
+import math
+import os
+import time
+from dataclasses import dataclass
+
+from dynamixel_sdk import *  # Uses Dynamixel SDK library
+
+
+class ReadAttribute(enum.Enum):
+    """Enumeration for Dynamixel servo read attributes."""
+
+    TEMPERATURE = 146
+    VOLTAGE = 145
+    VELOCITY = 128
+    POSITION = 132
+    CURRENT = 126
+    PWM = 124
+    HARDWARE_ERROR_STATUS = 70
+    HOMING_OFFSET = 20
+    BAUDRATE = 8
+
+
+class OperatingMode(enum.Enum):
+    """Enumeration for Dynamixel servo operating modes."""
+
+    VELOCITY = 1
+    POSITION = 3
+    CURRENT_CONTROLLED_POSITION = 5
+    PWM = 16
+    UNKNOWN = -1
+
+
+class Dynamixel:
+    """Class for managing communication with Dynamixel servos."""
+
+    ADDR_TORQUE_ENABLE = 64
+    ADDR_GOAL_POSITION = 116
+    ADDR_VELOCITY_LIMIT = 44
+    ADDR_GOAL_PWM = 100
+    OPERATING_MODE_ADDR = 11
+    POSITION_I = 82
+    POSITION_P = 84
+    ADDR_ID = 7
+
+    @dataclass
+    class Config:
+        """Configuration class for Dynamixel servo settings."""
+
+        def instantiate(self):
+            """Create a new Dynamixel instance with this configuration."""
+            return Dynamixel(self)
+
+        baudrate: int = 57600
+        protocol_version: float = 2.0
+        device_name: str = ""  # /dev/tty.usbserial-1120'
+        dynamixel_id: int = 1
+
+    def __init__(self, config: Config):
+        """Initialize the Dynamixel servo connection.
+
+        Args:
+            config: Configuration object containing connection settings.
+
+        """
+        self.config = config
+        self.connect()
+
+    def connect(self):
+        """Establish connection with the Dynamixel servo."""
+        if self.config.device_name == "":
+            for port_name in os.listdir("/dev"):
+                if "ttyUSB" in port_name or "ttyACM" in port_name:
+                    self.config.device_name = "/dev/" + port_name
+                    print(f"using device {self.config.device_name}")
+        self.portHandler = PortHandler(self.config.device_name)
+        # self.portHandler.LA
+        self.packetHandler = PacketHandler(self.config.protocol_version)
+        if not self.portHandler.openPort():
+            raise Exception(f"Failed to open port {self.config.device_name}")
+
+        if not self.portHandler.setBaudRate(self.config.baudrate):
+            raise Exception(f"failed to set baudrate to {self.config.baudrate}")
+
+        # self.operating_mode = OperatingMode.UNKNOWN
+        # self.torque_enabled = False
+        # self._disable_torque()
+
+        self.operating_modes = [None for _ in range(32)]
+        self.torque_enabled = [None for _ in range(32)]
+        return True
+
+    def disconnect(self):
+        """Close the connection with the Dynamixel servo."""
+        self.portHandler.closePort()
+
+    def set_goal_position(self, motor_id, goal_position):
+        """Set the goal position for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            goal_position: Target position value.
+
+        """
+        # if self.operating_modes[motor_id] is not OperatingMode.POSITION:
+        #     self._disable_torque(motor_id)
+        #     self.set_operating_mode(motor_id, OperatingMode.POSITION)
+
+        # if not self.torque_enabled[motor_id]:
+        #     self._enable_torque(motor_id)
+
+        # self._enable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_GOAL_POSITION, goal_position,
+        )
+        # self._process_response(dxl_comm_result, dxl_error)
+        # print(f'set position of motor {motor_id} to {goal_position}')
+
+    def set_pwm_value(self, motor_id: int, pwm_value, tries=3):
+        """Set the PWM value for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            pwm_value: PWM value to set.
+            tries: Number of attempts to set the value.
+
+        """
+        if self.operating_modes[motor_id] is not OperatingMode.PWM:
+            self._disable_torque(motor_id)
+            self.set_operating_mode(motor_id, OperatingMode.PWM)
+
+        if not self.torque_enabled[motor_id]:
+            self._enable_torque(motor_id)
+            # print(f'enabling torque')
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_GOAL_PWM, pwm_value,
+        )
+        # self._process_response(dxl_comm_result, dxl_error)
+        # print(f'set pwm of motor {motor_id} to {pwm_value}')
+        if dxl_comm_result != COMM_SUCCESS:
+            if tries <= 1:
+                raise ConnectionError(
+                    f"dxl_comm_result: {self.packetHandler.getTxRxResult(dxl_comm_result)}",
+                )
+            print(
+                f"dynamixel pwm setting failure trying again with {tries - 1} tries",
+            )
+            self.set_pwm_value(motor_id, pwm_value, tries=tries - 1)
+        elif dxl_error != 0:
+            print(f"dxl error {dxl_error}")
+            raise ConnectionError(
+                f"dynamixel error: {self.packetHandler.getTxRxResult(dxl_error)}",
+            )
+
+    def read_temperature(self, motor_id: int):
+        """Read the temperature of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current temperature value.
+
+        """
+        return self._read_value(motor_id, ReadAttribute.TEMPERATURE, 1)
+
+    def read_velocity(self, motor_id: int):
+        """Read the current velocity of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current velocity value.
