Merge branch 'main' into rust-api-docs

.github/workflows/ci.yml

@@ -197,7 +197,7 @@ jobs:
           required-ros-distributions: humble
       - run: 'source /opt/ros/humble/setup.bash && echo AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH} >> "$GITHUB_ENV"'
       - name: Install the latest version of uv
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@v6
         with:
           enable-cache: true
       - name: Install pyarrow

.github/workflows/node_hub_test.sh

@@ -1,6 +1,9 @@
 #!/bin/bash
 set -euo
 
+# Check if we are running in a GitHub Actions environment
+CI=${GITHUB_ACTIONS:-false}
+
 # List of ignored modules 
 ignored_folders=("dora-parler" "dora-opus" "dora-internvl" "dora-magma")
 
@@ -13,6 +16,32 @@ dir=$(pwd)
 # Get the base name of the directory (without the path)
 base_dir=$(basename "$dir")
 
+# Large node list requiring space cleanup
+large_node=("dora-phi4")
+
+export PYTEST_ADDOPTS="-x"
+
+# Check if the current directory is in the large node list and if we're in the CI environment
+if [[ " ${large_node[@]} " =~ " ${base_dir} " ]] && [[ "$CI" == "true" ]]; then
+    echo "Running cleanup for $base_dir..."
+    sudo rm -rf /opt/hostedtoolcache/CodeQL || :
+    # 1.4GB
+    sudo rm -rf /opt/hostedtoolcache/go || :
+    # 489MB
+    sudo rm -rf /opt/hostedtoolcache/PyPy || :
+    # 376MB
+    sudo rm -rf /opt/hostedtoolcache/node || :
+    # Remove Web browser packages
+    sudo apt purge -y \
+    firefox \
+    google-chrome-stable \
+    microsoft-edge-stable
+    sudo rm -rf /usr/local/lib/android/ 
+    sudo rm -rf /usr/share/dotnet/
+    sudo rm -rf /opt/ghc/
+fi
+
+
 # Check if the directory name is in the ignored list
 if [[ " ${ignored_folders[@]} " =~ " ${base_dir} " ]]; then
     echo "Skipping $base_dir as we cannot test it on the CI..."
@@ -60,16 +89,8 @@ else
         if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
             maturin publish --skip-existing
         fi
-        
-        # x86_64-apple-darwin
-        rustup target add x86_64-apple-darwin
-        maturin build --target x86_64-apple-darwin --zig  --release
-        # If GITHUB_EVENT_NAME is release or workflow_dispatch, publish the wheel
-        if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
-            maturin publish --target x86_64-apple-darwin --skip-existing --zig
-        fi
 
-    elif [[ "$(uname)" = "Linux" ]]; then
+    elif [[ "$(uname)" = "Linux" ]] || [[ "$CI" == "false" ]]; then
         if [ -f "$dir/Cargo.toml" ]; then
             echo "Running build and tests for Rust project in $dir..."
             cargo check
@@ -94,7 +115,7 @@ else
             else
                 uv run pytest
             fi
-            if [ "$GITHUB_EVENT_NAME" == "release" ] || [ "$GITHUB_EVENT_NAME" == "workflow_dispatch" ]; then
+            if [ "${GITHUB_EVENT_NAME:-false}" == "release" ] || [ "${GITHUB_EVENT_NAME:-false}" == "workflow_dispatch" ]; then
                 uv build
                 uv publish --check-url https://pypi.org/simple
             fi

.github/workflows/pip-release.yml

@@ -192,8 +192,6 @@ jobs:
       fail-fast: false
       matrix:
         platform:
-          - runner: macos-13
-            target: x86_64
           - runner: macos-13
             target: aarch64
         repository:

Cargo.lock

@@ -1165,9 +1165,9 @@ dependencies = [
 
 [[package]]
 name = "avif-serialize"
-version = "0.8.3"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98922d6a4cfbcb08820c69d8eeccc05bb1f29bfa06b4f5b1dbfe9a868bd7608e"
+checksum = "2ea8ef51aced2b9191c08197f55450d830876d9933f8f48a429b354f1d496b42"
 dependencies = [
  "arrayvec",
 ]
@@ -1303,7 +1303,7 @@ dependencies = [
 
 [[package]]
 name = "benchmark-example-node"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -1316,7 +1316,7 @@ dependencies = [
 
 [[package]]
 name = "benchmark-example-sink"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -2089,7 +2089,7 @@ dependencies = [
 
 [[package]]
 name = "communication-layer-pub-sub"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "flume 0.10.14",
  "zenoh 0.7.0-rc",
@@ -2097,7 +2097,7 @@ dependencies = [
 
 [[package]]
 name = "communication-layer-request-reply"
-version = "0.3.11"
+version = "0.3.12"
 
 [[package]]
 name = "concat-idents"
@@ -2279,6 +2279,21 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "crc"
+version = "3.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9710d3b3739c2e349eb44fe848ad0b7c8cb1e42bd87ee49371df2f7acaf3e675"
+dependencies = [
+ "crc-catalog",
+]
+
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
 [[package]]
 name = "crc32fast"
 version = "1.4.2"
@@ -2911,7 +2926,7 @@ dependencies = [
 
 [[package]]
 name = "dora-arrow-convert"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow",
  "chrono",
@@ -2922,7 +2937,7 @@ dependencies = [
 
 [[package]]
 name = "dora-cli"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "bat",
  "clap 4.5.32",
@@ -2966,7 +2981,7 @@ dependencies = [
 
 [[package]]
 name = "dora-coordinator"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "ctrlc",
  "dora-core",
@@ -2987,7 +3002,7 @@ dependencies = [
 
 [[package]]
 name = "dora-core"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-message",
  "dunce",
@@ -3011,7 +3026,7 @@ dependencies = [
 
 [[package]]
 name = "dora-daemon"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "aligned-vec",
  "async-trait",
@@ -3048,7 +3063,7 @@ dependencies = [
 
 [[package]]
 name = "dora-dav1d"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "bitstream-io",
  "bytemuck",
@@ -3062,7 +3077,7 @@ dependencies = [
 
 [[package]]
 name = "dora-download"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "eyre",
  "reqwest",
@@ -3092,7 +3107,7 @@ dependencies = [
 
 [[package]]
 name = "dora-kit-car"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "dotenv",
@@ -3106,7 +3121,7 @@ dependencies = [
 
 [[package]]
 name = "dora-message"
-version = "0.5.0-alpha"
+version = "0.5.0"
 dependencies = [
  "aligned-vec",
  "arrow-data",
@@ -3127,7 +3142,7 @@ dependencies = [
 
 [[package]]
 name = "dora-metrics"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "eyre",
  "opentelemetry 0.29.1",
@@ -3148,7 +3163,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "aligned-vec",
  "arrow",
@@ -3173,7 +3188,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-c"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow-array",
  "dora-node-api",
@@ -3183,7 +3198,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-cxx"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow",
  "cxx",
@@ -3201,7 +3216,7 @@ dependencies = [
 
 [[package]]
 name = "dora-node-api-python"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow",
  "dora-cli",
@@ -3215,6 +3230,7 @@ dependencies = [
  "futures",
  "pyo3",
  "pyo3-build-config",
+ "pyo3_special_method_derive",
  "pythonize",
  "serde_yaml 0.9.34+deprecated",
  "tokio",
@@ -3222,7 +3238,7 @@ dependencies = [
 
 [[package]]
 name = "dora-object-to-pose"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -3231,7 +3247,7 @@ dependencies = [
 
 [[package]]
 name = "dora-openai-proxy-server"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -3252,7 +3268,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-arrow-convert",
  "dora-operator-api-macros",
@@ -3261,14 +3277,14 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-c"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-operator-api-types",
 ]
 
 [[package]]
 name = "dora-operator-api-cxx"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "cxx",
  "cxx-build",
@@ -3277,7 +3293,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-macros"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3286,7 +3302,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-python"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "aligned-vec",
  "arrow",
@@ -3302,7 +3318,7 @@ dependencies = [
 
 [[package]]
 name = "dora-operator-api-types"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow",
  "dora-arrow-convert",
@@ -3311,12 +3327,13 @@ dependencies = [
 
 [[package]]
 name = "dora-rav1e"
-version = "0.3.11+fix1"
+version = "0.3.12"
 dependencies = [
  "avif-serialize",
  "bytemuck",
  "dora-node-api",
  "eyre",
+ "little_exif",
  "log",
  "pyo3",
  "rav1e",
@@ -3324,7 +3341,7 @@ dependencies = [
 
 [[package]]
 name = "dora-record"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -3336,13 +3353,14 @@ dependencies = [
 
 [[package]]
 name = "dora-rerun"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "bytemuck",
  "dora-node-api",
  "eyre",
  "k",
  "ndarray 0.15.6",
+ "pinyin",
  "pyo3",
  "rand 0.9.1",
  "rerun",
@@ -3351,7 +3369,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "array-init",
  "dora-daemon",
@@ -3374,7 +3392,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-msg-gen"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "anyhow",
  "glob",
@@ -3390,7 +3408,7 @@ dependencies = [
 
 [[package]]
 name = "dora-ros2-bridge-python"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "arrow",
  "dora-ros2-bridge",
@@ -3398,13 +3416,14 @@ dependencies = [
  "eyre",
  "futures",
  "pyo3",
+ "pyo3_special_method_derive",
  "serde",
  "serde_assert",
 ]
 
 [[package]]
 name = "dora-runtime"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "aligned-vec",
  "arrow",
@@ -3443,7 +3462,7 @@ dependencies = [
 
 [[package]]
 name = "dora-tracing"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "eyre",
  "opentelemetry 0.18.0",
@@ -6378,6 +6397,19 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
 
+[[package]]
+name = "little_exif"
+version = "0.6.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ebaa2b90127fb33dcf2ec1f5be8b496e92d5d1736789decca8eb2798c52f2e7"
+dependencies = [
+ "crc",
+ "log",
+ "miniz_oxide",
+ "paste",
+ "quick-xml 0.37.5",
+]
+
 [[package]]
 name = "llguidance"
 version = "0.7.0"
@@ -6738,9 +6770,9 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.8.5"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e3e04debbb59698c15bacbb6d93584a8c0ca9cc3213cb423d31f760d8843ce5"
+checksum = "1fa76a2c86f704bdb222d66965fb3d63269ce38518b83cb0575fca855ebb6316"
 dependencies = [
  "adler2",
  "simd-adler32",
@@ -6982,7 +7014,7 @@ dependencies = [
 
 [[package]]
 name = "multiple-daemons-example-node"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -6993,14 +7025,14 @@ dependencies = [
 
 [[package]]
 name = "multiple-daemons-example-operator"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-operator-api",
 ]
 
 [[package]]
 name = "multiple-daemons-example-sink"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -8420,6 +8452,12 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "pinyin"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16f2611cd06a1ac239a0cea4521de9eb068a6ca110324ee00631aa68daa74fc0"
+
 [[package]]
 name = "piper"
 version = "0.2.4"
@@ -8963,6 +9001,29 @@ dependencies = [
  "syn 2.0.101",
 ]
 
+[[package]]
+name = "pyo3_special_method_derive"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b75ccfc0eef7c0478db8aa23d23e97b39c74e29da21d9bf1e1934e63ad0709d"
+dependencies = [
+ "pyo3",
+ "pyo3_special_method_derive_macro",
+]
+
+[[package]]
+name = "pyo3_special_method_derive_macro"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfc6e17b94c919f8295729dcddd368b7cd78231c39a3c23cdeec77b5834010cf"
+dependencies = [
+ "proc-macro2",
+ "pyo3",
+ "quote",
+ "quote_into",
+ "syn 2.0.101",
+]
+
 [[package]]
 name = "python3-dll-a"
 version = "0.2.13"
@@ -9028,9 +9089,9 @@ dependencies = [
 
 [[package]]
 name = "quick-xml"
-version = "0.37.2"
+version = "0.37.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "165859e9e55f79d67b96c5d96f4e88b6f2695a1972849c15a6a3f5c59fc2c003"
+checksum = "331e97a1af0bf59823e6eadffe373d7b27f485be8748f71471c662c1f269b7fb"
 dependencies = [
  "memchr",
 ]
@@ -9149,6 +9210,28 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "quote_into"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "93886ed56f228a5d960fc4d26afa3736df12a251872869cf24f5efe5f07699b9"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "quote_into_macro",
+]
+
+[[package]]
+name = "quote_into_macro"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "36b828998c40452b5afe441c75194e93181432e669585f4ceb7b0d32a3f73525"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "r-efi"
 version = "5.2.0"
@@ -11017,7 +11100,7 @@ checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430"
 
 [[package]]
 name = "receive_data"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "chrono",
  "dora-node-api",
@@ -11457,7 +11540,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-node"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11468,7 +11551,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-sink"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11476,7 +11559,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-sink-dynamic"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11484,7 +11567,7 @@ dependencies = [
 
 [[package]]
 name = "rust-dataflow-example-status-node"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -11503,7 +11586,7 @@ dependencies = [
 
 [[package]]
 name = "rust-ros2-dataflow-example-node"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "dora-ros2-bridge",
@@ -11999,7 +12082,7 @@ dependencies = [
  "hyper 1.6.0",
  "indicatif",
  "log",
- "quick-xml 0.37.2",
+ "quick-xml 0.37.5",
  "regex",
  "reqwest",
  "self-replace",
@@ -12347,7 +12430,7 @@ dependencies = [
 
 [[package]]
 name = "shared-memory-server"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "bincode",
  "eyre",
@@ -13173,7 +13256,7 @@ dependencies = [
 
 [[package]]
 name = "terminal-print"
-version = "0.3.11"
+version = "0.3.12"
 dependencies = [
  "dora-node-api",
  "eyre",
@@ -14604,7 +14687,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "896fdafd5d28145fce7958917d69f2fd44469b1d4e861cb5961bcbeebc6d1484"
 dependencies = [
  "proc-macro2",
- "quick-xml 0.37.2",
+ "quick-xml 0.37.5",
  "quote",
 ]
 

Cargo.toml

@@ -50,37 +50,37 @@ members = [
 [workspace.package]
 edition = "2021"
 # Make sure to also bump `apis/node/python/__init__.py` version.
-version = "0.3.11"
+version = "0.3.12"
 description = "`dora` goal is to be a low latency, composable, and distributed data flow."
 documentation = "https://dora-rs.ai"
 license = "Apache-2.0"
 repository = "https://github.com/dora-rs/dora/"
 
 [workspace.dependencies]
-dora-node-api = { version = "0.3.11", path = "apis/rust/node", default-features = false }
-dora-node-api-python = { version = "0.3.11", path = "apis/python/node", default-features = false }
-dora-operator-api = { version = "0.3.11", path = "apis/rust/operator", default-features = false }
-dora-operator-api-macros = { version = "0.3.11", path = "apis/rust/operator/macros" }
-dora-operator-api-types = { version = "0.3.11", path = "apis/rust/operator/types" }
-dora-operator-api-python = { version = "0.3.11", path = "apis/python/operator" }
-dora-operator-api-c = { version = "0.3.11", path = "apis/c/operator" }
-dora-node-api-c = { version = "0.3.11", path = "apis/c/node" }
-dora-core = { version = "0.3.11", path = "libraries/core" }
-dora-arrow-convert = { version = "0.3.11", path = "libraries/arrow-convert" }
-dora-tracing = { version = "0.3.11", path = "libraries/extensions/telemetry/tracing" }
-dora-metrics = { version = "0.3.11", path = "libraries/extensions/telemetry/metrics" }
-dora-download = { version = "0.3.11", path = "libraries/extensions/download" }
-shared-memory-server = { version = "0.3.11", path = "libraries/shared-memory-server" }
-communication-layer-request-reply = { version = "0.3.11", path = "libraries/communication-layer/request-reply" }
-dora-cli = { version = "0.3.11", path = "binaries/cli" }
-dora-runtime = { version = "0.3.11", path = "binaries/runtime" }
-dora-daemon = { version = "0.3.11", path = "binaries/daemon" }
-dora-coordinator = { version = "0.3.11", path = "binaries/coordinator" }
-dora-ros2-bridge = { version = "0.3.11", path = "libraries/extensions/ros2-bridge" }
-dora-ros2-bridge-msg-gen = { version = "0.3.11", path = "libraries/extensions/ros2-bridge/msg-gen" }
+dora-node-api = { version = "0.3.12", path = "apis/rust/node", default-features = false }
+dora-node-api-python = { version = "0.3.12", path = "apis/python/node", default-features = false }
+dora-operator-api = { version = "0.3.12", path = "apis/rust/operator", default-features = false }
+dora-operator-api-macros = { version = "0.3.12", path = "apis/rust/operator/macros" }
+dora-operator-api-types = { version = "0.3.12", path = "apis/rust/operator/types" }
+dora-operator-api-python = { version = "0.3.12", path = "apis/python/operator" }
+dora-operator-api-c = { version = "0.3.12", path = "apis/c/operator" }
+dora-node-api-c = { version = "0.3.12", path = "apis/c/node" }
+dora-core = { version = "0.3.12", path = "libraries/core" }
+dora-arrow-convert = { version = "0.3.12", path = "libraries/arrow-convert" }
+dora-tracing = { version = "0.3.12", path = "libraries/extensions/telemetry/tracing" }
+dora-metrics = { version = "0.3.12", path = "libraries/extensions/telemetry/metrics" }
+dora-download = { version = "0.3.12", path = "libraries/extensions/download" }
+shared-memory-server = { version = "0.3.12", path = "libraries/shared-memory-server" }
+communication-layer-request-reply = { version = "0.3.12", path = "libraries/communication-layer/request-reply" }
+dora-cli = { version = "0.3.12", path = "binaries/cli" }
+dora-runtime = { version = "0.3.12", path = "binaries/runtime" }
+dora-daemon = { version = "0.3.12", path = "binaries/daemon" }
+dora-coordinator = { version = "0.3.12", path = "binaries/coordinator" }
+dora-ros2-bridge = { version = "0.3.12", path = "libraries/extensions/ros2-bridge" }
+dora-ros2-bridge-msg-gen = { version = "0.3.12", path = "libraries/extensions/ros2-bridge/msg-gen" }
 dora-ros2-bridge-python = { path = "libraries/extensions/ros2-bridge/python" }
 # versioned independently from the other dora crates
-dora-message = { version = "0.5.0-alpha", path = "libraries/message" }
+dora-message = { version = "0.5.0", path = "libraries/message" }
 arrow = { version = "54.2.1" }
 arrow-schema = { version = "54.2.1" }
 arrow-data = { version = "54.2.1" }

