add so-100 remote example

examples/so100-remote/follower.right.json

@@ -0,0 +1,50 @@
+{
+  "shoulder_pan": {
+    "id": 1,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "90": 0, "180": 90, "0": -90, "270": 180, "360": -90 },
+    "logical_to_pwm": { "0": 90, "90": 180, "-180": -90, "-90": 0, "180": 270 }
+  },
+  "shoulder_lift": {
+    "id": 2,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "270": -90, "180": 0, "0": 180, "90": 90, "360": -180 },
+    "logical_to_pwm": { "-90": 270, "0": 180, "-180": 360, "90": 90, "180": 0 }
+  },
+  "elbow_flex": {
+    "id": 3,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "90": 90, "180": 0, "0": 180, "270": -90, "360": -180 },
+    "logical_to_pwm": { "90": 90, "0": 180, "-180": 360, "-90": 270, "180": 0 }
+  },
+  "wrist_flex": {
+    "id": 4,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "180": 0, "270": 90, "0": -180, "90": -90, "360": 180 },
+    "logical_to_pwm": { "0": 180, "90": 270, "-180": 0, "-90": 90, "180": 360 }
+  },
+  "wrist_roll": {
+    "id": 5,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "270": -90, "0": 0, "90": -90, "180": -180, "360": 0 },
+    "logical_to_pwm": {
+      "-90": 270,
+      "0": 360,
+      "-180": 180,
+      "90": 450,
+      "180": 540
+    }
+  },
+  "gripper": {
+    "id": 6,
+    "model": "sts3215",
+    "torque": true,
+    "pwm_to_logical": { "180": 0, "270": -90, "0": 180, "90": 90, "360": -180 },
+    "logical_to_pwm": { "0": 180, "-90": 270, "-180": 360, "90": 90, "180": 0 }
+  }
+}

examples/so100-remote/so100.urdf

@@ -0,0 +1,405 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-2.45960666746703E-07 0.0311418169687909 0.0175746661003382"
+        rpy="0 0 0" />
+      <mass
+        value="0.193184127927598" />
+      <inertia
+        ixx="0.000137030709467877"
+        ixy="2.10136126944992E-08"
+        ixz="4.24087422551286E-09"
+        iyy="0.000169089551209259"
+        iyz="2.26514711036514E-05"
+        izz="0.000145097720857224" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Rotation_Pitch">
+    <inertial>
+      <origin
+        xyz="-9.07886224712597E-05 0.0590971820568318 0.031089016892169"
+        rpy="0 0 0" />
+      <mass
+        value="0.119226314127197" />
+      <inertia
+        ixx="5.90408775624429E-05"
+        ixy="4.90800532852998E-07"
+        ixz="-5.90451772654387E-08"
+        iyy="3.21498601038881E-05"
+        iyz="-4.58026206663885E-06"
+        izz="5.86058514263952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rotation"
+    type="revolute">
+    <origin
+      xyz="0 -0.0452 0.0165"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Rotation_Pitch" />
+    <axis
+      xyz="0 -1 0" />
+      <!-- note for the so100 arm there is no well defined effort/velocity limits at the moment -->
+    <limit
+      lower="-2.1"
+      upper="2.1"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Upper_Arm">
+    <inertial>
+      <origin
+        xyz="-1.7205170190925E-05 0.0701802156327694 0.00310545118155671"
+        rpy="0 0 0" />
+      <mass
+        value="0.162409284599177" />
+      <inertia
+        ixx="0.000167153146617081"
+        ixy="1.03902689187701E-06"
+        ixz="-1.20161820645189E-08"
+        iyy="7.01946992214245E-05"
+        iyz="2.11884806298698E-06"
+        izz="0.000213280241160769" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Upper_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Upper_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.1025 0.0306"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Rotation_Pitch" />
+    <child
+      link="Upper_Arm" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.1"
+      upper="3.45"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Lower_Arm">
+    <inertial>
+      <origin
+        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
+        rpy="0 0 0" />
+      <mass
+        value="0.147967774582291" />
+      <inertia
+        ixx="0.000105333995841409"
+        ixy="1.73059237226499E-07"
+        ixz="-1.1720305455211E-05"
+        iyy="0.000138766654485212"
+        iyz="1.77429964684103E-06"
+        izz="5.08741652515214E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Elbow"
+    type="revolute">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Upper_Arm" />
+    <child
+      link="Lower_Arm" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-0.2"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Wrist_Pitch_Roll">
+    <inertial>
+      <origin
+        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.066132067097723" />
+      <inertia
+        ixx="1.95717492443445E-05"
+        ixy="-6.62714374412293E-07"
+        ixz="5.20089016442066E-09"
+        iyy="2.38028417569933E-05"
+        iyz="4.09549055863776E-08"
+        izz="3.4540143384536E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.0052 0.1349"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Lower_Arm" />
+    <child
+      link="Wrist_Pitch_Roll" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-1.8"
+      upper="1.8"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Fixed_Jaw">
+    <inertial>
+      <origin
+        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0929859131176897" />
+      <inertia
+        ixx="4.3328249304211E-05"
+        ixy="7.09654328670947E-06"
+        ixz="5.99838530879484E-07"
+        iyy="3.04451747368212E-05"
+        iyz="-1.58743247545413E-07"
+        izz="5.02460913506734E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Fixed_Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Fixed_Jaw.STL" />
+      </geometry>
+    </collision> -->
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Roll_Follower_SO101.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.0601 0"
+      rpy="0 1.5708 0" />
+    <parent
+      link="Wrist_Pitch_Roll" />
+    <child
+      link="Fixed_Jaw" />
+    <axis
+      xyz="0 -1 0" />
+    <limit 
+      lower="-3.14159"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Moving Jaw">
+    <inertial>
+      <origin
+        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202443794940372" />
+      <inertia
+        ixx="1.10911325081525E-05"
+        ixy="-5.35076503033314E-07"
+        ixz="-9.46105662101403E-09"
+        iyy="3.03576451001973E-06"
+        iyz="-1.71146075110632E-07"
+        izz="8.9916083370498E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving_Jaw_SO101.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Jaw"
+    type="revolute">
+    <origin
+      xyz="-0.0202 -0.0244 0"
+      rpy="3.1416 0 3.33" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving Jaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit 
+      lower="0"
+      upper="1.7"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>