+
+        """
+        pos = self._read_value(motor_id, ReadAttribute.VELOCITY, 4)
+        if pos > 2**31:
+            pos -= 2**32
+        # print(f'read position {pos} for motor {motor_id}')
+        return pos
+
+    def read_position(self, motor_id: int):
+        """Read the current position of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current position value.
+
+        """
+        pos = self._read_value(motor_id, ReadAttribute.POSITION, 4)
+        if pos > 2**31:
+            pos -= 2**32
+        # print(f'read position {pos} for motor {motor_id}')
+        return pos
+
+    def read_position_degrees(self, motor_id: int) -> float:
+        """Read the current position of the specified servo in degrees.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current position in degrees.
+
+        """
+        return (self.read_position(motor_id) / 4096) * 360
+
+    def read_position_radians(self, motor_id: int) -> float:
+        """Read the current position of the specified servo in radians.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current position in radians.
+
+        """
+        return (self.read_position(motor_id) / 4096) * 2 * math.pi
+
+    def read_current(self, motor_id: int):
+        """Read the current value of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current value.
+
+        """
+        current = self._read_value(motor_id, ReadAttribute.CURRENT, 2)
+        if current > 2**15:
+            current -= 2**16
+        return current
+
+    def read_present_pwm(self, motor_id: int):
+        """Read the current PWM value of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The current PWM value.
+
+        """
+        return self._read_value(motor_id, ReadAttribute.PWM, 2)
+
+    def read_hardware_error_status(self, motor_id: int):
+        """Read the hardware error status of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The hardware error status value.
+
+        """
+        return self._read_value(motor_id, ReadAttribute.HARDWARE_ERROR_STATUS, 1)
+
+    def set_id(self, old_id, new_id, use_broadcast_id: bool = False):
+        """Set the ID of the Dynamixel servo.
+
+        Args:
+            old_id: Current ID of the servo.
+            new_id: New ID to set.
+            use_broadcast_id: If True, set IDs of all connected servos.
+                            If False, change only servo with self.config.id
+
+        """
+        if use_broadcast_id:
+            current_id = 254
+        else:
+            current_id = old_id
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, current_id, self.ADDR_ID, new_id,
+        )
+        self._process_response(dxl_comm_result, dxl_error, old_id)
+        self.config.id = id
+
+    def _enable_torque(self, motor_id):
+        """Enable torque for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_TORQUE_ENABLE, 1,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.torque_enabled[motor_id] = True
+
+    def _disable_torque(self, motor_id):
+        """Disable torque for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_TORQUE_ENABLE, 0,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.torque_enabled[motor_id] = False
+
+    def _process_response(self, dxl_comm_result: int, dxl_error: int, motor_id: int):
+        """Process the response from a servo communication.
+
+        Args:
+            dxl_comm_result: Communication result.
+            dxl_error: Error value.
+            motor_id: ID of the servo that was communicated with.
+
+        Raises:
+            ConnectionError: If communication failed.
+            RuntimeError: If servo reported an error.
+
+        """
+        if dxl_comm_result != COMM_SUCCESS:
+            raise ConnectionError(
+                f"dxl_comm_result for motor {motor_id}: {self.packetHandler.getTxRxResult(dxl_comm_result)}",
+            )
+        if dxl_error != 0:
+            print(f"dxl error {dxl_error}")
+            raise ConnectionError(
+                f"dynamixel error for motor {motor_id}: {self.packetHandler.getTxRxResult(dxl_error)}",
+            )
+
+    def set_operating_mode(self, motor_id: int, operating_mode: OperatingMode):
+        """Set the operating mode for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            operating_mode: Operating mode to set.
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.OPERATING_MODE_ADDR, operating_mode.value,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.operating_modes[motor_id] = operating_mode
+
+    def set_pwm_limit(self, motor_id: int, limit: int):
+        """Set the PWM limit for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            limit: PWM limit value to set.
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, 36, limit,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_velocity_limit(self, motor_id: int, velocity_limit):
+        """Set the velocity limit for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            velocity_limit: Velocity limit value to set.
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_VELOCITY_LIMIT, velocity_limit,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_p(self, motor_id: int, p: int):
+        """Set the position P gain for the specified servo.
+
+        Args:
+            motor_id (int): The ID of the servo motor
+            p (int): The position P gain value to set