Changelog.md

@@ -1,5 +1,59 @@
 # Changelog
 
+## v0.3.12 (2025-06-30)
+
+## What's Changed
+
+- Implemented dora-cotracker node by @ShashwatPatil in https://github.com/dora-rs/dora/pull/931
+- Minor fix and add boxes2d example to facebook/cotracker by @haixuanTao in https://github.com/dora-rs/dora/pull/950
+- Update Rust crate tokio to v1.44.2 [SECURITY] by @renovate in https://github.com/dora-rs/dora/pull/951
+- Post 3.11 release fix by @haixuanTao in https://github.com/dora-rs/dora/pull/954
+- Bump crossbeam-channel from 0.5.14 to 0.5.15 by @dependabot in https://github.com/dora-rs/dora/pull/959
+- Added E ruff flag for pydocstyle by @7SOMAY in https://github.com/dora-rs/dora/pull/958
+- Revert "Added E ruff flag for better code quality [skip ci]" by @haixuanTao in https://github.com/dora-rs/dora/pull/968
+- Ease of use changes in benches for issue #957 by @Ignavar in https://github.com/dora-rs/dora/pull/969
+- Reachy cotracker by @haixuanTao in https://github.com/dora-rs/dora/pull/972
+- Improve rav1e by @haixuanTao in https://github.com/dora-rs/dora/pull/974
+- Fix pyrealsense by @haixuanTao in https://github.com/dora-rs/dora/pull/973
+- Added Self Uninstall Command by @Shar-jeel-Sajid in https://github.com/dora-rs/dora/pull/944
+- Improve benchmark implementation & Add warning for discarding events by @Mivik in https://github.com/dora-rs/dora/pull/971
+- docs: Updated README: Added comprehensive usage documentation with vi… by @LeonRust in https://github.com/dora-rs/dora/pull/983
+- Fix rerun-viewer example. by @francocipollone in https://github.com/dora-rs/dora/pull/989
+- docs: add license badge by @Radovenchyk in https://github.com/dora-rs/dora/pull/996
+- Disable sccache for `musllinux` jobs by @haixuanTao in https://github.com/dora-rs/dora/pull/1000
+- Remove unused sysinfo monitor by @Mivik in https://github.com/dora-rs/dora/pull/1007
+- Refactor Python CUDA IPC API by @Mivik in https://github.com/dora-rs/dora/pull/1002
+- fix terminal not printing stdout on nvml warning by @haixuanTao in https://github.com/dora-rs/dora/pull/1008
+- Fix issue #1006: [Brief description of the fix] by @sohamukute in https://github.com/dora-rs/dora/pull/1013
+- Improving so100 usability by @haixuanTao in https://github.com/dora-rs/dora/pull/988
+- Add dora-mediapipe node for quick human pose estimation by @haixuanTao in https://github.com/dora-rs/dora/pull/986
+- Bump torch to 2.7 by @haixuanTao in https://github.com/dora-rs/dora/pull/1015
+- refactor(tracing): use builder style by @sjfhsjfh in https://github.com/dora-rs/dora/pull/1009
+- Fix spawning runtime through python when it is installed with pip by @haixuanTao in https://github.com/dora-rs/dora/pull/1011
+- chore(deps): update dependency numpy to v2 by @renovate in https://github.com/dora-rs/dora/pull/1014
+- Fix error when multiple visualization key is active and when urdf_transform env variable is not present by @haixuanTao in https://github.com/dora-rs/dora/pull/1016
+- Update pyrealsense2 Dependencies for L515 Support and Fix README wget Link by @kingchou007 in https://github.com/dora-rs/dora/pull/1021
+- Minor fix for mujoco sim by @haixuanTao in https://github.com/dora-rs/dora/pull/1023
+- dora-mujoco simulation node with example for controlling any arm by @ShashwatPatil in https://github.com/dora-rs/dora/pull/1012
+- fix ros CI/CD by @haixuanTao in https://github.com/dora-rs/dora/pull/1027
+- dora-vggt by @haixuanTao in https://github.com/dora-rs/dora/pull/1024
+- Adding vision to openai server by @haixuanTao in https://github.com/dora-rs/dora/pull/1025
+- Revert "Adding vision to openai server" by @haixuanTao in https://github.com/dora-rs/dora/pull/1031
+- Expose AllInputClosed message as a Stop message by @haixuanTao in https://github.com/dora-rs/dora/pull/1026
+- Add support for git repository sources for nodes by @phil-opp in https://github.com/dora-rs/dora/pull/901
+- Adding vision to rust openai proxy server by @haixuanTao in https://github.com/dora-rs/dora/pull/1033
+- Add automatic robot descriptions URDF retrieval from https://github.com/robot-descriptions/robot_descriptions.py by @haixuanTao in https://github.com/dora-rs/dora/pull/1032
+
+## New Contributors
+
+- @Mivik made their first contribution in https://github.com/dora-rs/dora/pull/971
+- @francocipollone made their first contribution in https://github.com/dora-rs/dora/pull/989
+- @sohamukute made their first contribution in https://github.com/dora-rs/dora/pull/1013
+- @sjfhsjfh made their first contribution in https://github.com/dora-rs/dora/pull/1009
+- @kingchou007 made their first contribution in https://github.com/dora-rs/dora/pull/1021
+
+**Full Changelog**: https://github.com/dora-rs/dora/compare/v0.3.11...v0.3.12
+
 ## v0.3.11 (2025-04-07)
 
 ## What's Changed

README.md

@@ -62,6 +62,8 @@
 <details open>
 <summary><b>2025</b></summary>
 
+- \[07/25\] Added Kornia rust nodes in the hub for V4L / Gstreamer cameras and Sobel image processing.
+- \[06/25\] Add support for git based node, dora-vggt for multi-camera depth estimation, and adding robot_descriptions_py as a default way to get urdfs within dora.
 - \[05/25\] Add support for dora-pytorch-kinematics for fk and ik, dora-mediapipe for pose estimation, dora-rustypot for rust serialport read/write, points2d and points3d visualization in rerun.
 - \[04/25\] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding,
 - \[03/25\] Add support for dora async Python.
@@ -74,16 +76,16 @@
 
 ## Support Matrix
 
-|                                   | dora-rs                                                                                                                                                                                                              |
-| --------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| **APIs**                          | Python >= 3.7 including sync ⭐✅ <br> Rust ✅<br> C/C++ 🆗 <br>ROS2 >= Foxy 🆗                                                                                                                                      |
-| **OS**                            | Linux: Arm 32 ⭐✅ Arm 64 ⭐✅ x64_86 ⭐✅ <br>MacOS: Arm 64 ⭐✅ x64_86 ✅<br>Windows: x64_86 🆗 <br>WSL: x64_86 🆗 <br> Android: 🛠️ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32) <br> IOS: 🛠️ |
-| **Message Format**                | Arrow ✅ <br> Standard Specification 🛠️                                                                                                                                                                              |
-| **Local Communication**           | Shared Memory ✅ <br> [Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) 📐                                                                                                                              |
-| **Remote Communication**          | [Zenoh](https://zenoh.io/) 📐                                                                                                                                                                                        |
-| **Metrics, Tracing, and Logging** | Opentelemetry 📐                                                                                                                                                                                                     |
-| **Configuration**                 | YAML ✅                                                                                                                                                                                                              |
-| **Package Manager**               | [pip](https://pypi.org/): Python Node ✅ Rust Node ✅ C/C++ Node 🛠️ <br>[cargo](https://crates.io/): Rust Node ✅                                                                                                    |
+|                                   | dora-rs                                                                                                                                                                                                     |
+| --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| **APIs**                          | Python >= 3.7 including sync ⭐✅ <br> Rust ✅<br> C/C++ 🆗 <br>ROS2 >= Foxy 🆗                                                                                                                             |
+| **OS**                            | Linux: Arm 32 ⭐✅ Arm 64 ⭐✅ x64_86 ⭐✅ <br>MacOS: Arm 64 ⭐✅ <br>Windows: x64_86 🆗 <br>WSL: x64_86 🆗 <br> Android: 🛠️ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32) <br> IOS: 🛠️ |
+| **Message Format**                | Arrow ✅ <br> Standard Specification 🛠️                                                                                                                                                                     |
+| **Local Communication**           | Shared Memory ✅ <br> [Cuda IPC](https://arrow.apache.org/docs/python/api/cuda.html) 📐                                                                                                                     |
+| **Remote Communication**          | [Zenoh](https://zenoh.io/) 📐                                                                                                                                                                               |
+| **Metrics, Tracing, and Logging** | Opentelemetry 📐                                                                                                                                                                                            |
+| **Configuration**                 | YAML ✅                                                                                                                                                                                                     |
+| **Package Manager**               | [pip](https://pypi.org/): Python Node ✅ Rust Node ✅ C/C++ Node 🛠️ <br>[cargo](https://crates.io/): Rust Node ✅                                                                                           |
 
 > - ⭐ = Recommended
 > - ✅ = First Class Support
@@ -102,6 +104,8 @@
 | 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)   |
+| Camera                        | [Kornia V4L Capture](https://github.com/kornia/dora-nodes-hub/tree/main/kornia-v4l-capture)         | ✅                  | Video stream for Linux Camera (rust)             |                                                                               | ![License](https://img.shields.io/badge/license-Apache%202-blue)           |
+| Camera                        | [Kornia GST Capture](https://github.com/kornia/dora-nodes-hub/tree/main/kornia-gst-capture)         | ✅                  | Video Capture using Gstreamer (rust)             |                                                                               | ![License](https://img.shields.io/badge/license-Apache%202-blue)           |
 | 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)           |
@@ -134,6 +138,7 @@
 | 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             |                                                                               |                                                                            |
+| Image Processing              | [Kornia Sobel Operator](https://github.com/kornia/dora-nodes-hub/tree/main/kornia-imgproc-sobel)    | ✅                  | Kornia image processing Sobel operator (rust)    |                                                                               | ![License](https://img.shields.io/badge/license-Apache%202-blue)           |
 
 ## Examples
 
@@ -144,6 +149,7 @@
 | 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)                |
+| Vision         | [Image Processing](https://github.com/kornia/kornia-rs/tree/main/examples/dora)                              | Multi camera image processing                       |                                                                                                                    |
 | 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) |

apis/python/node/Cargo.toml

@@ -30,7 +30,7 @@ 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"
+pyo3_special_method_derive = "0.4.3"
 tokio = { version = "1.24.2", features = ["rt"] }
 
 [build-dependencies]

apis/python/node/pyproject.toml

@@ -22,11 +22,3 @@ extend-select = [
     "D",  # pydocstyle
     "UP",
 ]
-
-[tool.maturin.target.x86_64-apple-darwin]
-# macOS deployment target SDK version
-macos-deployment-target = "14.5"
-
-[tool.maturin.target.aarch64-apple-darwin]
-# macOS deployment target SDK version
-macos-deployment-target = "14.5"

apis/python/node/src/lib.rs

@@ -17,7 +17,7 @@ use eyre::Context;
 use futures::{Stream, StreamExt};
 use pyo3::prelude::*;
 use pyo3::types::{PyBytes, PyDict};
-/// use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
+use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
 
 /// The custom node API lets you integrate `dora` into your application.
 /// It allows you to retrieve input and send output in any fashion you want.
@@ -32,7 +32,7 @@ use pyo3::types::{PyBytes, PyDict};
 ///
 /// :type node_id: str, optional
 #[pyclass]
-/// #[derive(Dir, Dict, Str, Repr)]
+#[derive(Dir, Dict, Str, Repr)]
 pub struct Node {
     events: Events,
     node: DelayedCleanup<DoraNode>,
@@ -381,7 +381,7 @@ pub fn resolve_dataflow(dataflow: String) -> eyre::Result<PathBuf> {
 #[pyfunction]
 #[pyo3(signature = (dataflow_path, uv=None))]
 pub fn run(dataflow_path: String, uv: Option<bool>) -> eyre::Result<()> {
-    dora_cli::command::run(dataflow_path, uv.unwrap_or_default())
+    dora_cli::run_func(dataflow_path, uv.unwrap_or_default())
 }
 
 #[pymodule]

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

@@ -58,6 +58,7 @@ mod drop_stream;
 /// TCP.
 pub const ZERO_COPY_THRESHOLD: usize = 4096;
 
+#[allow(dead_code)]
 enum TokioRuntime {
     Runtime(Runtime),
     Handle(Handle),

binaries/cli/pyproject.toml

@@ -18,11 +18,3 @@ extend-select = [
   "D",  # pydocstyle
   "UP",
 ]
-
-[tool.maturin.target.x86_64-apple-darwin]
-# macOS deployment target SDK version
-macos-deployment-target = "14.5"
-
-[tool.maturin.target.aarch64-apple-darwin]
-# macOS deployment target SDK version
-macos-deployment-target = "14.5"

binaries/cli/src/command/build/mod.rs

@@ -54,9 +54,13 @@ use dora_core::{
 };
 use dora_message::{descriptor::NodeSource, BuildId};
 use eyre::Context;
-use std::collections::BTreeMap;
+use std::{collections::BTreeMap, net::IpAddr};
 
-use crate::{connect_to_coordinator, resolve_dataflow, session::DataflowSession};
+use super::{default_tracing, Executable};
+use crate::{
+    common::{connect_to_coordinator, local_working_dir, resolve_dataflow},
+    session::DataflowSession,
+};
 
 use distributed::{build_distributed_dataflow, wait_until_dataflow_built};
 use local::build_dataflow_locally;
@@ -65,9 +69,42 @@ mod distributed;
 mod git;
 mod local;
 
+#[derive(Debug, clap::Args)]
+/// Run build commands provided in the given dataflow.
+pub struct Build {
+    /// Path to the dataflow descriptor file
+    #[clap(value_name = "PATH")]
+    dataflow: String,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP")]
+    coordinator_addr: Option<IpAddr>,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT")]
+    coordinator_port: Option<u16>,
+    // Use UV to build nodes.
+    #[clap(long, action)]
+    uv: bool,
+    // Run build on local machine
+    #[clap(long, action)]
+    local: bool,
+}
+
+impl Executable for Build {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        build(
+            self.dataflow,
+            self.coordinator_addr,
+            self.coordinator_port,
+            self.uv,
+            self.local,
+        )
+    }
+}
+
 pub fn build(
     dataflow: String,
-    coordinator_addr: Option<std::net::IpAddr>,
+    coordinator_addr: Option<IpAddr>,
     coordinator_port: Option<u16>,
     uv: bool,
     force_local: bool,
@@ -153,7 +190,7 @@ pub fn build(
         BuildKind::ThroughCoordinator {
             mut coordinator_session,
         } => {
-            let local_working_dir = super::local_working_dir(
+            let local_working_dir = local_working_dir(
                 &dataflow_path,
                 &dataflow_descriptor,
                 &mut *coordinator_session,

binaries/cli/src/command/check.rs

@@ -1,11 +1,15 @@
-use crate::connect_to_coordinator;
+use super::{default_tracing, Executable};
+use crate::{common::connect_to_coordinator, LOCALHOST};
 use communication_layer_request_reply::TcpRequestReplyConnection;
+use dora_core::descriptor::DescriptorExt;
+use dora_core::{descriptor::Descriptor, topics::DORA_COORDINATOR_PORT_CONTROL_DEFAULT};
 use dora_message::{cli_to_coordinator::ControlRequest, coordinator_to_cli::ControlRequestReply};
 use eyre::{bail, Context};
 use std::{
     io::{IsTerminal, Write},
     net::SocketAddr,
 };
+use std::{net::IpAddr, path::PathBuf};
 use termcolor::{Color, ColorChoice, ColorSpec, WriteColor};
 
 pub fn check_environment(coordinator_addr: SocketAddr) -> eyre::Result<()> {
@@ -75,3 +79,39 @@ pub fn daemon_running(session: &mut TcpRequestReplyConnection) -> Result<bool, e
 