examples/so100-remote/so100_2.urdf

@@ -0,0 +1,365 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <link
+    name="Base">
+    <inertial>
+      <origin
+        xyz="-2.45960666746703E-07 0.0311418169687909 0.0175746661003382"
+        rpy="0 0 0" />
+      <mass
+        value="0.193184127927598" />
+      <inertia
+        ixx="0.000137030709467877"
+        ixy="2.10136126944992E-08"
+        ixz="4.24087422551286E-09"
+        iyy="0.000169089551209259"
+        iyz="2.26514711036514E-05"
+        izz="0.000145097720857224" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Rotation_Pitch">
+    <inertial>
+      <origin
+        xyz="-9.07886224712597E-05 0.0590971820568318 0.031089016892169"
+        rpy="0 0 0" />
+      <mass
+        value="0.119226314127197" />
+      <inertia
+        ixx="5.90408775624429E-05"
+        ixy="4.90800532852998E-07"
+        ixz="-5.90451772654387E-08"
+        iyy="3.21498601038881E-05"
+        iyz="-4.58026206663885E-06"
+        izz="5.86058514263952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rotation"
+    type="continuous">
+    <origin
+      xyz="0 -0.0452 0.0165"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Base" />
+    <child
+      link="Rotation_Pitch" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="Upper_Arm">
+    <inertial>
+      <origin
+        xyz="-1.7205170190925E-05 0.0701802156327694 0.00310545118155671"
+        rpy="0 0 0" />
+      <mass
+        value="0.162409284599177" />
+      <inertia
+        ixx="0.000167153146617081"
+        ixy="1.03902689187701E-06"
+        ixz="-1.20161820645189E-08"
+        iyy="7.01946992214245E-05"
+        iyz="2.11884806298698E-06"
+        izz="0.000213280241160769" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Upper_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Upper_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Pitch"
+    type="continuous">
+    <origin
+      xyz="0 0.1025 0.0306"
+      rpy="0 0 0" />
+    <parent
+      link="Rotation_Pitch" />
+    <child
+      link="Upper_Arm" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  <link
+    name="Lower_Arm">
+    <inertial>
+      <origin
+        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
+        rpy="0 0 0" />
+      <mass
+        value="0.147967774582291" />
+      <inertia
+        ixx="0.000105333995841409"
+        ixy="1.73059237226499E-07"
+        ixz="-1.1720305455211E-05"
+        iyy="0.000138766654485212"
+        iyz="1.77429964684103E-06"
+        izz="5.08741652515214E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Elbow"
+    type="continuous">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="0 0 0" />
+    <parent
+      link="Upper_Arm" />
+    <child
+      link="Lower_Arm" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  <link
+    name="Wrist_Pitch_Roll">
+    <inertial>
+      <origin
+        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.066132067097723" />
+      <inertia
+        ixx="1.95717492443445E-05"
+        ixy="-6.62714374412293E-07"
+        ixz="5.20089016442066E-09"
+        iyy="2.38028417569933E-05"
+        iyz="4.09549055863776E-08"
+        izz="3.4540143384536E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Pitch"
+    type="continuous">
+    <origin
+      xyz="0 0.0052 0.1349"
+      rpy="0 0 0" />
+    <parent
+      link="Lower_Arm" />
+    <child
+      link="Wrist_Pitch_Roll" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  <link
+    name="Fixed_Jaw">
+    <inertial>
+      <origin
+        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0929859131176897" />
+      <inertia
+        ixx="4.3328249304211E-05"
+        ixy="7.09654328670947E-06"
+        ixz="5.99838530879484E-07"
+        iyy="3.04451747368212E-05"
+        iyz="-1.58743247545413E-07"
+        izz="5.02460913506734E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Roll_Follower_SO101.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Roll_Follower_SO101.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Roll"
+    type="continuous">
+    <origin
+      xyz="0 -0.0601 0"
+      rpy="0 0 0" />
+    <parent
+      link="Wrist_Pitch_Roll" />
+    <child
+      link="Fixed_Jaw" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="Moving Jaw">
+    <inertial>
+      <origin
+        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202443794940372" />
+      <inertia
+        ixx="1.10911325081525E-05"
+        ixy="-5.35076503033314E-07"
+        ixz="-9.46105662101403E-09"
+        iyy="3.03576451001973E-06"
+        iyz="-1.71146075110632E-07"
+        izz="8.9916083370498E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving_Jaw_SO101.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving_Jaw_SO101.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Jaw"
+    type="continuous">
+    <origin
+      xyz="-0.0202 -0.0244 0"
+      rpy="3.1416 0 3.1416" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving Jaw" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+</robot>