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.POSITION_P, p,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_i(self, motor_id: int, i: int):
+        """Set the position I gain for the specified servo.
+
+        Args:
+            motor_id (int): The ID of the servo motor
+            i (int): The position I gain value to set
+
+        """
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.POSITION_I, i,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def read_home_offset(self, motor_id: int):
+        """Read the home offset of the specified servo.
+
+        Args:
+            motor_id: ID of the servo to read from.
+
+        Returns:
+            The home offset value.
+
+        """
+        self._disable_torque(motor_id)
+        # dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(self.portHandler, motor_id,
+        #                                                                ReadAttribute.HOMING_OFFSET.value, home_position)
+        home_offset = self._read_value(motor_id, ReadAttribute.HOMING_OFFSET, 4)
+        # self._process_response(dxl_comm_result, dxl_error)
+        self._enable_torque(motor_id)
+        return home_offset
+
+    def set_home_offset(self, motor_id: int, home_position: int):
+        """Set the home offset for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            home_position: Home position value to set.
+
+        """
+        self._disable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, ReadAttribute.HOMING_OFFSET.value, home_position,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self._enable_torque(motor_id)
+
+    def set_baudrate(self, motor_id: int, baudrate):
+        """Set the baudrate for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+            baudrate: Baudrate value to set.
+
+        """
+        # translate baudrate into dynamixel baudrate setting id
+        if baudrate == 57600:
+            baudrate_id = 1
+        elif baudrate == 1_000_000:
+            baudrate_id = 3
+        elif baudrate == 2_000_000:
+            baudrate_id = 4
+        elif baudrate == 3_000_000:
+            baudrate_id = 5
+        elif baudrate == 4_000_000:
+            baudrate_id = 6
+        else:
+            raise Exception("baudrate not implemented")
+
+        self._disable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, ReadAttribute.BAUDRATE.value, baudrate_id,
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def _read_value(self, motor_id, attribute: ReadAttribute, num_bytes: int, tries=10):
+        """Read a value from the specified servo address.
+
+        Args:
+            motor_id: ID of the servo to read from.
+            attribute: Attribute to read.
+            num_bytes: Number of bytes to read.
+            tries: Number of attempts to read the value.
+
+        Returns:
+            The read value.
+
+        """
+        try:
+            if num_bytes == 1:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read1ByteTxRx(
+                    self.portHandler, motor_id, attribute.value,
+                )
+            elif num_bytes == 2:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read2ByteTxRx(
+                    self.portHandler, motor_id, attribute.value,
+                )
+            elif num_bytes == 4:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read4ByteTxRx(
+                    self.portHandler, motor_id, attribute.value,
+                )
+        except Exception:
+            if tries == 0:
+                raise Exception
+            return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        if dxl_comm_result != COMM_SUCCESS:
+            if tries <= 1:
+                # print("%s" % self.packetHandler.getTxRxResult(dxl_comm_result))
+                raise ConnectionError(
+                    f"dxl_comm_result {dxl_comm_result} for servo {motor_id} value {value}",
+                )
+            print(
+                f"dynamixel read failure for servo {motor_id} trying again with {tries - 1} tries",
+            )
+            time.sleep(0.02)
+            return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        if (
+            dxl_error != 0
+        ):  # # print("%s" % self.packetHandler.getRxPacketError(dxl_error))
+            # raise ConnectionError(f'dxl_error {dxl_error} binary ' + "{0:b}".format(37))
+            if tries == 0 and dxl_error != 128:
+                raise Exception(
+                    f"Failed to read value from motor {motor_id} error is {dxl_error}",
+                )
+            return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        return value
+
+    def set_home_position(self, motor_id: int):
+        """Set the home position for the specified servo.
+
+        Args:
+            motor_id: ID of the servo to control.
+
+        """
+        print(f"setting home position for motor {motor_id}")
+        self.set_home_offset(motor_id, 0)
+        current_position = self.read_position(motor_id)
+        print(f"position before {current_position}")
+        self.set_home_offset(motor_id, -current_position)
+        # dynamixel.set_home_offset(motor_id, -4096)
+        # dynamixel.set_home_offset(motor_id, -4294964109)
+        current_position = self.read_position(motor_id)
+        # print(f'signed position {current_position - 2** 32}')
+        print(f"position after {current_position}")