     Ok(running)
 }
+
+#[derive(Debug, clap::Args)]
+/// Check if the coordinator and the daemon is running.
+pub struct Check {
+    /// Path to the dataflow descriptor file (enables additional checks)
+    #[clap(long, value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
+    dataflow: Option<PathBuf>,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    coordinator_addr: IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    coordinator_port: u16,
+}
+
+impl Executable for Check {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+
+        match self.dataflow {
+            Some(dataflow) => {
+                let working_dir = dataflow
+                    .canonicalize()
+                    .context("failed to canonicalize dataflow path")?
+                    .parent()
+                    .ok_or_else(|| eyre::eyre!("dataflow path has no parent dir"))?
+                    .to_owned();
+                Descriptor::blocking_read(&dataflow)?.check(&working_dir)?;
+                check_environment((self.coordinator_addr, self.coordinator_port).into())?
+            }
+            None => check_environment((self.coordinator_addr, self.coordinator_port).into())?,
+        }
+
+        Ok(())
+    }
+}

binaries/cli/src/command/coordinator.rs

@@ -0,0 +1,66 @@
+use super::Executable;
+use crate::LISTEN_WILDCARD;
+use dora_coordinator::Event;
+use dora_core::topics::{DORA_COORDINATOR_PORT_CONTROL_DEFAULT, DORA_COORDINATOR_PORT_DEFAULT};
+
+#[cfg(feature = "tracing")]
+use dora_tracing::TracingBuilder;
+
+use eyre::Context;
+use std::net::{IpAddr, SocketAddr};
+use tokio::runtime::Builder;
+use tracing::level_filters::LevelFilter;
+
+#[derive(Debug, clap::Args)]
+/// Run coordinator
+pub struct Coordinator {
+    /// Network interface to bind to for daemon communication
+    #[clap(long, default_value_t = LISTEN_WILDCARD)]
+    interface: IpAddr,
+    /// Port number to bind to for daemon communication
+    #[clap(long, default_value_t = DORA_COORDINATOR_PORT_DEFAULT)]
+    port: u16,
+    /// Network interface to bind to for control communication
+    #[clap(long, default_value_t = LISTEN_WILDCARD)]
+    control_interface: IpAddr,
+    /// Port number to bind to for control communication
+    #[clap(long, default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    control_port: u16,
+    /// Suppresses all log output to stdout.
+    #[clap(long)]
+    quiet: bool,
+}
+
+impl Executable for Coordinator {
+    fn execute(self) -> eyre::Result<()> {
+        #[cfg(feature = "tracing")]
+        {
+            let name = "dora-coordinator";
+            let mut builder = TracingBuilder::new(name);
+            if !self.quiet {
+                builder = builder.with_stdout("info");
+            }
+            builder = builder.with_file(name, LevelFilter::INFO)?;
+            builder
+                .build()
+                .wrap_err("failed to set up tracing subscriber")?;
+        }
+
+        let rt = Builder::new_multi_thread()
+            .enable_all()
+            .build()
+            .context("tokio runtime failed")?;
+        rt.block_on(async {
+            let bind = SocketAddr::new(self.interface, self.port);
+            let bind_control = SocketAddr::new(self.control_interface, self.control_port);
+            let (port, task) =
+                dora_coordinator::start(bind, bind_control, futures::stream::empty::<Event>())
+                    .await?;
+            if !self.quiet {
+                println!("Listening for incoming daemon connection on {port}");
+            }
+            task.await
+        })
+        .context("failed to run dora-coordinator")
+    }
+}

binaries/cli/src/command/daemon.rs

@@ -0,0 +1,91 @@
+use super::Executable;
+use crate::{common::handle_dataflow_result, session::DataflowSession};
+use dora_core::topics::{
+    DORA_COORDINATOR_PORT_DEFAULT, DORA_DAEMON_LOCAL_LISTEN_PORT_DEFAULT, LOCALHOST,
+};
+
+use dora_daemon::LogDestination;
+#[cfg(feature = "tracing")]
+use dora_tracing::TracingBuilder;
+
+use eyre::Context;
+use std::{
+    net::{IpAddr, SocketAddr},
+    path::PathBuf,
+};
+use tokio::runtime::Builder;
+use tracing::level_filters::LevelFilter;
+
+#[derive(Debug, clap::Args)]
+/// Run daemon
+pub struct Daemon {
+    /// Unique identifier for the machine (required for distributed dataflows)
+    #[clap(long)]
+    machine_id: Option<String>,
+    /// Local listen port for event such as dynamic node.
+    #[clap(long, default_value_t = DORA_DAEMON_LOCAL_LISTEN_PORT_DEFAULT)]
+    local_listen_port: u16,
+    /// Address and port number of the dora coordinator
+    #[clap(long, short, default_value_t = LOCALHOST)]
+    coordinator_addr: IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, default_value_t = DORA_COORDINATOR_PORT_DEFAULT)]
+    coordinator_port: u16,
+    #[clap(long, hide = true)]
+    run_dataflow: Option<PathBuf>,
+    /// Suppresses all log output to stdout.
+    #[clap(long)]
+    quiet: bool,
+}
+
+impl Executable for Daemon {
+    fn execute(self) -> eyre::Result<()> {
+        #[cfg(feature = "tracing")]
+        {
+            let name = "dora-daemon";
+            let filename = self
+                .machine_id
+                .as_ref()
+                .map(|id| format!("{name}-{id}"))
+                .unwrap_or(name.to_string());
+            let mut builder = TracingBuilder::new(name);
+            if !self.quiet {
+                builder = builder.with_stdout("info,zenoh=warn");
+            }
+            builder = builder.with_file(filename, LevelFilter::INFO)?;
+            builder
+                .build()
+                .wrap_err("failed to set up tracing subscriber")?;
+        }
+
+        let rt = Builder::new_multi_thread()
+            .enable_all()
+            .build()
+            .context("tokio runtime failed")?;
+        rt.block_on(async {
+                match self.run_dataflow {
+                    Some(dataflow_path) => {
+                        tracing::info!("Starting dataflow `{}`", dataflow_path.display());
+                        if self.coordinator_addr != LOCALHOST {
+                            tracing::info!(
+                                "Not using coordinator addr {} as `run_dataflow` is for local dataflow only. Please use the `start` command for remote coordinator",
+                                self.coordinator_addr
+                            );
+                        }
+                        let dataflow_session =
+                            DataflowSession::read_session(&dataflow_path).context("failed to read DataflowSession")?;
+
+                        let result = dora_daemon::Daemon::run_dataflow(&dataflow_path,
+                            dataflow_session.build_id, dataflow_session.local_build, dataflow_session.session_id, false,
+                            LogDestination::Tracing,
+                        ).await?;
+                        handle_dataflow_result(result, None)
+                    }
+                    None => {
+                        dora_daemon::Daemon::run(SocketAddr::new(self.coordinator_addr, self.coordinator_port), self.machine_id, self.local_listen_port).await
+                    }
+                }
+            })
+            .context("failed to run dora-daemon")
+    }
+}

binaries/cli/src/command/destroy.rs

@@ -0,0 +1,28 @@
+use super::{default_tracing, up, Executable};
+use dora_core::topics::{DORA_COORDINATOR_PORT_CONTROL_DEFAULT, LOCALHOST};
+use std::net::IpAddr;
+use std::path::PathBuf;
+
+#[derive(Debug, clap::Args)]
+/// Destroy running coordinator and daemon. If some dataflows are still running, they will be stopped first.
+pub struct Destroy {
+    /// Use a custom configuration
+    #[clap(long, hide = true)]
+    config: Option<PathBuf>,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    coordinator_addr: IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    coordinator_port: u16,
+}
+
+impl Executable for Destroy {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        up::destroy(
+            self.config.as_deref(),
+            (self.coordinator_addr, self.coordinator_port).into(),
+        )
+    }
+}

binaries/cli/src/graph/mod.rs → binaries/cli/src/command/graph.rs

@@ -1,11 +1,35 @@
-use std::{fs::File, io::Write, path::Path};
-
+use super::Executable;
 use dora_core::descriptor::{Descriptor, DescriptorExt};
 use eyre::Context;
+use std::{
+    fs::File,
+    io::Write,
+    path::{Path, PathBuf},
+};
+
+const MERMAID_TEMPLATE: &str = include_str!("graph/mermaid-template.html");
+
+#[derive(Debug, clap::Args)]
+/// Generate a visualization of the given graph using mermaid.js. Use --open to open browser.
+pub struct Graph {
+    /// Path to the dataflow descriptor file
+    #[clap(value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
+    dataflow: PathBuf,
+    /// Visualize the dataflow as a Mermaid diagram (instead of HTML)
+    #[clap(long, action)]
+    mermaid: bool,
+    /// Open the HTML visualization in the browser
+    #[clap(long, action)]
+    open: bool,
+}
 
-const MERMAID_TEMPLATE: &str = include_str!("mermaid-template.html");
+impl Executable for Graph {
+    fn execute(self) -> eyre::Result<()> {
+        create(self.dataflow, self.mermaid, self.open)
+    }
+}
 
-pub(crate) fn create(dataflow: std::path::PathBuf, mermaid: bool, open: bool) -> eyre::Result<()> {
+fn create(dataflow: std::path::PathBuf, mermaid: bool, open: bool) -> eyre::Result<()> {
     if mermaid {
         let visualized = visualize_as_mermaid(&dataflow)?;
         println!("{visualized}");

binaries/cli/src/command/graph/.gitignore

@@ -0,0 +1 @@
+!*template.html

binaries/cli/src/command/list.rs

@@ -0,0 +1,59 @@
+use std::io::Write;
+
+use super::{default_tracing, Executable};
+use crate::{
+    common::{connect_to_coordinator, query_running_dataflows},
+    LOCALHOST,
+};
+use clap::Args;
+use communication_layer_request_reply::TcpRequestReplyConnection;
+use dora_core::topics::DORA_COORDINATOR_PORT_CONTROL_DEFAULT;
+use dora_message::coordinator_to_cli::DataflowStatus;
+use eyre::eyre;
+use tabwriter::TabWriter;
+
+#[derive(Debug, Args)]
+/// List running dataflows.
+pub struct ListArgs {
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    pub coordinator_addr: std::net::IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    pub coordinator_port: u16,
+}
+
+impl Executable for ListArgs {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+
+        let mut session =
+            connect_to_coordinator((self.coordinator_addr, self.coordinator_port).into())
+                .map_err(|_| eyre!("Failed to connect to coordinator"))?;
+
+        list(&mut *session)
+    }
+}
+
+fn list(session: &mut TcpRequestReplyConnection) -> Result<(), eyre::ErrReport> {
+    let list = query_running_dataflows(session)?;
+
+    let mut tw = TabWriter::new(vec![]);
+    tw.write_all(b"UUID\tName\tStatus\n")?;
+    for entry in list.0 {
+        let uuid = entry.id.uuid;
+        let name = entry.id.name.unwrap_or_default();
+        let status = match entry.status {
+            DataflowStatus::Running => "Running",
+            DataflowStatus::Finished => "Succeeded",
+            DataflowStatus::Failed => "Failed",
+        };
+        tw.write_all(format!("{uuid}\t{name}\t{status}\n").as_bytes())?;
+    }
+    tw.flush()?;
+    let formatted = String::from_utf8(tw.into_inner()?)?;
+
+    println!("{formatted}");
+
+    Ok(())
+}

binaries/cli/src/command/logs.rs

@@ -1,9 +1,54 @@
+use super::{default_tracing, Executable};
+use crate::common::{connect_to_coordinator, query_running_dataflows};
+use bat::{Input, PrettyPrinter};
+use clap::Args;
 use communication_layer_request_reply::TcpRequestReplyConnection;
+use dora_core::topics::{DORA_COORDINATOR_PORT_CONTROL_DEFAULT, LOCALHOST};
 use dora_message::{cli_to_coordinator::ControlRequest, coordinator_to_cli::ControlRequestReply};
 use eyre::{bail, Context, Result};
 use uuid::Uuid;
 
-use bat::{Input, PrettyPrinter};
+#[derive(Debug, Args)]
+/// Show logs of a given dataflow and node.
+pub struct LogsArgs {
+    /// Identifier of the dataflow
+    #[clap(value_name = "UUID_OR_NAME")]
+    pub dataflow: Option<String>,
+    /// Show logs for the given node
+    #[clap(value_name = "NAME")]
+    pub node: String,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    pub coordinator_addr: std::net::IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    pub coordinator_port: u16,
+}
+
+impl Executable for LogsArgs {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+
+        let mut session =
+            connect_to_coordinator((self.coordinator_addr, self.coordinator_port).into())
+                .wrap_err("failed to connect to dora coordinator")?;
+        let list =
+            query_running_dataflows(&mut *session).wrap_err("failed to query running dataflows")?;
+        if let Some(dataflow) = self.dataflow {
+            let uuid = Uuid::parse_str(&dataflow).ok();
+            let name = if uuid.is_some() { None } else { Some(dataflow) };
+            logs(&mut *session, uuid, name, self.node)
+        } else {
+            let active = list.get_active();
+            let uuid = match &active[..] {
+                [] => bail!("No dataflows are running"),
+                [uuid] => uuid.clone(),
+                _ => inquire::Select::new("Choose dataflow to show logs:", active).prompt()?,
+            };
+            logs(&mut *session, Some(uuid.uuid), None, self.node)
+        }
+    }
+}
 
 pub fn logs(
     session: &mut TcpRequestReplyConnection,

binaries/cli/src/command/mod.rs

@@ -1,60 +1,104 @@
-pub use build::build;
-pub use logs::logs;
-pub use run::run;
-pub use start::start;
-
-use std::path::{Path, PathBuf};
-
-use communication_layer_request_reply::TcpRequestReplyConnection;
-use dora_core::descriptor::Descriptor;
-use dora_message::{cli_to_coordinator::ControlRequest, coordinator_to_cli::ControlRequestReply};
-use eyre::{bail, Context, ContextCompat};
-
 mod build;
-pub mod check;
+mod check;
+mod coordinator;
+mod daemon;
+mod destroy;
+mod graph;
+mod list;
 mod logs;
+mod new;
 mod run;
+mod runtime;
+mod self_;
 mod start;
-pub mod up;
-
-fn local_working_dir(
-    dataflow_path: &Path,
-    dataflow_descriptor: &Descriptor,
-    coordinator_session: &mut TcpRequestReplyConnection,
-) -> eyre::Result<Option<PathBuf>> {
-    Ok(
-        if dataflow_descriptor
-            .nodes
-            .iter()
-            .all(|n| n.deploy.as_ref().map(|d| d.machine.as_ref()).is_none())
-            && cli_and_daemon_on_same_machine(coordinator_session)?
-        {
-            Some(
-                dunce::canonicalize(dataflow_path)
-                    .context("failed to canonicalize dataflow file path")?
-                    .parent()
-                    .context("dataflow path has no parent dir")?
-                    .to_owned(),
-            )
-        } else {
-            None
-        },
-    )
+mod stop;
+mod up;
+
+pub use run::run_func;
+
+use build::Build;
+use check::Check;
+use coordinator::Coordinator;
+use daemon::Daemon;
+use destroy::Destroy;
+use eyre::Context;
+use graph::Graph;
+use list::ListArgs;
+use logs::LogsArgs;
+use new::NewArgs;
+use run::Run;
+use runtime::Runtime;
+use self_::SelfSubCommand;
+use start::Start;
+use stop::Stop;
+use up::Up;
+
+/// dora-rs cli client
+#[derive(Debug, clap::Subcommand)]
+pub enum Command {
+    Check(Check),
+    Graph(Graph),
+    Build(Build),
+    New(NewArgs),
+    Run(Run),
+    Up(Up),
+    Destroy(Destroy),
+    Start(Start),
+    Stop(Stop),
+    List(ListArgs),
+    // Planned for future releases:
+    // Dashboard,
+    #[command(allow_missing_positional = true)]
+    Logs(LogsArgs),
+    // Metrics,
+    // Stats,
+    // Get,
+    // Upgrade,
+    Daemon(Daemon),
+    Runtime(Runtime),
+    Coordinator(Coordinator),
+
+    Self_ {
+        #[clap(subcommand)]
+        command: SelfSubCommand,
+    },
+}
+
+fn default_tracing() -> eyre::Result<()> {
+    #[cfg(feature = "tracing")]
+    {
+        use dora_tracing::TracingBuilder;
+
+        TracingBuilder::new("dora-cli")
+            .with_stdout("warn")
+            .build()
+            .wrap_err("failed to set up tracing subscriber")?;
+    }
+    Ok(())
+}
+
+pub trait Executable {
+    fn execute(self) -> eyre::Result<()>;
 }
 
-fn cli_and_daemon_on_same_machine(session: &mut TcpRequestReplyConnection) -> eyre::Result<bool> {
-    let reply_raw = session
-        .request(&serde_json::to_vec(&ControlRequest::CliAndDefaultDaemonOnSameMachine).unwrap())
-        .wrap_err("failed to send start dataflow message")?;
-
-    let result: ControlRequestReply =
-        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
-    match result {
-        ControlRequestReply::CliAndDefaultDaemonIps {
-            default_daemon,
-            cli,
-        } => Ok(default_daemon.is_some() && default_daemon == cli),
-        ControlRequestReply::Error(err) => bail!("{err}"),
-        other => bail!("unexpected start dataflow reply: {other:?}"),
+impl Executable for Command {
+    fn execute(self) -> eyre::Result<()> {
+        match self {
+            Command::Check(args) => args.execute(),
+            Command::Coordinator(args) => args.execute(),
+            Command::Graph(args) => args.execute(),
+            Command::Build(args) => args.execute(),
+            Command::New(args) => args.execute(),
+            Command::Run(args) => args.execute(),
+            Command::Up(args) => args.execute(),
+            Command::Destroy(args) => args.execute(),
+            Command::Start(args) => args.execute(),
+            Command::Stop(args) => args.execute(),
+            Command::List(args) => args.execute(),
+            Command::Logs(args) => args.execute(),
+            Command::Daemon(args) => args.execute(),
+            Command::Self_ { command } => command.execute(),
+            Command::Runtime(args) => args.execute(),
+        }
     }
 }

binaries/cli/src/command/new.rs

@@ -0,0 +1,21 @@
+use clap::Args;
+
+use super::{default_tracing, Executable};
+
+#[derive(Debug, Args)]
+/// Generate a new project or node. Choose the language between Rust, Python, C or C++.
+pub struct NewArgs {
+    #[clap(flatten)]
+    // TODO!: better impl
+    args: crate::CommandNew,
+    /// Internal flag for creating with path dependencies
+    #[clap(hide = true, long)]
+    pub internal_create_with_path_dependencies: bool,
+}
+
+impl Executable for NewArgs {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        crate::template::create(self.args, self.internal_create_with_path_dependencies)
+    }
+}

binaries/cli/src/command/run.rs

@@ -5,15 +5,41 @@
 //!
 //! Use `dora build --local` or manual build commands to build your nodes.
 