examples/so100-remote/test.yml

@@ -0,0 +1,34 @@
+nodes:
+  - id: so100
+    build: pip install -e ../../node-hub/feetech-client
+    path: feetech-client
+    inputs:
+      pull_position: dora/timer/millis/33
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem585A0080971
+      CONFIG: follower.right.json
+
+  - id: pytorch-kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      pose: so100/position
+    outputs:
+      - pose
+    env:
+      URDF_PATH: so100_2.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      so100_transform: 0 -0.3 0
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      # series_so100: so100/position
+      series_pose: pytorch-kinematics/pose
+      #jointstate_so100: so100/position
+    env:
+      so100_urdf: so100_2.urdf
+      so100_transform: 0 -0.3 0

node-hub/dora-pytorch-kinematics/README.md

@@ -0,0 +1,40 @@
+# dora-pytorch-kinematics
+
+## Getting started
+
+- Install it with uv:
+
+```bash
+uv venv -p 3.11 --seed
+uv pip install -e .
+```
+
+## Contribution Guide
+
+- Format with [ruff](https://docs.astral.sh/ruff/):
+
+```bash
+uv pip install ruff
+uv run ruff check . --fix
+```
+
+- Lint with ruff:
+
+```bash
+uv run ruff check .
+```
+
+- Test with [pytest](https://github.com/pytest-dev/pytest)
+
+```bash
+uv pip install pytest
+uv run pytest . # Test
+```
+
+## YAML Specification
+
+## Examples
+
+## License
+
+dora-pytorch-kinematics's code are released under the MIT License

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

@@ -0,0 +1,13 @@
+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

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

@@ -0,0 +1,6 @@
+"""TODO: Add docstring."""
+
+from .main import main
+
+if __name__ == "__main__":
+    main()