examples/aloha/benchmark/python/robot.py

@@ -0,0 +1,229 @@
+"""Module for controlling robot hardware and movements.
+
+This module provides functionality for controlling robot hardware components,
+including servo motors and various control modes.
+"""
+
+import time
+from enum import Enum, auto
+from typing import Union
+
+import numpy as np
+from dynamixel import OperatingMode, ReadAttribute
+from dynamixel_sdk import (
+    DXL_HIBYTE,
+    DXL_HIWORD,
+    DXL_LOBYTE,
+    DXL_LOWORD,
+    GroupSyncRead,
+    GroupSyncWrite,
+)
+
+
+class MotorControlType(Enum):
+    """Enumeration of different motor control modes.
+    
+    Defines the various control modes available for the robot's motors,
+    including PWM control, position control, and disabled states.
+    """
+
+    PWM = auto()
+    POSITION_CONTROL = auto()
+    DISABLED = auto()
+    UNKNOWN = auto()
+
+
+class Robot:
+    """A class for controlling robot hardware components.
+    
+    This class provides methods for controlling robot servos, managing different
+    control modes, and reading sensor data.
+    """
+
+    # def __init__(self, device_name: str, baudrate=1_000_000, servo_ids=[1, 2, 3, 4, 5]):
+    def __init__(self, dynamixel, baudrate=1_000_000, servo_ids=[1, 2, 3, 4, 5]):
+        """Initialize the robot controller.
+
+        Args:
+            dynamixel: Dynamixel controller instance
+            baudrate: Communication baudrate for servo control
+            servo_ids: List of servo IDs to control
+
+        """
+        self.servo_ids = servo_ids
+        self.dynamixel = dynamixel
+        # self.dynamixel = Dynamixel.Config(baudrate=baudrate, device_name=device_name).instantiate()
+        self.position_reader = GroupSyncRead(
+            self.dynamixel.portHandler,
+            self.dynamixel.packetHandler,
+            ReadAttribute.POSITION.value,
+            4,
+        )
+        for id in self.servo_ids:
+            self.position_reader.addParam(id)
+
+        self.velocity_reader = GroupSyncRead(
+            self.dynamixel.portHandler,
+            self.dynamixel.packetHandler,
+            ReadAttribute.VELOCITY.value,
+            4,
+        )
+        for id in self.servo_ids:
+            self.velocity_reader.addParam(id)
+
+        self.pos_writer = GroupSyncWrite(
+            self.dynamixel.portHandler,
+            self.dynamixel.packetHandler,
+            self.dynamixel.ADDR_GOAL_POSITION,
+            4,
+        )
+        for id in self.servo_ids:
+            self.pos_writer.addParam(id, [2048])
+
+        self.pwm_writer = GroupSyncWrite(
+            self.dynamixel.portHandler,
+            self.dynamixel.packetHandler,
+            self.dynamixel.ADDR_GOAL_PWM,
+            2,
+        )
+        for id in self.servo_ids:
+            self.pwm_writer.addParam(id, [2048])
+        self._disable_torque()
+        self.motor_control_state = MotorControlType.DISABLED
+
+    def read_position(self, tries=2):
+        """Read the current joint positions of the robot.
+
+        Args:
+            tries: Maximum number of attempts to read positions
+
+        Returns:
+            list: Joint positions in range [0, 4096]
+
+        """
+        result = self.position_reader.txRxPacket()
+        if result != 0:
+            if tries > 0:
+                return self.read_position(tries=tries - 1)
+            print("failed to read position!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
+        positions = []
+        for id in self.servo_ids:
+            position = self.position_reader.getData(id, ReadAttribute.POSITION.value, 4)
+            if position > 2**31:
+                position -= 2**32
+            positions.append(position)
+        return positions
+
+    def read_velocity(self):
+        """Read the current joint velocities of the robot.
+
+        Returns:
+            list: Current joint velocities
+
+        """
+        self.velocity_reader.txRxPacket()
+        velocties = []
+        for id in self.servo_ids:
+            velocity = self.velocity_reader.getData(id, ReadAttribute.VELOCITY.value, 4)
+            if velocity > 2**31:
+                velocity -= 2**32
+            velocties.append(velocity)
+        return velocties
+
+    def set_goal_pos(self, action):
+        """Set goal positions for the robot joints.
+
+        Args:
+            action: List or numpy array of target joint positions in range [0, 4096]
+
+        """
+        if self.motor_control_state is not MotorControlType.POSITION_CONTROL:
+            self._set_position_control()
+        for i, motor_id in enumerate(self.servo_ids):
+            data_write = [
+                DXL_LOBYTE(DXL_LOWORD(action[i])),
+                DXL_HIBYTE(DXL_LOWORD(action[i])),
+                DXL_LOBYTE(DXL_HIWORD(action[i])),
+                DXL_HIBYTE(DXL_HIWORD(action[i])),
+            ]
+            self.pos_writer.changeParam(motor_id, data_write)
+
+        self.pos_writer.txPacket()
+
+    def set_pwm(self, action):
+        """Set PWM values for the servos.
+
+        Args:
+            action: List or numpy array of PWM values in range [0, 885]
+
+        """
+        if self.motor_control_state is not MotorControlType.PWM:
+            self._set_pwm_control()
+        for i, motor_id in enumerate(self.servo_ids):
+            data_write = [
+                DXL_LOBYTE(DXL_LOWORD(action[i])),
+                DXL_HIBYTE(DXL_LOWORD(action[i])),
+            ]
+            self.pwm_writer.changeParam(motor_id, data_write)
+
+        self.pwm_writer.txPacket()
+
+    def set_trigger_torque(self):
+        """Set a constant torque for the last servo in the chain.
+        
+        This is useful for the trigger of the leader arm.
+        """
+        self.dynamixel._enable_torque(self.servo_ids[-1])
+        self.dynamixel.set_pwm_value(self.servo_ids[-1], 200)
+
+    def limit_pwm(self, limit: Union[int, list, np.ndarray]):
+        """Limit the PWM values for the servos in position control.
+
+        Args:
+            limit: PWM limit value in range 0-885
+
+        """
+        if isinstance(limit, int):
+            limits = [
+                limit,
+            ] * 5
+        else:
+            limits = limit
+        self._disable_torque()
+        for motor_id, limit in zip(self.servo_ids, limits):
+            self.dynamixel.set_pwm_limit(motor_id, limit)
+        self._enable_torque()
+
+    def _disable_torque(self):
+        print(f"disabling torque for servos {self.servo_ids}")
+        for motor_id in self.servo_ids:
+            self.dynamixel._disable_torque(motor_id)
+
+    def _enable_torque(self):
+        print(f"enabling torque for servos {self.servo_ids}")
+        for motor_id in self.servo_ids:
+            self.dynamixel._enable_torque(motor_id)
+
+    def _set_pwm_control(self):
+        self._disable_torque()
+        for motor_id in self.servo_ids:
+            self.dynamixel.set_operating_mode(motor_id, OperatingMode.PWM)
+        self._enable_torque()
+        self.motor_control_state = MotorControlType.PWM
+
+    def _set_position_control(self):
+        self._disable_torque()
+        for motor_id in self.servo_ids:
+            self.dynamixel.set_operating_mode(motor_id, OperatingMode.POSITION)
+        self._enable_torque()
+        self.motor_control_state = MotorControlType.POSITION_CONTROL
+
+
+if __name__ == "__main__":
+    robot = Robot(device_name="/dev/tty.usbmodem57380045631")
+    robot._disable_torque()
+    for _ in range(10000):
+        s = time.time()
+        pos = robot.read_position()
+        elapsed = time.time() - s
+        print(f"read took {elapsed} pos {pos}")