+use super::Executable;
+use crate::{
+    common::{handle_dataflow_result, resolve_dataflow},
+    output::print_log_message,
+    session::DataflowSession,
+};
 use dora_daemon::{flume, Daemon, LogDestination};
+use dora_tracing::TracingBuilder;
 use eyre::Context;
 use tokio::runtime::Builder;
 
-use crate::{
-    handle_dataflow_result, output::print_log_message, resolve_dataflow, session::DataflowSession,
-};
+#[derive(Debug, clap::Args)]
+/// Run a dataflow locally.
+///
+/// Directly runs the given dataflow without connecting to a dora
+/// coordinator or daemon. The dataflow is executed on the local machine.
+pub struct Run {
+    /// Path to the dataflow descriptor file
+    #[clap(value_name = "PATH")]
+    dataflow: String,
+    // Use UV to run nodes.
+    #[clap(long, action)]
+    uv: bool,
+}
+
+pub fn run_func(dataflow: String, uv: bool) -> eyre::Result<()> {
+    #[cfg(feature = "tracing")]
+    {
+        let log_level = std::env::var("RUST_LOG").ok().unwrap_or("info".to_string());
+        TracingBuilder::new("run")
+            .with_stdout(log_level)
+            .build()
+            .wrap_err("failed to set up tracing subscriber")?;
+    }
 
-pub fn run(dataflow: String, uv: bool) -> Result<(), eyre::Error> {
     let dataflow_path = resolve_dataflow(dataflow).context("could not resolve dataflow")?;
     let dataflow_session =
         DataflowSession::read_session(&dataflow_path).context("failed to read DataflowSession")?;
@@ -39,3 +65,9 @@ pub fn run(dataflow: String, uv: bool) -> Result<(), eyre::Error> {
     ))?;
     handle_dataflow_result(result, None)
 }
+
+impl Executable for Run {
+    fn execute(self) -> eyre::Result<()> {
+        run_func(self.dataflow, self.uv)
+    }
+}

binaries/cli/src/command/runtime.rs

@@ -0,0 +1,15 @@
+use eyre::Context;
+
+use super::Executable;
+
+#[derive(Debug, clap::Args)]
+/// Run runtime
+pub struct Runtime;
+
+impl Executable for Runtime {
+    fn execute(self) -> eyre::Result<()> {
+        // No tracing: Do not set the runtime in the cli.
+        // ref: 72b4be808122574fcfda69650954318e0355cc7b cli::run
+        dora_runtime::main().context("Failed to run dora-runtime")
+    }
+}

binaries/cli/src/command/self_.rs

@@ -0,0 +1,139 @@
+use super::{default_tracing, Executable};
+use clap::Subcommand;
+use eyre::{bail, Context};
+
+#[derive(Debug, Subcommand)]
+/// Dora CLI self-management commands
+pub enum SelfSubCommand {
+    /// Check for updates or update the CLI
+    Update {
+        /// Only check for updates without installing
+        #[clap(long)]
+        check_only: bool,
+    },
+    /// Remove The Dora CLI from the system
+    Uninstall {
+        /// Force uninstallation without confirmation
+        #[clap(long)]
+        force: bool,
+    },
+}
+
+impl Executable for SelfSubCommand {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+
+        match self {
+            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),
+                    }
+                }
+            }
+            SelfSubCommand::Uninstall { force } => {
+                if !force {
+                    let confirmed =
+                        inquire::Confirm::new("Are you sure you want to uninstall Dora CLI?")
+                            .with_default(false)
+                            .prompt()
+                            .wrap_err("Uninstallation cancelled")?;
+
+                    if !confirmed {
+                        println!("Uninstallation cancelled");
+                        return Ok(());
+                    }
+                }
+
+                println!("Uninstalling Dora CLI...");
+                #[cfg(feature = "python")]
+                {
+                    println!("Detected Python installation...");
+
+                    // Try uv pip uninstall first
+                    let uv_status = std::process::Command::new("uv")
+                        .args(["pip", "uninstall", "dora-rs-cli"])
+                        .status();
+
+                    if let Ok(status) = uv_status {
+                        if status.success() {
+                            println!("Dora CLI has been successfully uninstalled via uv pip.");
+                            return Ok(());
+                        }
+                    }
+
+                    // Fall back to regular pip uninstall
+                    println!("Trying with pip...");
+                    let status = std::process::Command::new("pip")
+                        .args(["uninstall", "-y", "dora-rs-cli"])
+                        .status()
+                        .wrap_err("Failed to run pip uninstall")?;
+
+                    if status.success() {
+                        println!("Dora CLI has been successfully uninstalled via pip.");
+                    } else {
+                        bail!("Failed to uninstall Dora CLI via pip.");
+                    }
+                }
+                #[cfg(not(feature = "python"))]
+                {
+                    match self_replace::self_delete() {
+                        Ok(_) => {
+                            println!("Dora CLI has been successfully uninstalled.");
+                        }
+                        Err(e) => {
+                            bail!("Failed to uninstall Dora CLI: {}", e);
+                        }
+                    }
+                }
+            }
+        }
+        Ok(())
+    }
+}

binaries/cli/src/command/start/attach.rs

@@ -14,7 +14,7 @@ use std::{path::PathBuf, sync::mpsc, time::Duration};
 use tracing::{error, info};
 use uuid::Uuid;
 
-use crate::handle_dataflow_result;
+use crate::common::handle_dataflow_result;
 use crate::output::print_log_message;
 
 pub fn attach_dataflow(

binaries/cli/src/command/start/mod.rs

@@ -2,73 +2,104 @@
 //!
 //! The `dora start` command does not run any build commands, nor update git dependencies or similar. Use `dora build` for that.
 
+use super::{default_tracing, Executable};
+use crate::{
+    command::start::attach::attach_dataflow,
+    common::{connect_to_coordinator, local_working_dir, resolve_dataflow},
+    output::print_log_message,
+    session::DataflowSession,
+};
 use communication_layer_request_reply::{TcpConnection, TcpRequestReplyConnection};
-use dora_core::descriptor::{Descriptor, DescriptorExt};
+use dora_core::{
+    descriptor::{Descriptor, DescriptorExt},
+    topics::{DORA_COORDINATOR_PORT_CONTROL_DEFAULT, LOCALHOST},
+};
 use dora_message::{
     cli_to_coordinator::ControlRequest, common::LogMessage, coordinator_to_cli::ControlRequestReply,
 };
 use eyre::{bail, Context};
 use std::{
-    net::{SocketAddr, TcpStream},
+    net::{IpAddr, SocketAddr, TcpStream},
     path::PathBuf,
 };
 use uuid::Uuid;
 
-use crate::{
-    connect_to_coordinator, output::print_log_message, resolve_dataflow, session::DataflowSession,
-};
-use attach::attach_dataflow;
-
 mod attach;
 
-pub fn start(
+#[derive(Debug, clap::Args)]
+/// Start the given dataflow path. Attach a name to the running dataflow by using --name.
+pub struct Start {
+    /// Path to the dataflow descriptor file
+    #[clap(value_name = "PATH")]
     dataflow: String,
+    /// Assign a name to the dataflow
+    #[clap(long)]
     name: Option<String>,
-    coordinator_socket: SocketAddr,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    coordinator_addr: IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    coordinator_port: u16,
+    /// Attach to the dataflow and wait for its completion
+    #[clap(long, action)]
     attach: bool,
+    /// Run the dataflow in background
+    #[clap(long, action)]
     detach: bool,
+    /// Enable hot reloading (Python only)
+    #[clap(long, action)]
     hot_reload: bool,
+    // Use UV to run nodes.
+    #[clap(long, action)]
     uv: bool,
-) -> eyre::Result<()> {
-    let (dataflow, dataflow_descriptor, mut session, dataflow_id) =
-        start_dataflow(dataflow, name, coordinator_socket, uv)?;
-
-    let attach = match (attach, detach) {
-        (true, true) => eyre::bail!("both `--attach` and `--detach` are given"),
-        (true, false) => true,
-        (false, true) => false,
-        (false, false) => {
-            println!("attaching to dataflow (use `--detach` to run in background)");
-            true
-        }
-    };
+}
 
-    if attach {
-        let log_level = env_logger::Builder::new()
-            .filter_level(log::LevelFilter::Info)
-            .parse_default_env()
-            .build()
-            .filter();
-
-        attach_dataflow(
-            dataflow_descriptor,
-            dataflow,
-            dataflow_id,
-            &mut *session,
-            hot_reload,
-            coordinator_socket,
-            log_level,
-        )
-    } else {
-        let print_daemon_name = dataflow_descriptor.nodes.iter().any(|n| n.deploy.is_some());
-        // wait until dataflow is started
-        wait_until_dataflow_started(
-            dataflow_id,
-            &mut session,
-            coordinator_socket,
-            log::LevelFilter::Info,
-            print_daemon_name,
-        )
+impl Executable for Start {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        let coordinator_socket = (self.coordinator_addr, self.coordinator_port).into();
+
+        let (dataflow, dataflow_descriptor, mut session, dataflow_id) =
+            start_dataflow(self.dataflow, self.name, coordinator_socket, self.uv)?;
+
+        let attach = match (self.attach, self.detach) {
+            (true, true) => eyre::bail!("both `--attach` and `--detach` are given"),
+            (true, false) => true,
+            (false, true) => false,
+            (false, false) => {
+                println!("attaching to dataflow (use `--detach` to run in background)");
+                true
+            }
+        };
+
+        if attach {
+            let log_level = env_logger::Builder::new()
+                .filter_level(log::LevelFilter::Info)
+                .parse_default_env()
+                .build()
+                .filter();
+
+            attach_dataflow(
+                dataflow_descriptor,
+                dataflow,
+                dataflow_id,
+                &mut *session,
+                self.hot_reload,
+                coordinator_socket,
+                log_level,
+            )
+        } else {
+            let print_daemon_name = dataflow_descriptor.nodes.iter().any(|n| n.deploy.is_some());
+            // wait until dataflow is started
+            wait_until_dataflow_started(
+                dataflow_id,
+                &mut session,
+                coordinator_socket,
+                log::LevelFilter::Info,
+                print_daemon_name,
+            )
+        }
     }
 }
 
@@ -87,8 +118,7 @@ fn start_dataflow(
     let mut session = connect_to_coordinator(coordinator_socket)
         .wrap_err("failed to connect to dora coordinator")?;
 
-    let local_working_dir =
-        super::local_working_dir(&dataflow, &dataflow_descriptor, &mut *session)?;
+    let local_working_dir = local_working_dir(&dataflow, &dataflow_descriptor, &mut *session)?;
 
     let dataflow_id = {
         let dataflow = dataflow_descriptor.clone();

binaries/cli/src/command/stop.rs

@@ -0,0 +1,111 @@
+use super::{default_tracing, Executable};
+use crate::common::{connect_to_coordinator, handle_dataflow_result, query_running_dataflows};
+use communication_layer_request_reply::TcpRequestReplyConnection;
+use dora_core::topics::{DORA_COORDINATOR_PORT_CONTROL_DEFAULT, LOCALHOST};
+use dora_message::cli_to_coordinator::ControlRequest;
+use dora_message::coordinator_to_cli::ControlRequestReply;
+use duration_str::parse;
+use eyre::{bail, Context};
+use std::net::IpAddr;
+use std::time::Duration;
+use uuid::Uuid;
+
+#[derive(Debug, clap::Args)]
+/// Stop the given dataflow UUID. If no id is provided, you will be able to choose between the running dataflows.
+pub struct Stop {
+    /// UUID of the dataflow that should be stopped
+    uuid: Option<Uuid>,
+    /// Name of the dataflow that should be stopped
+    #[clap(long)]
+    name: Option<String>,
+    /// Kill the dataflow if it doesn't stop after the given duration
+    #[clap(long, value_name = "DURATION")]
+    #[arg(value_parser = parse)]
+    grace_duration: Option<Duration>,
+    /// Address of the dora coordinator
+    #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
+    coordinator_addr: IpAddr,
+    /// Port number of the coordinator control server
+    #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
+    coordinator_port: u16,
+}
+
+impl Executable for Stop {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        let mut session =
+            connect_to_coordinator((self.coordinator_addr, self.coordinator_port).into())
+                .wrap_err("could not connect to dora coordinator")?;
+        match (self.uuid, self.name) {
+            (Some(uuid), _) => stop_dataflow(uuid, self.grace_duration, &mut *session),
+            (None, Some(name)) => stop_dataflow_by_name(name, self.grace_duration, &mut *session),
+            (None, None) => stop_dataflow_interactive(self.grace_duration, &mut *session),
+        }
+    }
+}
+
+fn stop_dataflow_interactive(
+    grace_duration: Option<Duration>,
+    session: &mut TcpRequestReplyConnection,
+) -> eyre::Result<()> {
+    let list = query_running_dataflows(session).wrap_err("failed to query running dataflows")?;
+    let active = list.get_active();
+    if active.is_empty() {
+        eprintln!("No dataflows are running");
+    } else {
+        let selection = inquire::Select::new("Choose dataflow to stop:", active).prompt()?;
+        stop_dataflow(selection.uuid, grace_duration, session)?;
+    }
+
+    Ok(())
+}
+
+fn stop_dataflow(
+    uuid: Uuid,
+    grace_duration: Option<Duration>,
+    session: &mut TcpRequestReplyConnection,
+) -> Result<(), eyre::ErrReport> {
+    let reply_raw = session
+        .request(
+            &serde_json::to_vec(&ControlRequest::Stop {
+                dataflow_uuid: uuid,
+                grace_duration,
+            })
+            .unwrap(),
+        )
+        .wrap_err("failed to send dataflow stop message")?;
+    let result: ControlRequestReply =
+        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
+    match result {
+        ControlRequestReply::DataflowStopped { uuid, result } => {
+            handle_dataflow_result(result, Some(uuid))
+        }
+        ControlRequestReply::Error(err) => bail!("{err}"),
+        other => bail!("unexpected stop dataflow reply: {other:?}"),
+    }
+}
+
+fn stop_dataflow_by_name(
+    name: String,
+    grace_duration: Option<Duration>,
+    session: &mut TcpRequestReplyConnection,
+) -> Result<(), eyre::ErrReport> {
+    let reply_raw = session
+        .request(
+            &serde_json::to_vec(&ControlRequest::StopByName {
+                name,
+                grace_duration,
+            })
+            .unwrap(),
+        )
+        .wrap_err("failed to send dataflow stop_by_name message")?;
+    let result: ControlRequestReply =
+        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
+    match result {
+        ControlRequestReply::DataflowStopped { uuid, result } => {
+            handle_dataflow_result(result, Some(uuid))
+        }
+        ControlRequestReply::Error(err) => bail!("{err}"),
+        other => bail!("unexpected stop dataflow reply: {other:?}"),
+    }
+}

binaries/cli/src/command/up.rs

@@ -1,8 +1,27 @@
-use crate::{command::check::daemon_running, connect_to_coordinator, LOCALHOST};
+use super::check::daemon_running;
+use super::{default_tracing, Executable};
+use crate::{common::connect_to_coordinator, LOCALHOST};
 use dora_core::topics::DORA_COORDINATOR_PORT_CONTROL_DEFAULT;
 use dora_message::{cli_to_coordinator::ControlRequest, coordinator_to_cli::ControlRequestReply};
 use eyre::{bail, Context, ContextCompat};
+use std::path::PathBuf;
 use std::{fs, net::SocketAddr, path::Path, process::Command, time::Duration};
+
+#[derive(Debug, clap::Args)]
+/// Spawn coordinator and daemon in local mode (with default config)
+pub struct Up {
+    /// Use a custom configuration
+    #[clap(long, hide = true, value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
+    config: Option<PathBuf>,
+}
+
+impl Executable for Up {
+    fn execute(self) -> eyre::Result<()> {
+        default_tracing()?;
+        up(self.config.as_deref())
+    }
+}
+
 #[derive(Debug, Default, serde::Serialize, serde::Deserialize)]
 struct UpConfig {}
 

binaries/cli/src/common.rs

@@ -0,0 +1,117 @@
+use crate::formatting::FormatDataflowError;
+use communication_layer_request_reply::{RequestReplyLayer, TcpLayer, TcpRequestReplyConnection};
+use dora_core::descriptor::{source_is_url, Descriptor};
+use dora_download::download_file;
+use dora_message::{
+    cli_to_coordinator::ControlRequest,
+    coordinator_to_cli::{ControlRequestReply, DataflowList, DataflowResult},
+};
+use eyre::{bail, Context, ContextCompat};
+use std::{
+    env::current_dir,
+    net::SocketAddr,
+    path::{Path, PathBuf},
+};
+use tokio::runtime::Builder;
+use uuid::Uuid;
+
+pub(crate) fn handle_dataflow_result(
+    result: DataflowResult,
+    uuid: Option<Uuid>,
+) -> Result<(), eyre::Error> {
+    if result.is_ok() {
+        Ok(())
+    } else {
+        Err(match uuid {
+            Some(uuid) => {
+                eyre::eyre!("Dataflow {uuid} failed:\n{}", FormatDataflowError(&result))
+            }
+            None => {
+                eyre::eyre!("Dataflow failed:\n{}", FormatDataflowError(&result))
+            }
+        })
+    }
+}
+
+pub(crate) fn query_running_dataflows(
+    session: &mut TcpRequestReplyConnection,
+) -> eyre::Result<DataflowList> {
+    let reply_raw = session
+        .request(&serde_json::to_vec(&ControlRequest::List).unwrap())
+        .wrap_err("failed to send list message")?;
+    let reply: ControlRequestReply =
+        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
+    let ids = match reply {
+        ControlRequestReply::DataflowList(list) => list,
+        ControlRequestReply::Error(err) => bail!("{err}"),
+        other => bail!("unexpected list dataflow reply: {other:?}"),
+    };
+
+    Ok(ids)
+}
+
+pub(crate) fn connect_to_coordinator(
+    coordinator_addr: SocketAddr,
+) -> std::io::Result<Box<TcpRequestReplyConnection>> {
+    TcpLayer::new().connect(coordinator_addr)
+}
+
+pub(crate) 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 = 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)
+}
+
+pub(crate) fn local_working_dir(
+    dataflow_path: &Path,
+    dataflow_descriptor: &Descriptor,
+    coordinator_session: &mut TcpRequestReplyConnection,
+) -> eyre::Result<Option<PathBuf>> {
+    Ok(
+        if dataflow_descriptor
+            .nodes
+            .iter()
+            .all(|n| n.deploy.as_ref().map(|d| d.machine.as_ref()).is_none())
+            && cli_and_daemon_on_same_machine(coordinator_session)?
+        {
+            Some(
+                dunce::canonicalize(dataflow_path)
+                    .context("failed to canonicalize dataflow file path")?
+                    .parent()
+                    .context("dataflow path has no parent dir")?
+                    .to_owned(),
+            )
+        } else {
+            None
+        },
+    )
+}
+
+pub(crate) fn cli_and_daemon_on_same_machine(
+    session: &mut TcpRequestReplyConnection,
+) -> eyre::Result<bool> {
+    let reply_raw = session
+        .request(&serde_json::to_vec(&ControlRequest::CliAndDefaultDaemonOnSameMachine).unwrap())
+        .wrap_err("failed to send start dataflow message")?;
+
+    let result: ControlRequestReply =
+        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
+    match result {
+        ControlRequestReply::CliAndDefaultDaemonIps {
+            default_daemon,
+            cli,
+        } => Ok(default_daemon.is_some() && default_daemon == cli),
+        ControlRequestReply::Error(err) => bail!("{err}"),
+        other => bail!("unexpected start dataflow reply: {other:?}"),
+    }
+}

binaries/cli/src/lib.rs

@@ -1,42 +1,19 @@
 use colored::Colorize;
-use communication_layer_request_reply::{RequestReplyLayer, TcpLayer, TcpRequestReplyConnection};
-use dora_coordinator::Event;
-use dora_core::{
-    descriptor::{source_is_url, Descriptor, DescriptorExt},
-    topics::{
-        DORA_COORDINATOR_PORT_CONTROL_DEFAULT, DORA_COORDINATOR_PORT_DEFAULT,
-        DORA_DAEMON_LOCAL_LISTEN_PORT_DEFAULT,
-    },
-};
-use dora_daemon::{Daemon, LogDestination};
-use dora_download::download_file;
-use dora_message::{
-    cli_to_coordinator::ControlRequest,
-    coordinator_to_cli::{ControlRequestReply, DataflowList, DataflowResult, DataflowStatus},
-};
-#[cfg(feature = "tracing")]
-use dora_tracing::TracingBuilder;
-use duration_str::parse;
-use eyre::{bail, Context};
-use formatting::FormatDataflowError;
-use std::{env::current_dir, io::Write, net::SocketAddr};
+use command::Executable;
 use std::{
     net::{IpAddr, Ipv4Addr},
     path::PathBuf,
-    time::Duration,
 };
-use tabwriter::TabWriter;
-use tokio::runtime::Builder;
-use tracing::level_filters::LevelFilter;
-use uuid::Uuid;
 