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

@@ -0,0 +1,253 @@
+"""TODO: Add docstring."""
+
+import os
+from typing import List, Optional, Tuple, Union
+
+import numpy as np
+import pyarrow as pa
+import pytorch_kinematics as pk
+import torch
+from dora import Node
+from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles
+
+
+def get_xyz_rpy_array_from_transform3d(
+    transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ"
+) -> torch.Tensor:
+    """Extracts translation (xyz) and rotation (RPY Euler angles in radians)
+    from a pytorch_kinematics Transform3d object and returns them concatenated
+    into a single tensor.
+
+    Args:
+        transform: A Transform3d object or a batch of Transform3d objects.
+                    Expected to have a method like get_matrix() or directly
+                    access attributes like .R and .T.
+        convention: The Euler angle convention (e.g., "XYZ", "ZYX").
+                    RPY typically corresponds to "XYZ" (roll around X,
+                    pitch around Y, yaw around Z). Adjust if needed.
+
+    Returns:
+        A single tensor of shape (..., 6) where the last dimension contains
+        [x, y, z, roll, pitch, yaw] in radians.
+
+    """
+    # Attempt to get the full 4x4 transformation matrix
+    # Common methods are get_matrix() or accessing internal properties.
+    # This might need adjustment based on the specific API version.
+    matrix = transform.get_matrix()  # Shape (..., 4, 4)
+
+    # Extract translation (first 3 elements of the last column)
+    xyz = matrix[..., :3, 3]
+
+    # Extract rotation matrix (top-left 3x3 submatrix)
+    rotation_matrix = matrix[..., :3, :3]
+
+    # Convert the rotation matrix to Euler angles in radians
+    # The matrix_to_euler_angles function likely exists based on pytorch3d's structure
+    rpy = matrix_to_euler_angles(
+        rotation_matrix, convention=convention
+    )  # Shape (..., 3)
+
+    # Concatenate xyz and rpy along the last dimension
+    return torch.cat((xyz, rpy), dim=-1)  # Shape (..., 6)
+
+
+class RobotKinematics:
+    """Concise wrapper for pytorch_kinematics FK and IK operations,
+    closely mirroring library usage patterns.
+    """
+
+    def __init__(
+        self,
+        urdf_path: str,
+        end_effector_link: str,
+        device: Union[str, torch.device] = "cpu",
+    ):
+        """Initializes the kinematic chain from a URDF.
+
+        Args:
+            urdf_path (str): Path to the URDF file.
+            end_effector_link (str): Name of the end-effector link.
+            device (Union[str, torch.device]): Computation device ('cpu' or 'cuda').
+
+        """
+        self.device = torch.device(device)
+        try:
+            # Load kinematic chain (core pytorch_kinematics object)
+            self.chain = pk.build_serial_chain_from_urdf(
+                open(urdf_path, mode="rb").read(), end_effector_link
+            ).to(device=self.device)
+        except Exception as e:
+            raise RuntimeError(f"Failed to build chain from URDF: {urdf_path}") from e
+
+        self.num_joints = len(self.chain.get_joint_parameter_names(exclude_fixed=True))
+        # Default initial guess for IK if none provided
+        self._default_q = torch.zeros(
+            (1, self.num_joints), device=self.device, dtype=torch.float32
+        )
+        # print(f"Initialized RobotKinematicsConcise: {self.num_joints} joints, EE='{end_effector_link}', device='{self.device}'") # Optional print
+
+    def _prepare_joint_tensor(
+        self, joints: Union[List[float], torch.Tensor], batch_dim_required: bool = True
+    ) -> torch.Tensor:
+        """Validates and formats joint angles input tensor."""
+        if isinstance(joints, list):
+            j = torch.tensor(joints, dtype=torch.float32, device=self.device)
+        elif isinstance(joints, np.ndarray):
+            j = torch.tensor(joints, device=self.device, dtype=torch.float32)
+        elif isinstance(joints, torch.Tensor):
+            j = joints.to(device=self.device, dtype=torch.float32)
+        else:
+            raise TypeError("Joints must be a list or torch.Tensor")
+
+        if j.ndim == 1:
+            if j.shape[0] != self.num_joints:
+                raise ValueError(f"Expected {self.num_joints} joints, got {j.shape[0]}")
+            if batch_dim_required:
+                j = j.unsqueeze(0)  # Add batch dimension if needed (e.g., shape (1, N))
+        elif j.ndim == 2:
+            if j.shape[1] != self.num_joints:
+                raise ValueError(
+                    f"Expected {self.num_joints} joints (dim 1), got {j.shape[1]}"
+                )
+            if batch_dim_required and j.shape[0] != 1:
+                # Most common IK solvers expect batch=1 for initial guess, FK can handle batches
+                # Relaxing this check slightly, but user should be aware for IK
+                pass
+        else:
+            raise ValueError(f"Joint tensor must have 1 or 2 dimensions, got {j.ndim}")
+        return j
+
+    def compute_fk(
+        self, joint_angles: Union[List[float], torch.Tensor]
+    ) -> pk.Transform3d:
+        """Computes Forward Kinematics (FK).
+
+        Args:
+            joint_angles (Union[List[float], torch.Tensor]): Joint angles (radians).
+                Shape (num_joints,) or (B, num_joints).
+
+        Returns:
+            pk.Transform3d: End-effector pose(s). Batched if input is batched.
+
+        """
+        angles_tensor = self._prepare_joint_tensor(
+            joint_angles, batch_dim_required=False
+        )  # FK handles batches naturally
+        # Direct call to pytorch_kinematics FK
+        return self.chain.forward_kinematics(angles_tensor, end_only=True)
+
+    def compute_ik(
+        self,
+        target_pose: pk.Transform3d,
+        initial_guess: Optional[Union[List[float], torch.Tensor]] = None,
+        iterations: int = 100,
+        lr: float = 0.1,
+        error_tolerance: float = 1e-4,
+    ) -> Tuple[torch.Tensor, bool]:
+        """Computes Inverse Kinematics (IK) using PseudoInverseIK.
+
+        Args:
+            target_pose (pk.Transform3d): Target end-effector pose (batch size 1).
+            initial_guess (Optional): Initial joint angles guess. Uses zeros if None.
+            Shape (num_joints,) or (1, num_joints).
+            iterations (int): Max solver iterations.
+            lr (float): Solver learning rate.
+            error_tolerance (float): Solver convergence tolerance.
+
+        Returns:
+            Tuple[torch.Tensor, bool]: Solution joint angles (1, num_joints), convergence status.
+
+        """
+        if not isinstance(target_pose, pk.Transform3d):
+            raise TypeError("target_pose must be a pk.Transform3d")
+        target_pose = target_pose.to(device=self.device)
+        if target_pose.get_matrix().shape[0] != 1:
+            raise ValueError(
+                "target_pose must have batch size 1 for this IK method."
+            )  # Common limitation
+
+        # Prepare initial guess (q_init)
+        q_init = self._prepare_joint_tensor(
+            initial_guess if initial_guess is not None else self._default_q,
+            batch_dim_required=True,
+        )
+        if q_init.shape[0] != 1:
+            raise ValueError(
+                "initial_guess must result in batch size 1 for this IK setup."
+            )  # Enforce batch=1 for guess
+
+        q_init = (
+            q_init.clone().detach().requires_grad_(True)
+        )  # Need gradient for solver
+
+        # Instantiate and run the IK solver (core pytorch_kinematics objects/methods)
+        ik_solver = pk.PseudoInverseIK(
+            chain=self.chain,
+            max_iterations=iterations,
+            ftol=error_tolerance,
+            lr=lr,
+            num_retries=1,
+            line_search=pk.BacktrackingLineSearch(max_lr=lr),
+            early_stopping_any_converged=True,
+        )
+        solution_angles, converged = ik_solver.solve(target_pose, q_init)
+
+        converged_bool = converged.item()  # Get single boolean status
+        # Optional: Minimalist status print
+        # if not converged_bool: print(f"IK did not converge.")
+
+        return solution_angles.detach(), converged_bool
+
+
+def main():
+    """TODO: Add docstring."""
+    node = Node()
+
+    urdf_path = os.getenv("URDF_PATH")
+    end_effector_link = os.getenv("END_EFFECTOR_LINK")
+    robot = RobotKinematics(urdf_path, end_effector_link)
+    last_known_state = None
+
+    for event in node:
+        if event["type"] == "INPUT":
+            if event["id"] == "pose":
+                metadata = event["metadata"]
+
+                match metadata["encoding"]:
+                    case "xyzrpy":
+                        # Apply Inverse Kinematics
+                        if last_known_state is not None:
+                            target = event["value"].to_numpy()
+                            target = pk.Transform3d(
+                                translation=target[:3],
+                                rotation=pk.Rotation.from_euler_angles(
+                                    target[3:6], degrees=False
+                                ),
+                            )
+                            solution, convergence = robot.compute_ik(
+                                target, last_known_state
+                            )
+                            metadata["encoding"] = "jointstate"
+                            node.send_output("pose", solution, metadata=metadata)
+                            last_known_state = solution
+                    case "jointstate":
+                        target = event["value"].to_numpy()
+                        last_known_state = target
+                        # Apply Forward Kinematics
+                        target = robot.compute_fk(target)
+                        target = np.array(get_xyz_rpy_array_from_transform3d(target))
+                        target = pa.array(target.ravel())
+                        metadata["encoding"] = "xyzrpy"
+                        node.send_output("pose", target, metadata=metadata)
+
+                # Warning: Make sure to add my_output_id and my_input_id within the dataflow.
+                node.send_output(
+                    output_id="my_output_id",
+                    data=pa.array([1, 2, 3]),
+                    metadata={},
+                )
+
+
+if __name__ == "__main__":
+    main()