examples/aloha/benchmark/python/teleoperate_real_robot.py

@@ -0,0 +1,30 @@
+"""Module for teleoperating a physical robot.
+
+This module provides functionality for controlling a physical robot through
+teleoperation, allowing real-time control of robot movements and actions.
+"""
+
+from dynamixel import Dynamixel
+from robot import Robot
+
+leader_dynamixel = Dynamixel.Config(
+    baudrate=1_000_000, device_name="/dev/ttyDXL_master_right",
+).instantiate()
+follower_dynamixel = Dynamixel.Config(
+    baudrate=1_000_000, device_name="/dev/ttyDXL_puppet_right",
+).instantiate()
+follower = Robot(follower_dynamixel, servo_ids=[1, 2, 3, 4, 5, 6, 7, 8])
+leader = Robot(leader_dynamixel, servo_ids=[1, 2, 3, 4, 5, 6, 7, 8])
+# leader.set_trigger_torque()
+
+import time
+
+times_rec = []
+times_send = []
+
+while True:
+    now = time.time()
+    pos = leader.read_position()
+    # print(f"Time to rec pos: {(time.time() - now) * 1000}")
+    follower.set_goal_pos(pos)
+    print(f"Time to send pos: {(time.time() - now) * 1000}")

examples/aloha/benchmark/ros2/README.md

@@ -0,0 +1,103 @@
+# `dora-rs` powered ALOHA
+
+## Getting started
+
+```bash
+docker run --privileged --name ros2-aloha --network=host -e DISPLAY=${DISPLAY} -v /dev:/dev -v $(pwd):/dora-aloha -it osrf/ros:humble-desktop
+
+
+## In the container
+./dora-aloha/setup_ros2.sh # Run it once
+```
+
+## To activate the controller, just do:
+
+```bash
+## In the container
+ros2 launch ~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/launch/xsarm_control.launch.py robot_name:=robot_model_master robot_model:=aloha_wx250s mode_configs:=/dora-aloha/benchmark/ros2/config/master_modes_right.yaml &
+ros2 launch ~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/launch/xsarm_control.launch.py robot_name:=robot_model_puppet robot_model:=vx300s mode_configs:=/dora-aloha/benchmark/ros2/config/puppet_modes_right.yaml &
+
+## In case you want to restart the controller, just do:
+pkill -f robot
+```
+
+## To run dora
+
+Outside of the controller docker:
+
+### Setup
+
+```bash
+## Setup
+git clone https://github.com/haixuanTao/ament_prefix_path.git $HOME/ros2-ament-prefix-path
+export AMENT_PREFIX_PATH=$HOME/ros2-ament-prefix-path # <- holding ros2 message deserialization
+```
+
+### Start
+
+```bash
+## Start
+dora up
+dora start dataflow.yml --attach
+```
+
+## Result
+
+I'm able to get about 100 Hz for teleoperation.
+
+The improvement probably comes from the ros2 read/write written in C++.
+
+## Hardware Installation
+
+- To check if the robot is connected, install dynamixel wizard [here](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/)
+- Dynamixel wizard is a very helpful debugging tool that connects to individual motors of the robot. It allows
+  things such as rebooting the motor (very useful!), torque on/off, and sending commands.
+  However, it has no knowledge about the kinematics of the robot, so be careful about collisions.
+  The robot _will_ collapse if motors are torque off i.e. there is no automatically engaged brakes in joints.
+- Open Dynamixel wizard, go into `options` and select:
+  - Protocol 2.0
+  - All ports
+  - 1000000 bps
+  - ID range from 0-10
+- Note: repeat above everytime before you scan.
+- Then hit `Scan`. There should be 4 devices showing up, each with 9 motors.
+- One issue that arises is the port each robot binds to can change over time, e.g. a robot that
+  is initially `ttyUSB0` might suddenly become `ttyUSB5`. To resolve this, we bind each robot to a fixed symlink
+  port with the following mapping:
+  - `ttyDXL_master_right`: right master robot (master: the robot that the operator would be holding)
+  - `ttyDXL_puppet_right`: right puppet robot (puppet: the robot that performs the task)
+  - `ttyDXL_master_left`: left master robot
+  - `ttyDXL_puppet_left`: left puppet robot
+- Take `ttyDXL_master_right`: right master robot as an example:
+
+  1. Find the port that the right master robot is currently binding to, e.g. `ttyUSB0`
+  2. run `udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial` to obtain the serial number. Use the first one that shows up, the format should look similar to `FT6S4DSP`.
+  3. `sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules` and add the following line:
+
+     SUBSYSTEM=="tty", ATTRS{serial}=="<serial number here>", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_right"
+
+  4. This will make sure the right master robot is _always_ binding to `ttyDXL_master_right`
+  5. Repeat with the rest of 3 arms.
+
+- To apply the changes, run `sudo udevadm control --reload && sudo udevadm trigger`
+- If successful, you should be able to find `ttyDXL*` in your `/dev`
+
+## Hardware troubleshoot
+
+- In case you're having `xsarm_control.launch.py` that is not launching for the reason: ` Can't find Dynamixel ID 'X'`, one of the issue I faced in my demo was Overload Error(OL). The fix was to go on Dynamixel Wizard, click on the motor ID `X` and clicking the reboot button the right side of the window. This error happens when the torque is too high. I had the issue when I try to set a closing position for the gripper that did not take into account the fingers.
+
+## Support Matrix
+
+|                               | dora-aloha            |
+| ----------------------------- | --------------------- |
+| **Supported Platforms (x86)** | Windows, macOS, Linux |
+| **Supported Platforms (ARM)** | Linux(RPI4)           |
+
+## Documentation
+
+https://github.com/Interbotix/interbotix_ros_toolboxes/blob/humble/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py
+https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py#L380-L398
+
+## Acknowledgement
+
+This work is heavily inspired from [tonyzhaozh/aloha](https://github.com/tonyzhaozh/aloha) and we're trying to bring perfornance improvement.