-pub mod command;
+mod command;
+mod common;
 mod formatting;
-mod graph;
 pub mod output;
 pub mod session;
 mod template;
 
+pub use command::run_func;
+
 const LOCALHOST: IpAddr = IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1));
 const LISTEN_WILDCARD: IpAddr = IpAddr::V4(Ipv4Addr::new(0, 0, 0, 0));
 
@@ -44,228 +21,7 @@ const LISTEN_WILDCARD: IpAddr = IpAddr::V4(Ipv4Addr::new(0, 0, 0, 0));
 #[clap(version)]
 pub struct Args {
     #[clap(subcommand)]
-    command: Command,
-}
-
-/// dora-rs cli client
-#[derive(Debug, clap::Subcommand)]
-enum Command {
-    /// Check if the coordinator and the daemon is running.
-    Check {
-        /// Path to the dataflow descriptor file (enables additional checks)
-        #[clap(long, value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
-        dataflow: Option<PathBuf>,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-    },
-    /// Generate a visualization of the given graph using mermaid.js. Use --open to open browser.
-    Graph {
-        /// Path to the dataflow descriptor file
-        #[clap(value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
-        dataflow: PathBuf,
-        /// Visualize the dataflow as a Mermaid diagram (instead of HTML)
-        #[clap(long, action)]
-        mermaid: bool,
-        /// Open the HTML visualization in the browser
-        #[clap(long, action)]
-        open: bool,
-    },
-    /// Run build commands provided in the given dataflow.
-    Build {
-        /// Path to the dataflow descriptor file
-        #[clap(value_name = "PATH")]
-        dataflow: String,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP")]
-        coordinator_addr: Option<IpAddr>,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT")]
-        coordinator_port: Option<u16>,
-        // Use UV to build nodes.
-        #[clap(long, action)]
-        uv: bool,
-        // Run build on local machine
-        #[clap(long, action)]
-        local: bool,
-    },
-    /// Generate a new project or node. Choose the language between Rust, Python, C or C++.
-    New {
-        #[clap(flatten)]
-        args: CommandNew,
-        #[clap(hide = true, long)]
-        internal_create_with_path_dependencies: bool,
-    },
-    /// Run a dataflow locally.
-    ///
-    /// Directly runs the given dataflow without connecting to a dora
-    /// coordinator or daemon. The dataflow is executed on the local machine.
-    Run {
-        /// Path to the dataflow descriptor file
-        #[clap(value_name = "PATH")]
-        dataflow: String,
-        // Use UV to run nodes.
-        #[clap(long, action)]
-        uv: bool,
-    },
-    /// Spawn coordinator and daemon in local mode (with default config)
-    Up {
-        /// Use a custom configuration
-        #[clap(long, hide = true, value_name = "PATH", value_hint = clap::ValueHint::FilePath)]
-        config: Option<PathBuf>,
-    },
-    /// Destroy running coordinator and daemon. If some dataflows are still running, they will be stopped first.
-    Destroy {
-        /// Use a custom configuration
-        #[clap(long, hide = true)]
-        config: Option<PathBuf>,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-    },
-    /// Start the given dataflow path. Attach a name to the running dataflow by using --name.
-    Start {
-        /// Path to the dataflow descriptor file
-        #[clap(value_name = "PATH")]
-        dataflow: String,
-        /// Assign a name to the dataflow
-        #[clap(long)]
-        name: Option<String>,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-        /// Attach to the dataflow and wait for its completion
-        #[clap(long, action)]
-        attach: bool,
-        /// Run the dataflow in background
-        #[clap(long, action)]
-        detach: bool,
-        /// Enable hot reloading (Python only)
-        #[clap(long, action)]
-        hot_reload: bool,
-        // Use UV to run nodes.
-        #[clap(long, action)]
-        uv: bool,
-    },
-    /// Stop the given dataflow UUID. If no id is provided, you will be able to choose between the running dataflows.
-    Stop {
-        /// UUID of the dataflow that should be stopped
-        uuid: Option<Uuid>,
-        /// Name of the dataflow that should be stopped
-        #[clap(long)]
-        name: Option<String>,
-        /// Kill the dataflow if it doesn't stop after the given duration
-        #[clap(long, value_name = "DURATION")]
-        #[arg(value_parser = parse)]
-        grace_duration: Option<Duration>,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-    },
-    /// List running dataflows.
-    List {
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-    },
-    // Planned for future releases:
-    // Dashboard,
-    /// Show logs of a given dataflow and node.
-    #[command(allow_missing_positional = true)]
-    Logs {
-        /// Identifier of the dataflow
-        #[clap(value_name = "UUID_OR_NAME")]
-        dataflow: Option<String>,
-        /// Show logs for the given node
-        #[clap(value_name = "NAME")]
-        node: String,
-        /// Address of the dora coordinator
-        #[clap(long, value_name = "IP", default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, value_name = "PORT", default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        coordinator_port: u16,
-    },
-    // Metrics,
-    // Stats,
-    // Get,
-    // Upgrade,
-    /// Run daemon
-    Daemon {
-        /// Unique identifier for the machine (required for distributed dataflows)
-        #[clap(long)]
-        machine_id: Option<String>,
-        /// Local listen port for event such as dynamic node.
-        #[clap(long, default_value_t = DORA_DAEMON_LOCAL_LISTEN_PORT_DEFAULT)]
-        local_listen_port: u16,
-        /// Address and port number of the dora coordinator
-        #[clap(long, short, default_value_t = LOCALHOST)]
-        coordinator_addr: IpAddr,
-        /// Port number of the coordinator control server
-        #[clap(long, default_value_t = DORA_COORDINATOR_PORT_DEFAULT)]
-        coordinator_port: u16,
-        #[clap(long, hide = true)]
-        run_dataflow: Option<PathBuf>,
-        /// Suppresses all log output to stdout.
-        #[clap(long)]
-        quiet: bool,
-    },
-    /// Run runtime
-    Runtime,
-    /// Run coordinator
-    Coordinator {
-        /// Network interface to bind to for daemon communication
-        #[clap(long, default_value_t = LISTEN_WILDCARD)]
-        interface: IpAddr,
-        /// Port number to bind to for daemon communication
-        #[clap(long, default_value_t = DORA_COORDINATOR_PORT_DEFAULT)]
-        port: u16,
-        /// Network interface to bind to for control communication
-        #[clap(long, default_value_t = LISTEN_WILDCARD)]
-        control_interface: IpAddr,
-        /// Port number to bind to for control communication
-        #[clap(long, default_value_t = DORA_COORDINATOR_PORT_CONTROL_DEFAULT)]
-        control_port: u16,
-        /// Suppresses all log output to stdout.
-        #[clap(long)]
-        quiet: bool,
-    },
-    /// Dora CLI self-management commands
-    Self_ {
-        #[clap(subcommand)]
-        command: SelfSubCommand,
-    },
-}
-
-#[derive(Debug, clap::Subcommand)]
-enum SelfSubCommand {
-    /// Check for updates or update the CLI
-    Update {
-        /// Only check for updates without installing
-        #[clap(long)]
-        check_only: bool,
-    },
-    /// Remove The Dora CLI from the system
-    Uninstall {
-        /// Force uninstallation without confirmation
-        #[clap(long)]
-        force: bool,
-    },
+    command: command::Command,
 }
 
 #[derive(Debug, clap::Args)]
@@ -298,503 +54,13 @@ enum Lang {
 }
 
 pub fn lib_main(args: Args) {
-    if let Err(err) = run_cli(args) {
+    if let Err(err) = args.command.execute() {
         eprintln!("\n\n{}", "[ERROR]".bold().red());
         eprintln!("{err:?}");
         std::process::exit(1);
     }
 }
 
-fn run_cli(args: Args) -> eyre::Result<()> {
-    tracing_log::LogTracer::init()?;
-
-    #[cfg(feature = "tracing")]
-    match &args.command {
-        Command::Daemon {
-            quiet, machine_id, ..
-        } => {
-            let name = "dora-daemon";
-            let filename = machine_id
-                .as_ref()
-                .map(|id| format!("{name}-{id}"))
-                .unwrap_or(name.to_string());
-
-            let mut builder = TracingBuilder::new(name);
-            if !quiet {
-                builder = builder.with_stdout("info,zenoh=warn");
-            }
-            builder = builder.with_file(filename, LevelFilter::INFO)?;
-            builder
-                .build()
-                .wrap_err("failed to set up tracing subscriber")?;
-        }
-        Command::Runtime => {
-            // Do not set the runtime in the cli.
-        }
-        Command::Coordinator { quiet, .. } => {
-            let name = "dora-coordinator";
-            let mut builder = TracingBuilder::new(name);
-            if !quiet {
-                builder = builder.with_stdout("info");
-            }
-            builder = builder.with_file(name, LevelFilter::INFO)?;
-            builder
-                .build()
-                .wrap_err("failed to set up tracing subscriber")?;
-        }
-        Command::Run { .. } | Command::Build { .. } => {
-            let log_level = std::env::var("RUST_LOG").ok().unwrap_or("info".to_string());
-            TracingBuilder::new("run")
-                .with_stdout(log_level)
-                .build()
-                .wrap_err("failed to set up tracing subscriber")?;
-        }
-        _ => {
-            TracingBuilder::new("dora-cli")
-                .with_stdout("warn")
-                .build()
-                .wrap_err("failed to set up tracing subscriber")?;
-        }
-    };
-
-    match args.command {
-        Command::Check {
-            dataflow,
-            coordinator_addr,
-            coordinator_port,
-        } => match dataflow {
-            Some(dataflow) => {
-                let working_dir = dataflow
-                    .canonicalize()
-                    .context("failed to canonicalize dataflow path")?
-                    .parent()
-                    .ok_or_else(|| eyre::eyre!("dataflow path has no parent dir"))?
-                    .to_owned();
-                Descriptor::blocking_read(&dataflow)?.check(&working_dir)?;
-                command::check::check_environment((coordinator_addr, coordinator_port).into())?
-            }
-            None => command::check::check_environment((coordinator_addr, coordinator_port).into())?,
-        },
-        Command::Graph {
-            dataflow,
-            mermaid,
-            open,
-        } => {
-            graph::create(dataflow, mermaid, open)?;
-        }
-        Command::Build {
-            dataflow,
-            coordinator_addr,
-            coordinator_port,
-            uv,
-            local,
-        } => command::build(dataflow, coordinator_addr, coordinator_port, uv, local)?,
-        Command::New {
-            args,
-            internal_create_with_path_dependencies,
-        } => template::create(args, internal_create_with_path_dependencies)?,
-        Command::Run { dataflow, uv } => command::run(dataflow, uv)?,
-        Command::Up { config } => {
-            command::up::up(config.as_deref())?;
-        }
-        Command::Logs {
-            dataflow,
-            node,
-            coordinator_addr,
-            coordinator_port,
-        } => {
-            let mut session = connect_to_coordinator((coordinator_addr, coordinator_port).into())
-                .wrap_err("failed to connect to dora coordinator")?;
-            let list = query_running_dataflows(&mut *session)
-                .wrap_err("failed to query running dataflows")?;
-            if let Some(dataflow) = dataflow {
-                let uuid = Uuid::parse_str(&dataflow).ok();
-                let name = if uuid.is_some() { None } else { Some(dataflow) };
-                command::logs(&mut *session, uuid, name, node)?
-            } else {
-                let active: Vec<dora_message::coordinator_to_cli::DataflowIdAndName> =
-                    list.get_active();
-                let uuid = match &active[..] {
-                    [] => bail!("No dataflows are running"),
-                    [uuid] => uuid.clone(),
-                    _ => inquire::Select::new("Choose dataflow to show logs:", active).prompt()?,
-                };
-                command::logs(&mut *session, Some(uuid.uuid), None, node)?
-            }
-        }
-        Command::Start {
-            dataflow,
-            name,
-            coordinator_addr,
-            coordinator_port,
-            attach,
-            detach,
-            hot_reload,
-            uv,
-        } => {
-            let coordinator_socket = (coordinator_addr, coordinator_port).into();
-            command::start(
-                dataflow,
-                name,
-                coordinator_socket,
-                attach,
-                detach,
-                hot_reload,
-                uv,
-            )?
-        }
-        Command::List {
-            coordinator_addr,
-            coordinator_port,
-        } => match connect_to_coordinator((coordinator_addr, coordinator_port).into()) {
-            Ok(mut session) => list(&mut *session)?,
-            Err(_) => {
-                bail!("No dora coordinator seems to be running.");
-            }
-        },
-        Command::Stop {
-            uuid,
-            name,
-            grace_duration,
-            coordinator_addr,
-            coordinator_port,
-        } => {
-            let mut session = connect_to_coordinator((coordinator_addr, coordinator_port).into())
-                .wrap_err("could not connect to dora coordinator")?;
-            match (uuid, name) {
-                (Some(uuid), _) => stop_dataflow(uuid, grace_duration, &mut *session)?,
-                (None, Some(name)) => stop_dataflow_by_name(name, grace_duration, &mut *session)?,
-                (None, None) => stop_dataflow_interactive(grace_duration, &mut *session)?,
-            }
-        }
-        Command::Destroy {
-            config,
-            coordinator_addr,
-            coordinator_port,
-        } => command::up::destroy(
-            config.as_deref(),
-            (coordinator_addr, coordinator_port).into(),
-        )?,
-        Command::Coordinator {
-            interface,
-            port,
-            control_interface,
-            control_port,
-            quiet,
-        } => {
-            let rt = Builder::new_multi_thread()
-                .enable_all()
-                .build()
-                .context("tokio runtime failed")?;
-            rt.block_on(async {
-                let bind = SocketAddr::new(interface, port);
-                let bind_control = SocketAddr::new(control_interface, control_port);
-                let (port, task) =
-                    dora_coordinator::start(bind, bind_control, futures::stream::empty::<Event>())
-                        .await?;
-                if !quiet {
-                    println!("Listening for incoming daemon connection on {port}");
-                }
-                task.await
-            })
-            .context("failed to run dora-coordinator")?
-        }
-        Command::Daemon {
-            coordinator_addr,
-            coordinator_port,
-            local_listen_port,
-            machine_id,
-            run_dataflow,
-            quiet: _,
-        } => {
-            let rt = Builder::new_multi_thread()
-                .enable_all()
-                .build()
-                .context("tokio runtime failed")?;
-            rt.block_on(async {
-                match run_dataflow {
-                    Some(dataflow_path) => {
-                        tracing::info!("Starting dataflow `{}`", dataflow_path.display());
-                        if coordinator_addr != LOCALHOST {
-                            tracing::info!(
-                                "Not using coordinator addr {} as `run_dataflow` is for local dataflow only. Please use the `start` command for remote coordinator",
-                                coordinator_addr
-                            );
-                        }
-                        let dataflow_session =
-                            DataflowSession::read_session(&dataflow_path).context("failed to read DataflowSession")?;
-
-                        let result = Daemon::run_dataflow(&dataflow_path,
-                            dataflow_session.build_id, dataflow_session.local_build, dataflow_session.session_id, false,
-                            LogDestination::Tracing,
-                        ).await?;
-                        handle_dataflow_result(result, None)
-                    }
-                    None => {
-                        Daemon::run(SocketAddr::new(coordinator_addr, coordinator_port), machine_id, local_listen_port).await
-                    }
-                }
-            })
-            .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),
-                    }
-                }
-            }
-            SelfSubCommand::Uninstall { force } => {
-                if !force {
-                    let confirmed =
-                        inquire::Confirm::new("Are you sure you want to uninstall Dora CLI?")
-                            .with_default(false)
-                            .prompt()
-                            .wrap_err("Uninstallation cancelled")?;
-
-                    if !confirmed {
-                        println!("Uninstallation cancelled");
-                        return Ok(());
-                    }
-                }
-
-                println!("Uninstalling Dora CLI...");
-                #[cfg(feature = "python")]
-                {
-                    println!("Detected Python installation...");
-
-                    // Try uv pip uninstall first
-                    let uv_status = std::process::Command::new("uv")
-                        .args(["pip", "uninstall", "dora-rs-cli"])
-                        .status();
-
-                    if let Ok(status) = uv_status {
-                        if status.success() {
-                            println!("Dora CLI has been successfully uninstalled via uv pip.");
-                            return Ok(());
-                        }
-                    }
-
-                    // Fall back to regular pip uninstall
-                    println!("Trying with pip...");
-                    let status = std::process::Command::new("pip")
-                        .args(["uninstall", "-y", "dora-rs-cli"])
-                        .status()
-                        .wrap_err("Failed to run pip uninstall")?;
-
-                    if status.success() {
-                        println!("Dora CLI has been successfully uninstalled via pip.");
-                    } else {
-                        bail!("Failed to uninstall Dora CLI via pip.");
-                    }
-                }
-                #[cfg(not(feature = "python"))]
-                {
-                    match self_replace::self_delete() {
-                        Ok(_) => {
-                            println!("Dora CLI has been successfully uninstalled.");
-                        }
-                        Err(e) => {
-                            bail!("Failed to uninstall Dora CLI: {}", e);
-                        }
-                    }
-                }
-            }
-        },
-    };
-
-    Ok(())
-}
-
-fn stop_dataflow_interactive(
-    grace_duration: Option<Duration>,
-    session: &mut TcpRequestReplyConnection,
-) -> eyre::Result<()> {
-    let list = query_running_dataflows(session).wrap_err("failed to query running dataflows")?;
-    let active = list.get_active();
-    if active.is_empty() {
-        eprintln!("No dataflows are running");
-    } else {
-        let selection = inquire::Select::new("Choose dataflow to stop:", active).prompt()?;
-        stop_dataflow(selection.uuid, grace_duration, session)?;
-    }
-
-    Ok(())
-}
-
-fn stop_dataflow(
-    uuid: Uuid,
-    grace_duration: Option<Duration>,
-    session: &mut TcpRequestReplyConnection,
-) -> Result<(), eyre::ErrReport> {
-    let reply_raw = session
-        .request(
-            &serde_json::to_vec(&ControlRequest::Stop {
-                dataflow_uuid: uuid,
-                grace_duration,
-            })
-            .unwrap(),
-        )
-        .wrap_err("failed to send dataflow stop message")?;
-    let result: ControlRequestReply =
-        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
-    match result {
-        ControlRequestReply::DataflowStopped { uuid, result } => {
-            handle_dataflow_result(result, Some(uuid))
-        }
-        ControlRequestReply::Error(err) => bail!("{err}"),
-        other => bail!("unexpected stop dataflow reply: {other:?}"),
-    }
-}
-
-fn handle_dataflow_result(result: DataflowResult, uuid: Option<Uuid>) -> Result<(), eyre::Error> {
-    if result.is_ok() {
-        Ok(())
-    } else {
-        Err(match uuid {
-            Some(uuid) => {
-                eyre::eyre!("Dataflow {uuid} failed:\n{}", FormatDataflowError(&result))
-            }
-            None => {
-                eyre::eyre!("Dataflow failed:\n{}", FormatDataflowError(&result))
-            }
-        })
-    }
-}
-
-fn stop_dataflow_by_name(
-    name: String,
-    grace_duration: Option<Duration>,
-    session: &mut TcpRequestReplyConnection,
-) -> Result<(), eyre::ErrReport> {
-    let reply_raw = session
-        .request(
-            &serde_json::to_vec(&ControlRequest::StopByName {
-                name,
-                grace_duration,
-            })
-            .unwrap(),
-        )
-        .wrap_err("failed to send dataflow stop_by_name message")?;
-    let result: ControlRequestReply =
-        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
-    match result {
-        ControlRequestReply::DataflowStopped { uuid, result } => {
-            handle_dataflow_result(result, Some(uuid))
-        }
-        ControlRequestReply::Error(err) => bail!("{err}"),
-        other => bail!("unexpected stop dataflow reply: {other:?}"),
-    }
-}
-
-fn list(session: &mut TcpRequestReplyConnection) -> Result<(), eyre::ErrReport> {
-    let list = query_running_dataflows(session)?;
-
-    let mut tw = TabWriter::new(vec![]);
-    tw.write_all(b"UUID\tName\tStatus\n")?;
-    for entry in list.0 {
-        let uuid = entry.id.uuid;
-        let name = entry.id.name.unwrap_or_default();
-        let status = match entry.status {
-            DataflowStatus::Running => "Running",
-            DataflowStatus::Finished => "Succeeded",
-            DataflowStatus::Failed => "Failed",
-        };
-        tw.write_all(format!("{uuid}\t{name}\t{status}\n").as_bytes())?;
-    }
-    tw.flush()?;
-    let formatted = String::from_utf8(tw.into_inner()?)?;
-
-    println!("{formatted}");
-
-    Ok(())
-}
-
-fn query_running_dataflows(session: &mut TcpRequestReplyConnection) -> eyre::Result<DataflowList> {
-    let reply_raw = session
-        .request(&serde_json::to_vec(&ControlRequest::List).unwrap())
-        .wrap_err("failed to send list message")?;
-    let reply: ControlRequestReply =
-        serde_json::from_slice(&reply_raw).wrap_err("failed to parse reply")?;
-    let ids = match reply {
-        ControlRequestReply::DataflowList(list) => list,
-        ControlRequestReply::Error(err) => bail!("{err}"),
-        other => bail!("unexpected list dataflow reply: {other:?}"),
-    };
-
-    Ok(ids)
-}
-
-fn connect_to_coordinator(
-    coordinator_addr: SocketAddr,
-) -> std::io::Result<Box<TcpRequestReplyConnection>> {
-    TcpLayer::new().connect(coordinator_addr)
-}
-
-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 = 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)
-}
-
 #[cfg(feature = "python")]
 use clap::Parser;
 #[cfg(feature = "python")]
@@ -804,8 +70,6 @@ use pyo3::{
     wrap_pyfunction, Bound, PyResult, Python,
 };
 
