From 8644cb1b246ef67396bef4435c584c75903e2b4f Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Wed, 30 Apr 2025 14:54:30 +0200
Subject: [PATCH] Add path check

---
 examples/so100-remote/no_torque.yml | 30 ++++++++++++++++++++---------
 1 file changed, 21 insertions(+), 9 deletions(-)

diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml
index 75c0a9cf..05aaf191 100644
--- a/examples/so100-remote/no_torque.yml
+++ b/examples/so100-remote/no_torque.yml
@@ -7,10 +7,19 @@ nodes:
     outputs:
       - pose
     env:
-      PORT: /dev/ttyACM0
-      IDS: 1 2 3 4 5
+      PORT: /dev/ttyACM1
+      IDS: 1 2 3 4 5 6
       TORQUE: false
 
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+      - depth
+
   - id: pytorch-kinematics
     build: pip install -e ../../node-hub/dora-pytorch-kinematics
     path: dora-pytorch-kinematics
@@ -20,17 +29,20 @@ nodes:
       - pose
       - action
     env:
-      URDF_PATH: so100_2.urdf
-      END_EFFECTOR_LINK: "Fixed_Jaw"
-      so100_transform: 0 -0.3 0
+      URDF_PATH: so100.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
 
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun
     path: dora-rerun
     inputs:
-      # series_so100: so100/pose
-      series_pose: pytorch-kinematics/pose
+      series_so100: so100/pose
+      series_fk: pytorch-kinematics/pose
       jointstate_so100: so100/pose
+      camera/image: camera/image
+      camera/depth: camera/depth
     env:
-      so100_urdf: so100_2.urdf
-      so100_transform: 0 -0.3 0
+      so100_urdf: so100.urdf
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415