examples/aloha/benchmark/ros2/config/master_modes_left.yaml

@@ -0,0 +1,9 @@
+port: /dev/ttyDXL_master_left
+
+groups:
+  arm:
+    torque_enable: false
+
+singles:
+  gripper:
+    torque_enable: false

examples/aloha/benchmark/ros2/config/master_modes_right.yaml

@@ -0,0 +1,9 @@
+port: /dev/ttyDXL_master_right
+
+groups:
+  arm:
+    torque_enable: false
+
+singles:
+  gripper:
+    torque_enable: false

examples/aloha/benchmark/ros2/config/puppet_modes_left.yaml

@@ -0,0 +1,17 @@
+port: /dev/ttyDXL_puppet_left
+
+groups:
+  arm:
+    operating_mode: position
+    profile_type: velocity
+    profile_velocity: 0
+    profile_acceleration: 0
+    torque_enable: true
+
+singles:
+  gripper:
+    operating_mode: linear_position
+    profile_type: velocity
+    profile_velocity: 0
+    profile_acceleration: 0
+    torque_enable: true

examples/aloha/benchmark/ros2/config/puppet_modes_right.yaml

@@ -0,0 +1,17 @@
+port: /dev/ttyDXL_puppet_right
+
+groups:
+  arm:
+    operating_mode: position
+    profile_type: velocity
+    profile_velocity: 0
+    profile_acceleration: 0
+    torque_enable: true
+
+singles:
+  gripper:
+    operating_mode: linear_position
+    profile_type: velocity
+    profile_velocity: 0
+    profile_acceleration: 0
+    torque_enable: true

examples/aloha/benchmark/ros2/dataflow.yml

@@ -0,0 +1,4 @@
+nodes:
+  - id: control
+    custom:
+      source: teleop.py

examples/aloha/benchmark/ros2/setup_ros2.sh

@@ -0,0 +1,22 @@
+# setup ros2
+
+## Source: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html
+
+sudo apt update
+
+sudo apt install curl vim git -y
+
+curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/humble/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+chmod +x xsarm_amd64_install.sh
+
+./xsarm_amd64_install.sh -d humble -n
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+source ~/interbotix_ws/install/setup.bash
+
+ros2 pkg list | grep interbotix
+

examples/aloha/benchmark/ros2/teleop.py

@@ -0,0 +1,95 @@
+"""Module for ROS2-based robot teleoperation.
+
+This module provides functionality for controlling robots through ROS2,
+enabling teleoperation and real-time control of robot movements.
+"""
+
+import dora
+import numpy as np
+import pyarrow as pa
+from dora import Node
+
+ros2_context = dora.experimental.ros2_bridge.Ros2Context()
+ros2_node = ros2_context.new_node(
+    "robot_model_master",
+    "/dora",
+    dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True),
+)
+
+# Define a ROS2 QOS
+topic_qos = dora.experimental.ros2_bridge.Ros2QosPolicies(
+    reliable=True, max_blocking_time=0.1,
+)
+
+# Create a publisher to cmd_vel topic
+puppet_arm_command = ros2_node.create_publisher(
+    ros2_node.create_topic(
+        "/robot_model_puppet/commands/joint_group",
+        "interbotix_xs_msgs/JointGroupCommand",
+        topic_qos,
+    ),
+)
+
+gripper_command = ros2_node.create_publisher(
+    ros2_node.create_topic(
+        "/robot_model_puppet/commands/joint_single",
+        "interbotix_xs_msgs/JointSingleCommand",
+        topic_qos,
+    ),
+)
+# Create a listener to pose topic
+master_state = ros2_node.create_subscription(
+    ros2_node.create_topic(
+        "/robot_model_master/joint_states", "sensor_msgs/JointState", topic_qos,
+    ),
+)
+
+# Create a dora node
+dora_node = Node()
+
+# Listen for both stream on the same loop as Python does not handle well multiprocessing
+dora_node.merge_external_events(master_state)
+
+PUPPET_GRIPPER_MAX = 0.115
+PUPPET_GRIPPER_MIN = 0.0965
+
+MASTER_GRIPPER_MAX = 0.8
+MASTER_GRIPPER_MIN = -0.1
+
+RATIO = (PUPPET_GRIPPER_MAX - PUPPET_GRIPPER_MIN) / (
+    MASTER_GRIPPER_MAX - MASTER_GRIPPER_MIN
+)
+
+for event in dora_node:
+    event_kind = event["kind"]
+
+    # ROS2 Event
+    if event_kind == "external":
+        pose = event.inner()[0]
+
+        values = np.array(pose["position"].values, dtype=np.float32)
+        values[6] = np.clip(
+            (values[6] - MASTER_GRIPPER_MIN) * RATIO + PUPPET_GRIPPER_MIN,
+            PUPPET_GRIPPER_MIN,
+            PUPPET_GRIPPER_MAX,
+        )
+        gripper_command.publish(
+            pa.array(
+                [
+                    {
+                        "name": "gripper",
+                        "cmd": np.float32(values[6]),
+                    },
+                ],
+            ),
+        )
+        puppet_arm_command.publish(
+            pa.array(
+                [
+                    {
+                        "name": "arm",
+                        "cmd": values[:6],
+                    },
+                ],
+            ),
+        )

examples/aloha/benchmark/rust/README.md

@@ -0,0 +1,9 @@
+# Rust powered ALOHA
+
+## Getting started
+
+Modify port and servo motor configuration for your device within `aloha-teleop`
+
+```bash
+cargo run -p aloha-teleop --release
+```