-use crate::session::DataflowSession;
-
 #[cfg(feature = "python")]
 #[pyfunction]
 fn py_main(_py: Python) -> PyResult<()> {

binaries/coordinator/Cargo.toml

@@ -19,7 +19,7 @@ futures = "0.3.21"
 tokio = { version = "1.24.2", features = ["full"] }
 tokio-stream = { version = "0.1.8", features = ["io-util", "net"] }
 uuid = { version = "1.2.1" }
-dora-core = { workspace = true }
+dora-core = { workspace = true, features = ["build"] }
 tracing = "0.1.36"
 dora-tracing = { workspace = true, optional = true }
 futures-concurrency = "7.1.0"

binaries/daemon/src/spawn.rs

@@ -430,19 +430,6 @@ impl PreparedNode {
                     }
                 };
 
-                if buffer.contains("TRACE")
-                    || buffer.contains("INFO")
-                    || buffer.contains("DEBUG")
-                    || buffer.contains("WARN")
-                    || buffer.contains("ERROR")
-                {
-                    // tracing output, potentially multi-line -> keep reading following lines
-                    // until double-newline
-                    if !buffer.ends_with("\n\n") && !finished {
-                        continue;
-                    }
-                }
-
                 // send the buffered lines
                 let lines = std::mem::take(&mut buffer);
                 let sent = stdout_tx.send(lines.clone()).await;

examples/c++-ros2-dataflow/node-rust-api/main.cc

@@ -73,7 +73,7 @@ int main()
                 std::cerr << "Unknown event type " << static_cast<int>(ty) << std::endl;
             }
 
-            if (received_ticks > 20)
+            if (received_ticks > 20 && responses_received > 0)
             {
                 break;
             }

examples/keyboard/dataflow.yml

@@ -0,0 +1,14 @@
+nodes:
+  - id: keyboard
+    build: pip install -e ../../node-hub/dora-keyboard
+    path: dora-keyboard
+    outputs:
+      - char
+    env:
+      DISPLAY: $DISPLAY
+
+  - id: rerun
+    path: dora-rerun
+    build: pip install -e ../../node-hub/dora-rerun
+    inputs:
+      text_input: keyboard/char

examples/so101/Readme.md

@@ -0,0 +1,60 @@
+## SO101 Arm Control
+
+This example provides gamepad control and leader-follower functionality for the SO-101 robotic arm.
+
+### Install Dependencies
+
+install the required Python packages for rerun visualization (optional):
+
+```bash
+# Install the URDF loader for Rerun visualization
+pip install git+https://github.com/dora-rs/rerun-loader-python-urdf
+```
+
+### Hardware Setup
+
+1. Connect your SO-101 arm(s) to your computer via USB/serial
+2. Note the serial port names (e.g.,for linux `/dev/ttyACM0`, `/dev/ttyACM1`)
+3. Connect your gamepad controller
+4. Update the `PORT` environment variable in the YAML files
+
+#### Single Arm Control (arm_gamepad_control.yml)
+
+Control a single SO-101 arm with gamepad input and visualization:
+
+```bash
+dora build arm.yml
+dora run arm.yml
+```
+
+#### Leader-Follower Mode (leader_follower.yml)
+
+Use one arm as a leader to control another follower arm:
+
+```bash
+dora build leader.yml
+dora run leader.yml
+```
+
+#### Serial Port Configuration
+
+Update the `PORT` environment variable in the YAML files:
+
+```yaml
+env:
+  PORT: /dev/ttyACM0  # Change to your actual port
+```
+
+## Troubleshooting
+
+### Serial Connection Issues
+- Check that the arm is powered on and connected
+- Verify the correct serial port in the YAML configuration
+- Ensure proper permissions: `sudo chmod +x PORT`
+
+### Gamepad Not Detected
+- Verify gamepad is connected and recognized by the system
+- Test with `jstest /dev/input/js0` (Linux)
+
+## Safety Notes
+- Always ensure the arm has sufficient clearance before operation

examples/so101/arm_gamepad_control.yml

@@ -0,0 +1,48 @@
+nodes:
+  - id: so101
+    build: pip install -e ../../node-hub/dora-rustypot
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/10
+      pose: pytorch_kinematics/cmd_vel
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      IDS: 1 2 3 4 5
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "so_arm101_description"
+      END_EFFECTOR_LINK: "gripper"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.01
+      ROTATION_TOLERANCE: 0.03
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  # comment below path if you don't want to visualize the arm in rerun
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_so101_new_calib: so101/pose
+    env:
+      so101_new_calib_urdf: "so_arm101_description"
+      so101_new_calib_transform: "0. 0. 0. 1. 0. 0. 0."

examples/so101/leader_follower.yml

@@ -0,0 +1,33 @@
+nodes:
+  - id: so101
+    build: pip install -e ../../node-hub/dora-rustypot
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/10
+      pose: leader_interface/pose
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      IDS: 1 2 3 4 5 6
+
+  - id: leader_interface
+    build: pip install -e ../../node-hub/dora-rustypot
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/10
+    outputs:
+      - pose  
+    env:
+      PORT: /dev/ttyACM1
+      IDS: 1 2 3 4 5 6
+
+  # comment below path if you don't want to visualize the arms in rerun 
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_so101_new_calib: so101/pose
+    env:
+      so101_new_calib_urdf: "so_arm101_description"
+      so101_new_calib_transform: "0. 0. 0. 1. 0. 0. 0."

examples/speech-to-speech/README.md

@@ -1,4 +1,4 @@
-# Dora Speech to Text example
+# Dora Speech to Speech example
 
 Make sure to have, dora, pip and cargo installed.
 
@@ -23,6 +23,6 @@ sudo apt-get install espeak
 ```bash
 uv venv --seed -p 3.11
 uv pip install -e ../../apis/python/node --reinstall
-dora build kokoro-dev.yml
-dora run kokoro-dev.yml
+dora build kokoro-dev.yml --uv
+dora run kokoro-dev.yml --uv
 ```

examples/speech-to-text/whisper-dev.yml

@@ -28,7 +28,7 @@ nodes:
       # USE_MODELSCOPE_HUB: true
 
   - id: dora-rerun
-    build: cargo build -p dora-rerun --release
+    build: pip install -e ../../node-hub/dora-rerun
     path: dora-rerun
     inputs:
       original_text: dora-distil-whisper/text

examples/urdf/broken_fanuc.yml

@@ -0,0 +1,30 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_m710ic70: pytorch_kinematics/cmd_vel
+    env:
+      m710ic70_urdf: "fanuc_m710ic_description"
+      m710ic70_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "fanuc_m710ic_description"
+      END_EFFECTOR_LINK: "tool0"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

examples/urdf/broken_poppy.yml

@@ -0,0 +1,30 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_poppy_ergo_jr: pytorch_kinematics/cmd_vel
+    env:
+      poppy_ergo_jr_urdf: "poppy_ergo_jr_description"
+      poppy_ergo_jr_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "poppy_ergo_jr_description"
+      END_EFFECTOR_LINK: "section_5"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

examples/urdf/franka.yml

@@ -0,0 +1,35 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_panda: pytorch_kinematics/cmd_vel
+    env:
+      panda_urdf: "panda_description"
+      panda_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "panda_description"
+      END_EFFECTOR_LINK: "panda_link8"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/urdf/gen3.yml

@@ -0,0 +1,30 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_jaco: pytorch_kinematics/cmd_vel
+    env:
+      jaco_urdf: "gen3_description"
+      jaco_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "gen3_description"
+      END_EFFECTOR_LINK: "j2n6s300_end_effector"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

examples/urdf/kuka.yml

@@ -0,0 +1,33 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_iiwa14_primitive_collision: pytorch_kinematics/cmd_vel
+    env:
+      iiwa14_primitive_collision_urdf: "iiwa14_description"
+      iiwa14_primitive_collision_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.02
+      MAX_ANGULAR_SPEED: 0.10
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "iiwa14_description"
+      END_EFFECTOR_LINK: "iiwa_link_7"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

examples/urdf/piper.yml

@@ -0,0 +1,35 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_piper_description: pytorch_kinematics/cmd_vel
+    env:
+      piper_description_urdf: "piper_description"
+      piper_description_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "piper_description"
+      END_EFFECTOR_LINK: "link6"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/urdf/so_arm101.yml

@@ -0,0 +1,35 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_so101_new_calib: pytorch_kinematics/cmd_vel
+    env:
+      so101_new_calib_urdf: "so_arm101_description"
+      so101_new_calib_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "so_arm101_description"
+      END_EFFECTOR_LINK: "gripper"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.01
+      ROTATION_TOLERANCE: 0.03

examples/urdf/ur5.yml

@@ -0,0 +1,35 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_ur5_robot: pytorch_kinematics/cmd_vel
+    env:
+      ur5_robot_urdf: "ur5_description"
+      ur5_robot_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "ur5_description"
+      END_EFFECTOR_LINK: "tool0"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/urdf/vggt/franka.yml

@@ -0,0 +1,70 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_panda: pytorch_kinematics/cmd_vel
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth
+    env:
+      panda_urdf: "panda_description"
+      panda_transform: .5 -0. -0.1 1. 0. 0. 0.
+      CAMERA_PITCH: 1.5708
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "panda_description"
+      END_EFFECTOR_LINK: "panda_link8"
+      TRANSFORM: .5 -0. -0.1 1. 0. 0. 0.
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001
+
+  - id: camera
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 4
+
+  - id: camera2
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 6
+
+  - id: dora-vggt
+    build: pip install -e ../../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+      image2: camera2/image
+    outputs:
+      - depth
+      - image
+    env:
+      SCALE_FACTOR: 0.9

examples/urdf/vggt/kuka.yml

@@ -0,0 +1,68 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_iiwa14_primitive_collision: pytorch_kinematics/cmd_vel
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth
+    env:
+      iiwa14_primitive_collision_urdf: "iiwa14_description"
+      iiwa14_primitive_collision_transform: .5 -0. -0.1 1. 0. 0. 0.
+      CAMERA_PITCH: 1.5708
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.02
+      MAX_ANGULAR_SPEED: 0.10
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "iiwa14_description"
+      END_EFFECTOR_LINK: "iiwa_link_7"
+      TRANSFORM: .5 -0. -0.1 1. 0. 0. 0.
+
+  - id: camera
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 4
+
+  - id: camera2
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 6
+
+  - id: dora-vggt
+    build: pip install -e ../../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+      image2: camera2/image
+    outputs:
+      - depth
+      - image
+    env:
+      SCALE_FACTOR: 0.9

examples/urdf/vggt/so_arm101.yml

@@ -0,0 +1,69 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_so101_new_calib: pytorch_kinematics/cmd_vel
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth
+    env:
+      so101_new_calib_urdf: "so_arm101_description"
+      so101_new_calib_transform: .14 -0. 0.4 -.5 .5 .5 -.5
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "so_arm101_description"
+      END_EFFECTOR_LINK: "gripper"
+      TRANSFORM: .14 -0. 0.4 -.5 .5 .5 -.5
+      POSITION_TOLERANCE: 0.01
+      ROTATION_TOLERANCE: 0.03
+
+  - id: camera
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 4
+
+  - id: camera2
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 6
+
+  - id: dora-vggt
+    build: pip install -e ../../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+      image2: camera2/image
+    outputs:
+      - depth
+      - image
+    env:
+      SCALE_FACTOR: 0.9

examples/urdf/vggt/z1.yml

@@ -0,0 +1,59 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_z1: pytorch_kinematics/cmd_vel
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth
+    env:
+      z1_urdf: z1_description
+      z1_transform: .5 -0.2 -0.11 1. 0. 0. 0.
+      CAMERA_PITCH: 1.5708
+
+  - id: gamepad
+    build: pip install -e ../../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "z1_description"
+      END_EFFECTOR_LINK: "link06"
+      TRANSFORM: .5 -0.2 -0.11 1. 0. 0. 0.
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001
+
+  - id: camera
+    build: pip install -e ../../../node-hub/opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 4
+
+  - id: dora-vggt
+    build: pip install -e ../../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+    outputs:
+      - depth
+      - image
+    env:
+      SCALE_FACTOR: 0.88