node-hub/dora-pytorch-kinematics/pyproject.toml

@@ -0,0 +1,25 @@
+[project]
+name = "dora-pytorch-kinematics"
+version = "0.0.0"
+authors = [{ name = "Your Name", email = "email@email.com" }]
+description = "dora-pytorch-kinematics"
+license = { text = "MIT" }
+readme = "README.md"
+requires-python = ">=3.8"
+
+dependencies = [
+    "dora-rs >= 0.3.9",
+    "pytorch-kinematics>=0.7.5",
+]
+
+[dependency-groups]
+dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+
+[project.scripts]
+dora-pytorch-kinematics = "dora_pytorch_kinematics.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-pytorch-kinematics/tests/test_dora_pytorch_kinematics.py

@@ -0,0 +1,13 @@
+"""Test module for dora_pytorch_kinematics package."""
+
+import pytest
+
+
+def test_import_main():
+    """Test importing and running the main function."""
+    from dora_pytorch_kinematics.main import main
+
+    # Check that everything is working, and catch Dora RuntimeError
+    # as we're not running in a Dora dataflow.
+    with pytest.raises(RuntimeError):
+        main()

node-hub/feetech-client/feetech_client/bus.py

@@ -1,4 +1,5 @@
 """TODO: Add docstring."""
+
 import enum
 from typing import Union
 
@@ -150,7 +151,9 @@ class FeetechBus:
         ]
 
         values = [
-            np.uint32(32767 - value.as_py()) if value < 0 else np.uint32(value.as_py())
+            np.uint32(32767 - value.as_py())
+            if value.as_py() < 0
+            else np.uint32(value.as_py())
             for value in data.field("values")
         ]
 
@@ -243,7 +246,9 @@ class FeetechBus:
         values = pa.array(
             [
                 self.group_readers[group_key].getData(
-                    idx, packet_address, packet_bytes_size,
+                    idx,
+                    packet_address,
+                    packet_bytes_size,
                 )
                 for idx in motor_ids
             ],