examples/aloha/graphs/eval.yml

@@ -0,0 +1,141 @@
+nodes:
+  - id: aloha-client
+    custom:
+      source: cargo
+      args: run --release -p aloha-client
+      inputs:
+        puppet_goal_position: eval/action
+        tick: dora/timer/millis/5
+      outputs:
+        - puppet_position
+
+  - id: plot
+    custom:
+      source: ../nodes/plot_node.py
+      inputs:
+        image: cam_right_wrist/image
+        action: eval/action
+        puppet_position: aloha-client/puppet_position
+      envs:
+        IMAGE_WIDTH: 640
+        IMAGE_HEIGHT: 480
+
+  - id: cam_left_wrist
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 2
+
+  - id: cam_right_wrist
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 22
+
+  - id: cam_low
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 14
+
+  - id: cam_high
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 8
+
+  - id: eval
+    custom:
+      source: python
+      args: /home/rcadene/dora_lerobot/dora_lerobot/scripts/eval.py -p cadene/aloha_act_no_state_aloha_v2_static_dora_test_wrist_gripper eval.n_episodes=1 eval.batch_size=1 env.episode_length=20000
+      inputs:
+        agent_pos: aloha-client/puppet_position
+        cam_left_wrist: cam_left_wrist/image
+        cam_right_wrist: cam_right_wrist/image
+        cam_low: cam_low/image
+        cam_high: cam_high/image
+      outputs:
+        - action
+
+  - id: keyboard
+    custom:
+      source: ../nodes/keyboard_node.py
+      inputs:
+        heartbeat: dora/timer/millis/20
+      outputs:
+        - space
+        - failed
+
+  - id: cam_saver_left_wrist
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_left_wrist/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_left_wrist
+
+  - id: cam_saver_right_wrist
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_right_wrist/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_right_wrist
+
+  - id: cam_saver_low
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_low/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_low
+
+  - id: cam_saver_high
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_high/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_high
+
+  - id: dora-record
+    custom:
+      build: cargo install --git https://github.com/dora-rs/dora dora-record
+      source: dora-record
+      inputs:
+        action: eval/action
+        observation.state: aloha-client/puppet_position
+        episode_index: keyboard/space
+        failed_episode_index: keyboard/failed
+        observation.images.cam_left_wrist: cam_saver_left_wrist/saved_image
+        observation.images.cam_right_wrist: cam_saver_right_wrist/saved_image
+        observation.images.cam_low: cam_saver_low/saved_image
+        observation.images.cam_high: cam_saver_high/saved_image

examples/aloha/graphs/gym.yml

@@ -0,0 +1,38 @@
+nodes:
+  - id: aloha-client
+    custom:
+      source: cargo
+      args: run -p aloha-client --release
+      inputs:
+        puppet_goal_position: dora-gym/action
+        tick: dora/timer/millis/33
+      outputs:
+        - puppet_position
+
+  - id: plot
+    custom:
+      source: ../nodes/plot_node.py
+      inputs:
+        image: cam_left_wrist/image
+      envs:
+        IMAGE_WIDTH: 640
+        IMAGE_HEIGHT: 480
+
+  - id: cam_left_wrist
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 2
+
+  - id: dora-gym
+    custom:
+      source: ../nodes/gym_dora_node.py
+      inputs:
+        agent_pos: aloha-client/puppet_position
+        cam_left_wrist: cam_left_wrist/image
+      outputs:
+        - action

examples/aloha/graphs/record_2arms_teleop.yml

@@ -0,0 +1,162 @@
+nodes:
+  - id: teleop_right
+    custom:
+      source: cargo
+      args: run --release -p aloha-teleop
+      inputs:
+        heartbeat: dora/timer/millis/20
+      outputs:
+        - puppet_goal_position
+        - puppet_position
+        - puppet_velocity
+        - puppet_current
+
+  - id: dora-record
+    custom:
+      build: cargo install --git https://github.com/dora-rs/dora dora-record
+      source: dora-record
+      inputs:
+        action: teleop_right/puppet_goal_position
+        observation.state: teleop_right/puppet_position
+        observation.velocity: teleop_right/puppet_velocity
+        observation.effort: teleop_right/puppet_current
+        episode_index: keyboard/space
+        failed_episode_index: keyboard/failed
+        observation.images.cam_left_wrist: cam_saver_left_wrist/saved_image
+        observation.images.cam_right_wrist: cam_saver_right_wrist/saved_image
+        observation.images.cam_low: cam_saver_low/saved_image
+        observation.images.cam_high: cam_saver_high/saved_image
+
+  - id: cam_left_wrist
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 2
+
+  - id: cam_right_wrist
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 22
+
+  - id: cam_low
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 14
+
+  - id: cam_high
+    custom:
+      source: ../nodes/webcam.py
+      inputs:
+        tick: dora/timer/millis/33
+      outputs:
+        - image
+      envs:
+        CAMERA_ID: 8
+
+  - id: keyboard
+    custom:
+      source: ../nodes/keyboard_node.py
+      inputs:
+        heartbeat: dora/timer/millis/20
+      outputs:
+        - space
+        - failed
+
+  - id: cam_saver_left_wrist
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_left_wrist/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_left_wrist
+
+  - id: cam_saver_right_wrist
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_right_wrist/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_right_wrist
+
+  - id: cam_saver_low
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_low/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_low
+
+  - id: cam_saver_high
+    custom:
+      source: ../nodes/lerobot_webcam_saver.py
+      inputs:
+        image: cam_high/image
+        record_episode: keyboard/space
+      outputs:
+        - saved_image
+      envs:
+        CAMERA_NAME: observation.images.cam_high
+
+  # Realsense seems to require specific power that makes it unreliable in our current setup
+  # - id: cam_left_wrist
+  # custom:
+  # source: ../nodes/realsense_node.py
+  # inputs:
+  # tick: dora/timer/millis/2
+  # outputs:
+  # - image
+  # envs:
+  # CAMERA_ID: 128422271614
+
+  # - id: cam_right_wrist
+  # custom:
+  # source: ../nodes/realsense_node.py
+  # inputs:
+  # tick: dora/timer/millis/2
+  # outputs:
+  # - image
+  # envs:
+  # CAMERA_ID: 128422270109
+
+  # - id: cam_low
+  # custom:
+  # source: ../nodes/realsense_node.py
+  # inputs:
+  # tick: dora/timer/millis/2
+  # outputs:
+  # - image
+  # envs:
+  # CAMERA_ID: 128422271393
+
+  # - id: cam_high
+  # custom:
+  # source: ../nodes/realsense_node.py
+  # inputs:
+  # tick: dora/timer/millis/2
+  # outputs:
+  # - image
+  # envs:
+  # CAMERA_ID: 128422271609