examples/urdf/z1.yml

@@ -0,0 +1,35 @@
+nodes:
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      jointstate_z1: pytorch_kinematics/cmd_vel
+    env:
+      z1_urdf: "z1_description"
+      z1_transform: "0. 0. 0. 1. 0. 0. 0."
+
+  - id: gamepad
+    build: pip install -e ../../node-hub/gamepad
+    path: gamepad
+    outputs:
+      - cmd_vel
+      - raw_control
+    inputs:
+      tick: dora/timer/millis/10
+    env:
+      MAX_LINEAR_SPEED: 0.01
+      MAX_ANGULAR_SPEED: 0.05
+
+  - id: pytorch_kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      cmd_vel: gamepad/cmd_vel
+    outputs:
+      - cmd_vel
+    env:
+      MODEL_NAME: "z1_description"
+      END_EFFECTOR_LINK: "link06"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
+      POSITION_TOLERANCE: 0.001
+      ROTATION_TOLERANCE: 0.001

examples/vggt/depth-to-avif.yaml

@@ -0,0 +1,54 @@
+nodes:
+  - id: camera
+    build: pip install opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 1
+
+  - id: dora-vggt
+    build: pip install -e ../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+    outputs:
+      - depth
+      - image
+    env:
+      DEPTH_ENCODING: mono16
+
+  - id: rav1e-depth
+    path: dora-rav1e
+    build: pip install -e ../../node-hub/dora-rav1e
+    inputs:
+      depth: dora-vggt/depth
+    outputs:
+      - depth
+    env:
+      ENCODING: avif
+
+  - id: rav1e-image
+    path: dora-rav1e
+    build: pip install -e ../../node-hub/dora-rav1e
+    inputs:
+      image: dora-vggt/image
+    outputs:
+      - image
+    env:
+      ENCODING: avif
+
+  - id: bench
+    path: image_saver.py
+    inputs:
+      vggt_image: rav1e-image/image
+      vggt_depth: rav1e-depth/depth
+
+  - id: plot
+    build: pip install dora-rerun
+    path: dora-rerun
+    inputs:
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth

examples/vggt/depth.dora-session.yaml

@@ -1,8 +0,0 @@
-build_id: 2b402c1e-e52e-45e9-86e5-236b33a77369
-session_id: 275de19c-e605-4865-bc5f-2f15916bade9
-git_sources: {}
-local_build:
-  node_working_dirs:
-    camera: /Users/xaviertao/Documents/work/dora/examples/vggt
-    dora-vggt: /Users/xaviertao/Documents/work/dora/examples/vggt
-    plot: /Users/xaviertao/Documents/work/dora/examples/vggt

examples/vggt/image_saver.py

@@ -0,0 +1,34 @@
+from dora import Node
+
+node = Node()
+
+index_dict = {}
+i = 0
+
+LEAD_TOPIC = "vggt_depth"
+
+for event in node:
+    if event["type"] == "INPUT":
+        if LEAD_TOPIC in event["id"]:
+            storage = event["value"]
+            metadata = event["metadata"]
+            encoding = metadata["encoding"]
+            width = metadata["width"]
+            height = metadata["height"]
+
+            # Save to file
+            filename = f"out/{event['id']}_{i}.{encoding}"
+            with open(filename, "wb") as f:
+                f.write(storage.to_numpy())
+            for key, value in index_dict.items():
+                filename = f"out/{key}_{i}.{value['metadata']['encoding']}"
+                with open(filename, "wb") as f:
+                    f.write(value["value"])
+            i += 1
+        else:
+            # Store the event in the index dictionary
+            index_dict[event["id"]] = {
+                "type": event["type"],
+                "value": event["value"].to_numpy(),
+                "metadata": event["metadata"],
+            }

examples/vggt/realsense-to-avif.yaml

@@ -0,0 +1,53 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+      - depth
+
+  - id: dora-vggt
+    build: pip install -e ../../node-hub/dora-vggt
+    path: dora-vggt
+    inputs:
+      image: camera/image
+    outputs:
+      - depth
+      - image
+    env:
+      DEPTH_ENCODING: mono16
+
+  - id: rav1e-depth-vggt
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    inputs:
+      depth: dora-vggt/depth
+    outputs:
+      - depth
+    env:
+      ENCODING: avif
+
+  - id: rav1e-depth-realsense
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    inputs:
+      depth: camera/depth
+    outputs:
+      - depth
+    env:
+      ENCODING: avif
+
+  - id: bench
+    path: image_saver.py
+    inputs:
+      camera_depth: rav1e-depth-vggt/depth
+      vggt_depth: rav1e-depth-realsense/depth
+
+  - id: plot
+    build: pip install dora-rerun
+    path: dora-rerun
+    inputs:
+      camera/image: dora-vggt/image
+      camera/depth: dora-vggt/depth

libraries/core/src/descriptor/validate.rs

@@ -54,7 +54,7 @@ pub fn check_dataflow(
                         };
                     }
                 },
-                dora_message::descriptor::NodeSource::GitBranch { repo, rev } => {
+                dora_message::descriptor::NodeSource::GitBranch { .. } => {
                     info!("skipping check for node with git source");
                 }
             },

libraries/extensions/ros2-bridge/python/Cargo.toml

@@ -12,7 +12,7 @@ eyre = "0.6"
 serde = "1.0.166"
 arrow = { workspace = true, features = ["pyarrow"] }
 futures = "0.3.28"
-# pyo3_special_method_derive = "0.4.2"
+pyo3_special_method_derive = "0.4.3"
 
 [dev-dependencies]
 serde_assert = "0.7.1"

libraries/extensions/ros2-bridge/python/src/lib.rs

@@ -18,7 +18,7 @@ use pyo3::{
     types::{PyAnyMethods, PyDict, PyList, PyModule, PyModuleMethods},
     Bound, PyAny, PyObject, PyResult, Python,
 };
-/// use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
+use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
 use typed::{deserialize::StructDeserializer, TypeInfo, TypedValue};
 
 pub mod qos;
@@ -46,7 +46,7 @@ pub mod typed;
 /// :type ros_paths: typing.List[str], optional
 ///
 #[pyclass]
-/// #[derive(Str, Repr, Dir, Dict)]
+#[derive(Str, Repr, Dir, Dict)]
 pub struct Ros2Context {
     context: ros2_client::Context,
     messages: Arc<HashMap<String, HashMap<String, Message>>>,
@@ -150,7 +150,7 @@ impl Ros2Context {
 ///   See: https://github.com/jhelovuo/ros2-client/issues/4
 ///
 #[pyclass]
-/// #[derive(Str, Repr, Dir, Dict)]
+#[derive(Str, Repr, Dir, Dict)]
 pub struct Ros2Node {
     node: ros2_client::Node,
     messages: Arc<HashMap<String, HashMap<String, Message>>>,
@@ -257,8 +257,7 @@ impl Ros2Node {
 /// ROS2 Node Options
 /// :type rosout: bool, optional
 ///
-#[derive(Clone, Default)]
-/// , Str, Repr, Dir, Dict)]
+#[derive(Clone, Default, Str, Repr, Dir, Dict)]
 #[pyclass]
 #[non_exhaustive]
 pub struct Ros2NodeOptions {
@@ -289,7 +288,7 @@ impl From<Ros2NodeOptions> for ros2_client::NodeOptions {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
-/// #[derive(Str, Repr, Dir, Dict)]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Topic {
     topic: rustdds::Topic,
@@ -302,7 +301,7 @@ pub struct Ros2Topic {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
-/// #[derive(Str, Repr, Dir, Dict)]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Publisher {
     publisher: ros2_client::Publisher<TypedValue<'static>>,
@@ -373,7 +372,7 @@ impl Ros2Publisher {
 /// - dora Ros2 bridge functionality is considered **unstable**. It may be changed
 ///   at any point without it being considered a breaking change.
 #[pyclass]
-/// #[derive(Str, Repr, Dir, Dict)]
+#[derive(Str, Repr, Dir, Dict)]
 #[non_exhaustive]
 pub struct Ros2Subscription {
     deserializer: StructDeserializer<'static>,

libraries/extensions/ros2-bridge/python/src/qos.rs

@@ -1,6 +1,6 @@
 use ::dora_ros2_bridge::rustdds::{self, policy};
 use pyo3::prelude::{pyclass, pymethods};
-/// use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
+use pyo3_special_method_derive::{Dict, Dir, Repr, Str};
 
 /// ROS2 QoS Policy
 ///
@@ -13,8 +13,7 @@ use pyo3::prelude::{pyclass, pymethods};
 /// :type keep_last: int, optional
 /// :rtype: dora.Ros2QoSPolicies
 ///
-#[derive(Clone)]
-/// , Str, Repr, Dir, Dict)]
+#[derive(Clone, Str, Repr, Dir, Dict)]
 #[pyclass]
 #[non_exhaustive]
 pub struct Ros2QosPolicies {
@@ -80,8 +79,7 @@ impl From<Ros2QosPolicies> for rustdds::QosPolicies {
 /// DDS 2.2.3.4 DURABILITY
 ///
 /// :rtype: dora.Ros2Durability
-#[derive(Copy, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
-/// , Str, Repr, Dir, Dict)]
+#[derive(Copy, Clone, PartialEq, Eq, PartialOrd, Ord, Hash, Str, Repr, Dir, Dict)]
 #[pyclass(eq, eq_int)]
 pub enum Ros2Durability {
     Volatile,
@@ -107,8 +105,7 @@ impl From<Ros2Durability> for policy::Durability {
 
 /// DDS 2.2.3.11 LIVELINESS
 /// :rtype: dora.Ros2Liveliness
-#[derive(Copy, Clone, PartialEq)]
-/// , Str, Repr, Dir, Dict)]
+#[derive(Copy, Clone, PartialEq, Str, Repr, Dir, Dict)]
 #[pyclass(eq, eq_int)]
 pub enum Ros2Liveliness {
     Automatic,

libraries/extensions/telemetry/tracing/src/telemetry.rs

@@ -6,7 +6,7 @@ use std::collections::HashMap;
 
 struct MetadataMap<'a>(HashMap<&'a str, &'a str>);
 
-impl<'a> Extractor for MetadataMap<'a> {
+impl Extractor for MetadataMap<'_> {
     /// Get a value for a key from the MetadataMap.  If the value can't be converted to &str, returns None
     fn get(&self, key: &str) -> Option<&str> {
         self.0.get(key).cloned()

libraries/message/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "dora-message"
 # versioned separately from the other dora crates
-version = "0.5.0-alpha"
+version = "0.5.0"
 edition.workspace = true
 documentation.workspace = true
 description.workspace = true

node-hub/dora-argotranslate/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-argotranslate"
-version = "0.3.11"
+version = "0.3.12"
 description = "Dora Node for Text translating using Argostranslate"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },

node-hub/dora-cotracker/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-cotracker"
-version = "0.1.0"
+version = "0.3.12"
 authors = [{ name = "Shashwat Patil", email = "shashwatpatil974@gmail.com" }]
 description = "A Dora node implementing real-time object tracking using Facebook's CoTracker model"
 license = "CC-BY-1.0"

node-hub/dora-distil-whisper/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-distil-whisper"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-echo/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-echo"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-gradio/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-gradio"
-version = "0.2.0"
+version = "0.3.12"
 authors = [{ name = "Shashwat Patil", email = "email@email.com" }]
 description = "dora-gradio"
 license = { text = "MIT" }

node-hub/dora-internvl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-internvl"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-ios-lidar/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-ios-lidar"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-ios-lidar"
 license = { text = "MIT" }

node-hub/dora-keyboard/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-keyboard"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-kokoro-tts/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-kokoro-tts"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-kokoro-tts"
 license = { text = "MIT" }

node-hub/dora-microphone/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-microphone"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-mujoco/pyproject.toml

@@ -8,11 +8,11 @@ readme = "README.md"
 requires-python = ">=3.8"
 
 dependencies = [
-    "dora-rs >= 0.3.9",
-    "mujoco >= 3.1.6",
-    "numpy >= 1.21.0",
-    "pyarrow >= 14.0.1",
-    "robot_descriptions >= 1.12.0",
+  "dora-rs >= 0.3.9",
+  "mujoco >= 3.1.6",
+  "numpy >= 1.21.0",
+  "pyarrow >= 14.0.1",
+  "robot_descriptions",
 ]
 
 [dependency-groups]
@@ -23,9 +23,12 @@ dora-mujoco = "dora_mujoco.main:main"
 
 [tool.ruff.lint]
 extend-select = [
-  "UP",  # pyupgrade
+  "UP",   # pyupgrade
   "PERF", # Ruff's PERF rule
   "RET",  # Ruff's RET rule
   "RSE",  # Ruff's RSE rule
   "N",    # Ruff's N rule
 ]
+
+[tool.uv.sources]
+robot-descriptions = { git = "https://github.com/robot-descriptions/robot_descriptions.py.git" }

node-hub/dora-object-to-pose/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "dora-object-to-pose"
-version = "0.3.11"
+version = "0.3.12"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

node-hub/dora-openai-server/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-openai-server"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-opus/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-opus"
-version = "0.3.11"
+version = "0.3.12"
 description = "Dora Node for Text translating using Opus"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },

node-hub/dora-outtetts/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-outtetts"
-version = "0.3.11"
+version = "0.3.12"
 authors = []
 description = "dora-outtetts"
 license = { text = "MIT" }

node-hub/dora-parler/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-parler"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-phi4/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-phi4"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Somay", email = "ssomay2002@gmail.com" }]
 description = "DORA node for Phi-4 multimodal model"
 license = { text = "MIT" }
@@ -18,7 +18,6 @@ dependencies = [
   "scipy==1.15.2",
   "backoff==2.2.1",
   "peft==0.13.2",
-  "bitsandbytes>=0.42.0",
   "opencv-python",
   "requests",
 ]

node-hub/dora-piper/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-piper"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for using Agilex piper"
 license = { text = "MIT" }

node-hub/dora-pyaudio/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyaudio"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 license = { text = "MIT" }
 readme = "README.md"

node-hub/dora-pyorbbecksdk/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyorbbecksdk"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
     { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
     { name = "Xiang Yang", email = "Ryu-Yang@qq.com" },

node-hub/dora-pyrealsense/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-pyrealsense"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for capturing video with Pyrealsense"
 license = { text = "MIT" }

node-hub/dora-pytorch-kinematics/dora_pytorch_kinematics/main.py

@@ -11,6 +11,8 @@ import torch
 from dora import Node
 from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles
 
+POSITION_TOLERANCE = float(os.getenv("POSITION_TOLERANCE", "0.005"))
+ROTATION_TOLERANCE = float(os.getenv("ROTATION_TOLERANCE", "0.05"))  # in radians
 TRANSFORM = np.array(os.getenv("TRANSFORM", "0. 0. 0. 1. 0. 0. 0.").split(" ")).astype(
     np.float32,
 )  # wxyz format
@@ -229,18 +231,21 @@ class RobotKinematics:
         # Instantiate and run the IK solver (core pytorch_kinematics objects/methods)
         ik_solver = pk.PseudoInverseIK(
             self.chain,
-            max_iterations=1_000,
+            max_iterations=100_000,
             retry_configs=q_init,
             joint_limits=torch.tensor(self.chain.get_joint_limits()),
             early_stopping_any_converged=True,
-            early_stopping_no_improvement="all",
+            # early_stopping_no_improvement="all",
             debug=False,
             lr=0.05,
-            rot_tolerance=1e-4,
-            pos_tolerance=1e-3,
+            rot_tolerance=ROTATION_TOLERANCE,
+            pos_tolerance=POSITION_TOLERANCE,
         )
         solution_angles = ik_solver.solve(target_pose)
-        if solution_angles.err_rot > 1e-3 or solution_angles.err_pos > 1e-2:
+        if (
+            solution_angles.err_rot > ROTATION_TOLERANCE
+            or solution_angles.err_pos > POSITION_TOLERANCE
+        ):
             print(
                 f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot} for target {target_pose}",
             )
@@ -357,99 +362,96 @@ def main():
         robot = RobotKinematics(
             urdf_path=model, urdf="", end_effector_link=end_effector_link
         )
-    last_known_state = None
+    last_known_state = robot._default_q
 
     for event in node:
         if event["type"] == "INPUT":
             metadata = event["metadata"]
 