node-hub/feetech-client/feetech_client/configure.py

@@ -0,0 +1,200 @@
+"""Module for configuring and setting up the SO100 robot hardware.
+
+This module provides functionality for initializing and configuring the SO100 robot's
+servo motors and other hardware components.
+
+The program will:
+1. Disable all torque motors of provided SO100.
+2. Ask the user to move the SO100 to the position 1 (see CONFIGURING.md for more details).
+3. Record the position of the SO100.
+4. Ask the user to move the SO100 to the position 2 (see CONFIGURING.md for more details).
+5. Record the position of the SO100.
+8. Calculate the offset and inverted mode of the SO100.
+9. Let the user verify in real time that the SO100 is working properly.
+
+It will also enable all appropriate operating modes for the SO100.
+"""
+
+import argparse
+import json
+import time
+
+import pyarrow as pa
+from pwm_position_control.functions import construct_control_table
+from pwm_position_control.tables import (
+    construct_logical_to_pwm_conversion_table_arrow,
+    construct_pwm_to_logical_conversion_table_arrow,
+)
+from pwm_position_control.transform import pwm_to_logical_arrow, wrap_joints_and_values
+
+from .bus import FeetechBus, OperatingMode, TorqueMode
+
+FULL_ARM = pa.array(
+    [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper",
+    ],
+    type=pa.string(),
+)
+
+ARM_WITHOUT_GRIPPER = pa.array(
+    ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll"],
+    type=pa.string(),
+)
+
+GRIPPER = pa.array(["gripper"], type=pa.string())
+
+
+def pause():
+    """Pause execution and wait for user input."""
+    input("Press Enter to continue...")
+
+
+def configure_servos(bus: FeetechBus):
+    """Configure the servos with default settings.
+
+    Args:
+        bus: The FeetechBus instance to configure.
+
+    """
+    bus.write_torque_enable(
+        wrap_joints_and_values(FULL_ARM, [TorqueMode.DISABLED.value] * 6),
+    )
+
+    bus.write_operating_mode(
+        wrap_joints_and_values(FULL_ARM, [OperatingMode.ONE_TURN.value] * 6),
+    )
+
+    bus.write_max_angle_limit(
+        wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6),
+    )
+
+    bus.write_min_angle_limit(
+        wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6),
+    )
+
+
+def main():
+    """Run the servo configuration process."""
+    parser = argparse.ArgumentParser(
+        description="SO100 Auto Configure: This program is used to automatically configure the Low Cost Robot (SO100) "
+        "for the user.",
+    )
+
+    parser.add_argument(
+        "--port",
+        type=str,
+        required=True,
+        help="The port of the SO100.",
+    )
+    parser.add_argument(
+        "--right",
+        action="store_true",
+        help="If the SO100 is on the right side of the user.",
+    )
+    parser.add_argument(
+        "--left",
+        action="store_true",
+        help="If the SO100 is on the left side of the user.",
+    )
+
+    args = parser.parse_args()
+
+    if args.right and args.left:
+        raise ValueError("You cannot specify both --right and --left.")
+
+    args = parser.parse_args()
+
+    targets = (
+        wrap_joints_and_values(FULL_ARM, [0, -90, 90, 0, -90, 0]),
+        wrap_joints_and_values(FULL_ARM, [90, 0, 0, 90, 0, -90]),
+    )
+
+    arm = FeetechBus(
+        args.port,
+        {
+            "shoulder_pan": (1, "st3215"),
+            "shoulder_lift": (2, "st3215"),
+            "elbow_flex": (3, "st3215"),
+            "wrist_flex": (4, "st3215"),
+            "wrist_roll": (5, "st3215"),
+            "gripper": (6, "st3215"),
+        },
+    )
+
+    configure_servos(arm)
+
+    print("Please move the SO100 to the first position.")
+    pause()
+    pwm_position_1 = arm.read_position(FULL_ARM)
+    print(pwm_position_1)
+
+    print("Please move the SO100 to the second position.")
+    pause()
+    pwm_position_2 = arm.read_position(FULL_ARM)
+    print(pwm_position_2)
+
+    print("Configuration completed.")
+
+    pwm_positions = (pwm_position_1, pwm_position_2)
+
+    pwm_to_logical_conversion_table = construct_pwm_to_logical_conversion_table_arrow(
+        pwm_positions,
+        targets,
+    )
+    logical_to_pwm_conversion_table = construct_logical_to_pwm_conversion_table_arrow(
+        pwm_positions,
+        targets,
+    )
+
+    control_table_json = {}
+    for i in range(len(FULL_ARM)):
+        control_table_json[FULL_ARM[i].as_py()] = {
+            "id": i + 1,
+            "model": "sts3215",
+            "torque": True,
+            "pwm_to_logical": pwm_to_logical_conversion_table[FULL_ARM[i].as_py()],
+            "logical_to_pwm": logical_to_pwm_conversion_table[FULL_ARM[i].as_py()],
+        }
+
+    left = "left" if args.left else "right"
+    path = (
+        input(
+            f"Please enter the path of the configuration file (default is follower.{left}.json): ",
+        )
+        or f"follower.{left}.json"
+    )
+
+    with open(path, "w") as file:
+        json.dump(control_table_json, file)
+
+    control_table = construct_control_table(
+        pwm_to_logical_conversion_table,
+        logical_to_pwm_conversion_table,
+    )
+
+    while True:
+        try:
+            pwm_position = arm.read_position(FULL_ARM)
+            logical_position = pwm_to_logical_arrow(
+                pwm_position,
+                control_table,
+                ranged=True,
+            ).field("values")
+
+            print(f"Logical Position: {logical_position}")
+
+        except ConnectionError:
+            print(
+                "Connection error occurred. Please check the connection and try again.",
+            )
+
+        time.sleep(0.5)
+
+
+if __name__ == "__main__":
+    main()

node-hub/feetech-client/feetech_client/main.py

@@ -4,6 +4,7 @@ import argparse
 import json
 import os
 
+import numpy as np
 import pyarrow as pa
 from dora import Node
 
@@ -65,9 +66,16 @@ class Client:
     def pull_position(self, node, metadata):
         """TODO: Add docstring."""
         try:
+            struct = self.bus.read_position(self.config["joints"])
+            metadata["encoding"] = "jointstate"
             node.send_output(
                 "position",
-                self.bus.read_position(self.config["joints"]),
+                pa.array(
+                    np.deg2rad(
+                        ((struct.flatten()[1].to_numpy() - 2048) / 4096.0) * 360
+                    ),
+                    type=pa.float32(),
+                ),
                 metadata,
             )
 