examples/aloha/graphs/record_teleop.yml

@@ -0,0 +1,32 @@
+nodes:
+  - id: teleop
+    custom:
+      source: cargo
+      args: run -p aloha-teleop --release
+      outputs:
+        - puppet_goal_position
+
+  - id: dora-record
+    custom:
+      build: cargo install --git https://github.com/dora-rs/dora dora-record
+      source: dora-record
+      inputs:
+        puppet_goal_position: teleop/puppet_goal_position
+
+  - id: plot
+    custom:
+      source: ../nodes/plot_node.py
+      inputs:
+        image: webcam/image
+        position: teleop/puppet_goal_position
+      envs:
+        IMAGE_WIDTH: 1280
+        IMAGE_HEIGHT: 720
+  
+  - id: webcam
+    custom:
+      source: ../nodes/realsense_node.py
+      inputs:
+        tick: dora/timer/millis/20
+      outputs:
+        - image

examples/aloha/graphs/replay.yml

@@ -0,0 +1,61 @@
+nodes:
+  - id: aloha-client
+    custom:
+      source: cargo
+      args: run -p aloha-client --release
+      inputs:
+        puppet_goal_position: replay/puppet_goal_position
+        tick: dora/timer/millis/20
+      outputs:
+        - puppet_position
+
+  - id: replay
+    custom:
+      source: ../nodes/replay.py
+      inputs:
+        action: policy/action
+      outputs:
+        - puppet_goal_position
+
+  - id: whisper
+    custom:
+      source: ../nodes/whisper_node.py
+      inputs:
+        tick: dora/timer/millis/20
+      outputs:
+        - text_llm
+        - text_policy
+
+  - id: llm
+    operator:
+      python: ../nodes/llm_op.py
+      inputs:
+        text: whisper/text_llm
+
+  - id: policy
+    operator:
+      python: ../nodes/policy.py
+      inputs:
+        speech: whisper/text_policy
+      outputs:
+        - action
+
+  - id: plot
+    custom:
+      source: ../nodes/plot_node.py
+      inputs:
+        image: webcam/image
+        position: aloha-client/puppet_position
+        text_policy: whisper/text_policy
+        text_llm: whisper/text_llm
+      envs:
+        IMAGE_WIDTH: 1280
+        IMAGE_HEIGHT: 720
+  
+  - id: webcam
+    custom:
+      source: ../nodes/realsense_node.py
+      inputs:
+        tick: dora/timer/millis/20
+      outputs:
+        - image

examples/aloha/hardware_config/99-fixed-interbotix-udev.rules

@@ -0,0 +1,4 @@
+SUBSYSTEM=="tty", ATTRS{serial}=="FT891KPN", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_left"
+SUBSYSTEM=="tty", ATTRS{serial}=="FT89FM77", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_right"
+SUBSYSTEM=="tty", ATTRS{serial}=="FT89FM09", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_puppet_left"
+SUBSYSTEM=="tty", ATTRS{serial}=="FT891KBG", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_puppet_right"

examples/aloha/hardware_config/99-interbotix-udev.rules

@@ -0,0 +1,24 @@
+# Place this file in /etc/udev/rules.d/
+# Then reload udev by typing 'udevadm control --reload-rules && udevadm trigger'
+# Sets up rules to give permanent names to devices
+
+# Allow serial devices to be read by anyone
+KERNEL=="ttyUSB*", MODE:="0666"
+KERNEL=="ttyACM*", MODE:="0666"
+KERNEL=="js*", MODE:="0666"
+KERNEL=="video*", MODE:="0666"
+
+# OpenCM9.04C board
+SUBSYSTEM=="tty", ATTRS{idVendor}=="fff1", ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", SYMLINK+="ttyDXL"
+
+# U2D2 board (also sets latency timer to 1ms for faster communication)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL"
+
+# RPLidar
+SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="rplidar"
+
+# Kobuki base
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="kobuki*", ATTR{device/latency_timer}="1", MODE:="0666", GROUP:="dialout", SYMLINK+="kobuki"
+
+# LifeCam Cinema
+SUBSYSTEM=="video4linux", ATTRS{idVendor}=="045e", ATTRS{idProduct}=="0812", ATTR{index}=="0", SYMLINK+="lifecam"

examples/aloha/nodes/aloha-client/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "aloha-client"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+
+serialport = "4.2.0"
+rustypot = { git = "https://github.com/haixuanTao/rustypot", branch = "angular-conversion" }
+eyre = "0.6.12"
+dora-node-api = "0.3.4"