             if event["id"] == "cmd_vel":
-                if last_known_state is not None:
-                    target_vel = event["value"].to_numpy()  # expect 100ms
-                    # Apply Forward Kinematics
-                    target = robot.compute_fk(last_known_state)
-                    target = (
-                        np.array(get_xyz_rpy_array_from_transform3d(target))
-                        + target_vel
-                    )
-                    target = pa.array(target.ravel(), type=pa.float32())
-                    target = pk.Transform3d(
-                        pos=target[:3],
-                        rot=pk.transforms.euler_angles_to_matrix(
-                            torch.tensor(target[3:6]),
-                            convention="XYZ",
-                        ),
+                target_vel = event["value"].to_numpy()  # expect 100ms
+                # Apply Forward Kinematics
+                target = robot.compute_fk(last_known_state)
+                target = (
+                    np.array(get_xyz_rpy_array_from_transform3d(target).detach())
+                    + target_vel
+                )
+                target = pa.array(target.ravel(), type=pa.float32())
+                target = pk.Transform3d(
+                    pos=target[:3],
+                    rot=pk.transforms.euler_angles_to_matrix(
+                        torch.tensor(target[3:6]),
+                        convention="XYZ",
+                    ),
+                )
+                rob_target = ROB_TF.inverse().compose(target)
+                solution = robot.compute_ik(rob_target, last_known_state)
+                if solution is None:
+                    print(
+                        "No IK Solution for :",
+                        target,
+                        "skipping this frame.",
                     )
-                    rob_target = ROB_TF.inverse().compose(target)
-                    solution = robot.compute_ik(rob_target, last_known_state)
-                    if solution is None:
-                        print(
-                            "No IK Solution for :",
-                            target,
-                            "skipping this frame.",
-                        )
-                        continue
-                    solution = solution.numpy().ravel()
-                    metadata["encoding"] = "jointstate"
-                    last_known_state = solution
-                    solution = pa.array(last_known_state)
-                    node.send_output(event["id"], solution, metadata=metadata)
+                    continue
+                solution = solution.numpy().ravel()
+                metadata["encoding"] = "jointstate"
+                last_known_state = solution
+                solution = pa.array(last_known_state)
+                node.send_output(event["id"], solution, metadata=metadata)
             else:
                 match metadata["encoding"]:
                     case "xyzquat":
                         # Apply Inverse Kinematics
-                        if last_known_state is not None:
-                            target = event["value"].to_numpy()
-                            target = target.astype(np.float32)
-                            target = pk.Transform3d(
-                                pos=target[:3],
-                                rot=torch.tensor(target[3:7]),
-                            )
-                            rob_target = ROB_TF.inverse().compose(target)
-                            solution = robot.compute_ik(rob_target, last_known_state)
-                            metadata["encoding"] = "jointstate"
-                            last_known_state = solution.numpy().ravel()
-                            solution = pa.array(last_known_state)
-                            node.send_output(event["id"], solution, metadata=metadata)
+                        target = event["value"].to_numpy()
+                        target = target.astype(np.float32)
+                        target = pk.Transform3d(
+                            pos=target[:3],
+                            rot=torch.tensor(target[3:7]),
+                        )
+                        rob_target = ROB_TF.inverse().compose(target)
+                        solution = robot.compute_ik(rob_target, last_known_state)
+                        metadata["encoding"] = "jointstate"
+                        last_known_state = solution.numpy().ravel()
+                        solution = pa.array(last_known_state)
+                        node.send_output(event["id"], solution, metadata=metadata)
                     case "xyzrpy":
                         # Apply Inverse Kinematics
-                        if last_known_state is not None:
-                            target = event["value"].to_numpy()
-                            target = target.astype(np.float32)
-                            target = pk.Transform3d(
-                                pos=target[:3],
-                                rot=pk.transforms.euler_angles_to_matrix(
-                                    torch.tensor(target[3:6]),
-                                    convention="XYZ",
-                                ),
+                        target = event["value"].to_numpy()
+                        target = target.astype(np.float32)
+                        target = pk.Transform3d(
+                            pos=target[:3],
+                            rot=pk.transforms.euler_angles_to_matrix(
+                                torch.tensor(target[3:6]),
+                                convention="XYZ",
+                            ),
+                        )
+                        rob_target = ROB_TF.inverse().compose(target)
+                        solution = robot.compute_ik(rob_target, last_known_state)
+                        if solution is None:
+                            print(
+                                "No IK Solution for :",
+                                target,
+                                "skipping this frame.",
                             )
-                            rob_target = ROB_TF.inverse().compose(target)
-                            solution = robot.compute_ik(rob_target, last_known_state)
-                            if solution is None:
-                                print(
-                                    "No IK Solution for :",
-                                    target,
-                                    "skipping this frame.",
-                                )
-                                continue
-
-                            solution = solution.numpy().ravel()
-                            delta_angles = (
-                                solution - last_known_state[: len(solution)]
-                            )  # match with dof
-
-                            valid = np.all(
-                                (delta_angles >= -np.pi) & (delta_angles <= np.pi),
+                            continue
+
+                        solution = solution.numpy().ravel()
+                        delta_angles = (
+                            solution - last_known_state[: len(solution)]
+                        )  # match with dof
+
+                        valid = np.all(
+                            (delta_angles >= -np.pi) & (delta_angles <= np.pi),
+                        )
+                        if not valid:
+                            print(
+                                "IK solution is not valid, as the rotation are too wide. skipping.",
                             )
-                            if not valid:
-                                print(
-                                    "IK solution is not valid, as the rotation are too wide. skipping.",
-                                )
-                                continue
-                            metadata["encoding"] = "jointstate"
-                            last_known_state = solution
-                            solution = pa.array(last_known_state)
-                            node.send_output(event["id"], solution, metadata=metadata)
+                            continue
+                        metadata["encoding"] = "jointstate"
+                        last_known_state = solution
+                        solution = pa.array(last_known_state)
+                        node.send_output(event["id"], solution, metadata=metadata)
                     case "jointstate":
                         target = event["value"].to_numpy()
                         last_known_state = target

node-hub/dora-qwen/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwen"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-qwen"
 license = { text = "MIT" }

node-hub/dora-qwen2-5-vl/dora_qwen2_5_vl/main.py

@@ -73,6 +73,10 @@ def generate(
 
     messages = []
 
+    # If the texts is string, convert it to a list
+    if isinstance(texts, str):
+        texts = [texts]
+
     for text in texts:
         if text.startswith("<|system|>\n"):
             messages.append(

node-hub/dora-qwen2-5-vl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwen2-5-vl"
-version = "0.3.11"
+version = "0.3.12.post1"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-qwenvl/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-qwenvl"
-version = "0.3.11"
+version = "0.3.12"
 authors = [
   { name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" },
   { name = "Enzo Le Van", email = "dev@enzo-le-van.fr" },

node-hub/dora-rav1e/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "dora-rav1e"
 edition = "2021"
-version = "0.3.11+fix1"
+version = "0.3.12"
 description.workspace = true
 documentation.workspace = true
 license = "BSD-2-Clause"
@@ -25,7 +25,8 @@ pyo3 = { workspace = true, features = [
     "eyre",
     "generate-import-lib",
 ], optional = true }
-avif-serialize = "0.8.3"
+avif-serialize = { version = "0.8.5" }
+little_exif = { version = "0.6.9" }
 
 
 [lib]

node-hub/dora-rav1e/src/lib.rs

@@ -8,12 +8,16 @@
 // PATENTS file, you can obtain it at www.aomedia.org/license/patent.
 
 use std::env::var;
+use std::vec;
 
 use dora_node_api::arrow::array::AsArray;
 use dora_node_api::arrow::datatypes::{UInt16Type, UInt8Type};
 use dora_node_api::dora_core::config::DataId;
-use dora_node_api::{DoraNode, Event, IntoArrow, Metadata, Parameter};
+use dora_node_api::{DoraNode, Event, IntoArrow, Metadata, MetadataParameters, Parameter};
 use eyre::{Context as EyreContext, Result};
+use little_exif::exif_tag::ExifTag;
+use little_exif::metadata::Metadata as ExifMetadata;
+use little_exif::rational::uR64;
 use log::warn;
 use rav1e::color::{ColorDescription, MatrixCoefficients};
 // Encode the same tiny blank frame 30 times
@@ -56,6 +60,25 @@ pub fn fill_zeros_toward_center_y_plane_in_place(y: &mut [u16], width: usize, he
     }
 }
 
+fn metadata_to_exif(metadata: &MetadataParameters) -> Result<Vec<u8>> {
+    let mut metadata_exif = ExifMetadata::new();
+    metadata_exif.set_tag(ExifTag::Software("dora-rs".to_string()));
+    if let Some(Parameter::ListInt(focal_lengths)) = metadata.get("focal") {
+        metadata_exif.set_tag(ExifTag::FocalLength(
+            focal_lengths
+                .iter()
+                .map(|&f| uR64 {
+                    nominator: f as u32,
+                    denominator: 1,
+                })
+                .collect::<Vec<_>>(),
+        ));
+    }
+
+    let vector = metadata_exif.as_u8_vec(little_exif::filetype::FileExtension::HEIF)?;
+    return Ok(vector);
+}
+
 fn bgr8_to_yuv420(bgr_data: Vec<u8>, width: usize, height: usize) -> (Vec<u8>, Vec<u8>, Vec<u8>) {
     let mut y_plane = vec![0; width * height];
     let mut u_plane = vec![0; (width / 2) * (height / 2)];
@@ -107,6 +130,7 @@ fn get_yuv_planes(buffer: &[u8], width: usize, height: usize) -> (&[u8], &[u8],
     (y_plane, u_plane, v_plane)
 }
 
+#[allow(clippy::too_many_arguments)]
 fn send_yuv(
     y: &[u8],
     u: &[u8],
@@ -118,7 +142,7 @@ fn send_yuv(
     id: DataId,
     metadata: &mut Metadata,
     output_encoding: &str,
-) -> () {
+) {
     // Create a new Arrow array for the YUV420 data
     let cfg = Config::new().with_encoder_config(enc.clone());
     let mut ctx: Context<u8> = cfg.new_context().unwrap();
@@ -126,13 +150,13 @@ fn send_yuv(
 
     let xdec = f.planes[0].cfg.xdec;
     let stride = (width + xdec) >> xdec;
-    f.planes[0].copy_from_raw_u8(&y, stride, 1);
+    f.planes[0].copy_from_raw_u8(y, stride, 1);
     let xdec = f.planes[1].cfg.xdec;
     let stride = (width + xdec) >> xdec;
-    f.planes[1].copy_from_raw_u8(&u, stride, 1);
+    f.planes[1].copy_from_raw_u8(u, stride, 1);
     let xdec = f.planes[2].cfg.xdec;
     let stride = (width + xdec) >> xdec;
-    f.planes[2].copy_from_raw_u8(&v, stride, 1);
+    f.planes[2].copy_from_raw_u8(v, stride, 1);
 
     match ctx.send_frame(f) {
         Ok(_) => {}
@@ -159,9 +183,18 @@ fn send_yuv(
                 } else {
                     MatrixCoefficients::BT709
                 };
-                let data = avif_serialize::Aviffy::new()
+                let mut aviffy = avif_serialize::Aviffy::new();
+                aviffy
                     .set_chroma_subsampling((true, true))
-                    .set_seq_profile(0)
+                    .set_seq_profile(0);
+
+                let aviffy = if let Ok(exif) = metadata_to_exif(&metadata.parameters) {
+                    aviffy.set_exif(exif)
+                } else {
+                    &mut aviffy
+                };
+
+                let data = aviffy
                     .matrix_coefficients(match matrix_coefficients {
                         MatrixCoefficients::Identity => {
                             avif_serialize::constants::MatrixCoefficients::Rgb
@@ -289,12 +322,9 @@ pub fn lib_main() -> Result<()> {
                     chroma_sampling: color::ChromaSampling::Cs420,
                     ..Default::default()
                 };
-                match encoding {
-                    "mono16" => {
-                        enc.bit_depth = 12;
-                        enc.chroma_sampling = color::ChromaSampling::Cs400;
-                    }
-                    _ => {}
+                if encoding == "mono16" {
+                    enc.bit_depth = 12;
+                    enc.chroma_sampling = color::ChromaSampling::Cs400;
                 }
 
                 if encoding == "bgr8" {
@@ -320,9 +350,9 @@ pub fn lib_main() -> Result<()> {
 
                         let (y, u, v) = get_yuv_planes(buffer, width, height);
                         send_yuv(
-                            &y,
-                            &u,
-                            &v,
+                            y,
+                            u,
+                            v,
                             enc,
                             width,
                             height,
@@ -336,13 +366,13 @@ pub fn lib_main() -> Result<()> {
                     if let Some(buffer) = data.as_primitive_opt::<UInt16Type>() {
                         let mut buffer = buffer.values().to_vec();
                         if std::env::var("FILL_ZEROS")
-                            .map(|s| s != "false")
+                            .map(|s| s.to_lowercase() != "false")
                             .unwrap_or(true)
                         {
                             fill_zeros_toward_center_y_plane_in_place(&mut buffer, width, height);
                         }
 
-                        let bytes: &[u8] = &bytemuck::cast_slice(&buffer);
+                        let bytes: &[u8] = bytemuck::cast_slice(&buffer);
 
                         let cfg = Config::new().with_encoder_config(enc.clone());
                         let mut ctx: Context<u16> = cfg.new_context().unwrap();
@@ -370,7 +400,38 @@ pub fn lib_main() -> Result<()> {
                                 let data = pkt.data;
                                 match output_encoding.as_str() {
                                     "avif" => {
-                                        warn!("avif encoding not supported for mono16");
+                                        metadata.parameters.insert(
+                                            "encoding".to_string(),
+                                            Parameter::String("avif".to_string()),
+                                        );
+
+                                        let mut aviffy = avif_serialize::Aviffy::new();
+                                        aviffy
+                                            .full_color_range(false)
+                                            .set_seq_profile(0)
+                                            .set_monochrome(true);
+
+                                        let aviffy = if let Ok(exif) =
+                                            metadata_to_exif(&metadata.parameters)
+                                        {
+                                            aviffy.set_exif(exif)
+                                        } else {
+                                            &mut aviffy
+                                        };
+
+                                        let data = aviffy.to_vec(
+                                            &data,
+                                            None,
+                                            enc.width as u32,
+                                            enc.height as u32,
+                                            enc.bit_depth as u8,
+                                        );
+
+                                        let arrow = data.into_arrow();
+
+                                        node.send_output(id, metadata.parameters.clone(), arrow)
+                                            .context("could not send output")
+                                            .unwrap();
                                     }
                                     _ => {
                                         metadata.parameters.insert(

node-hub/dora-rdt-1b/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-rdt-1b"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
 description = "Dora Node for RDT 1B"
 license = { text = "MIT" }

node-hub/dora-reachy2/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "dora-reachy2"
-version = "0.3.11"
+version = "0.3.12"
 authors = [{ name = "Your Name", email = "email@email.com" }]
 description = "dora-reachy2"
 license = { text = "MIT" }

node-hub/dora-rerun/Cargo.toml

@@ -17,7 +17,7 @@ python = ["pyo3"]
 dora-node-api = { workspace = true, features = ["tracing"] }
 eyre = "0.6.8"
 tokio = { version = "1.24.2", features = ["rt"] }
-rerun = { version = "0.23.1", features = ["web_viewer", "image"] }
+rerun = { version = "0.23.3", features = ["web_viewer", "image"] }
 ndarray = "0.15.6"
 k = "0.32"
 pyo3 = { workspace = true, features = [
@@ -28,6 +28,7 @@ pyo3 = { workspace = true, features = [
 ], optional = true }
 bytemuck = "1.20.0"
 rand = "0.9.1"
+pinyin = "0.10.0"
 
 
 [lib]

node-hub/dora-rerun/pyproject.toml

@@ -8,7 +8,7 @@ dynamic = ["version"]
 license = { text = "MIT" }
 requires-python = ">=3.10"
 
-dependencies = ["rerun-loader-urdf", 'rerun_sdk==0.23.1']
+dependencies = ["rerun-loader-urdf", 'rerun_sdk>=0.23.1', "robot-descriptions"]
 
 scripts = { "dora-rerun" = "dora_rerun:py_main" }
 
@@ -28,4 +28,5 @@ extend-select = [
 ]
 
 [tool.uv.sources]
-rerun-loader-urdf = { git = "https://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" }
+rerun-loader-urdf = { git = "https://github.com/dora-rs/rerun-loader-python-urdf.git" }
+robot-descriptions = { git = "https://github.com/robot-descriptions/robot_descriptions.py.git" }

node-hub/dora-rerun/src/lib.rs

@@ -12,6 +12,7 @@ use dora_node_api::{
 };
 use eyre::{bail, eyre, Context, Result};
 
+use pinyin::ToPinyin;
 use rerun::{
     components::ImageBuffer, external::log::warn, ImageFormat, Points2D, Points3D, SpawnOptions,
 };
@@ -160,8 +161,7 @@ pub fn lib_main() -> Result<()> {
                     let buffer: Vec<u8> =
                         buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
                     image_cache.insert(id.clone(), buffer.clone());
-                    let image_buffer = ImageBuffer::try_from(buffer)
-                        .context("Could not convert buffer to image buffer")?;
+                    let image_buffer = ImageBuffer::from(buffer);
                     // let tensordata = ImageBuffer(buffer);
 
                     let image = rerun::Image::new(
@@ -174,8 +174,7 @@ pub fn lib_main() -> Result<()> {
                     let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
                     image_cache.insert(id.clone(), buffer.values().to_vec());
                     let buffer: &[u8] = buffer.values();
-                    let image_buffer = ImageBuffer::try_from(buffer)
-                        .context("Could not convert buffer to image buffer")?;
+                    let image_buffer = ImageBuffer::from(buffer);
 
                     let image = rerun::Image::new(
                         image_buffer,
@@ -317,7 +316,24 @@ pub fn lib_main() -> Result<()> {
                 let buffer: StringArray = data.to_data().into();
                 buffer.iter().try_for_each(|string| -> Result<()> {
                     if let Some(str) = string {
-                        rec.log(id.as_str(), &rerun::TextLog::new(str))
+                        let chars = str.chars().collect::<Vec<_>>();
+                        let mut new_string = vec![];
+                        for char in chars {
+                            // Check if the character is a Chinese character
+                            if char.is_ascii() || char.is_control() {
+                                new_string.push(char);
+                                continue;
+                            }
+                            // If it is a Chinese character, replace it with its pinyin
+                            if let Some(pinyin) = char.to_pinyin() {
+                                for char in pinyin.with_tone().chars() {
+                                    new_string.push(char);
+                                }
+                                new_string.push(' ');
+                            }
+                        }
+                        let pinyined_str = new_string.iter().collect::<String>();
+                        rec.log(id.as_str(), &rerun::TextLog::new(pinyined_str))
                             .wrap_err("Could not log text")
                     } else {
                         Ok(())
@@ -385,12 +401,12 @@ pub fn lib_main() -> Result<()> {
                 // Get color or assign random color in cache
                 let color = color_cache.get(&id);
                 let color = if let Some(color) = color {
-                    color.clone()
+                    *color
                 } else {
                     let color =
                         rerun::Color::from_rgb(rand::random::<u8>(), 180, rand::random::<u8>());
 
-                    color_cache.insert(id.clone(), color.clone());
+                    color_cache.insert(id.clone(), color);
                     color
                 };
                 let dataid = id;
@@ -412,12 +428,12 @@ pub fn lib_main() -> Result<()> {
                 // Get color or assign random color in cache
                 let color = color_cache.get(&id);
                 let color = if let Some(color) = color {
-                    color.clone()
+                    *color
                 } else {
                     let color =
                         rerun::Color::from_rgb(rand::random::<u8>(), 180, rand::random::<u8>());
 
-                    color_cache.insert(id.clone(), color.clone());
+                    color_cache.insert(id.clone(), color);
                     color
                 };
                 let dataid = id;

node-hub/dora-rerun/src/series.rs

@@ -7,7 +7,7 @@ pub fn update_series(rec: &RecordingStream, id: DataId, data: ArrowData) -> Resu
     for (i, value) in series.iter().enumerate() {
         rec.log(
             format!("{}_{}", id.as_str(), i),
-            &rerun::Scalar::new(*value as f64),
+            &rerun::Scalars::new([*value]),
         )
         .wrap_err("could not log series")?;
     }