@@ -166,21 +174,12 @@ def main():
         "torque": wrap_joints_and_values(
             pa.array(config.keys(), pa.string()),
             pa.array(
-                [
-                    (
-                        TorqueMode.ENABLED.value
-                        if config[joint]["torque"]
-                        else TorqueMode.DISABLED.value
-                    )
-                    for joint in joints
-                ],
+                [(TorqueMode.DISABLED.value) for joint in joints],
                 type=pa.uint32(),
             ),
         ),
     }
 
-    print("Feetech Client Configuration: ", bus, flush=True)
-
     client = Client(bus)
     client.run()
     client.close()

node-hub/feetech-client/pyproject.toml

@@ -1,16 +1,17 @@
 [project]
 name = "feetech-client"
 version = "0.1"
-authors = [{ name = "Hennzau", email = "<dev@enzo-le-van.fr>"}]
+authors = [{ name = "Hennzau", email = "<dev@enzo-le-van.fr>" }]
 description = "Dora Node client for feetech motors."
 license = { text = "MIT" }
 readme = "README.md"
 requires-python = ">=3.9"
 
 dependencies = [
-"dora-rs == 0.3.5",
-"numpy <=  2.0.0",
-"feetech-servo-sdk == 1.0.0", 
+  "dora-rs == 0.3.11",
+  "numpy <=  2.0.0",
+  "feetech-servo-sdk == 1.0.0",
+  "pwm-position-control",
 ]
 
 [dependency-groups]
@@ -18,7 +19,7 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 feetech-client = "feetech_client.main:main"
-
+feetech-configure = "feetech_client.configure:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
@@ -34,3 +35,6 @@ extend-select = [
   "N",    # Ruff's N rule
   "I",    # Ruff's I rule
 ]
+
+[tool.uv.sources]
+pwm-position-control = { git = "https://github.com/Hennzau/pwm-position-control" }

node-hub/feetech-client/uv.lock

@@ -1,5 +1,4 @@
 version = 1
-revision = 1
 requires-python = ">=3.9"
 
 [[package]]
@@ -31,6 +30,17 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/de/d8/a6bfeb961b8a15c8e73a51a839482783154a2f8927fef267d57d039043dc/dora_rs-0.3.5-cp37-abi3-win_amd64.whl", hash = "sha256:88b4fe5e5569562fcdb3817abb89532f4abca913e8bd02e4ec228833716cbd09", size = 6129593 },
 ]
 
+[[package]]
+name = "dynamixel-sdk"
+version = "3.7.31"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pyserial" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/03/e8/2c65d11d312fdb1a2308563d32f63f93c39123bcfb4909d947e0b294c794/dynamixel_sdk-3.7.31-py3-none-any.whl", hash = "sha256:74e8c112ca6b0b869b196dd8c6a44ffd5dd5c1a3cb9fe2030e9933922406b466", size = 23664 },
+]
+
 [[package]]
 name = "exceptiongroup"
 version = "1.2.2"
@@ -48,6 +58,7 @@ dependencies = [
     { name = "dora-rs" },
     { name = "feetech-servo-sdk" },
     { name = "numpy" },
+    { name = "pwm-position-control" },
 ]
 
 [package.dev-dependencies]
@@ -61,6 +72,7 @@ requires-dist = [
     { name = "dora-rs", specifier = "==0.3.5" },
     { name = "feetech-servo-sdk", specifier = "==1.0.0" },
     { name = "numpy", specifier = "<=2.0.0" },
+    { name = "pwm-position-control", git = "https://github.com/Hennzau/pwm-position-control" },
 ]
 
 [package.metadata.requires-dev]
@@ -89,54 +101,45 @@ wheels = [
 
 [[package]]
 name = "numpy"
-version = "2.0.0"
+version = "1.26.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/05/35/fb1ada118002df3fe91b5c3b28bc0d90f879b881a5d8f68b1f9b79c44bfe/numpy-2.0.0.tar.gz", hash = "sha256:cf5d1c9e6837f8af9f92b6bd3e86d513cdc11f60fd62185cc49ec7d1aba34864", size = 18326228 }
+sdist = { url = "https://files.pythonhosted.org/packages/65/6e/09db70a523a96d25e115e71cc56a6f9031e7b8cd166c1ac8438307c14058/numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010", size = 15786129 }
 wheels = [
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