Fixing cargo.lock and removing urdf

examples/so100-remote/no_torque.yml

@@ -28,9 +28,9 @@ nodes:
       - pose
       - action
     env:
-      URDF_PATH: so100.urdf
+      URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf
       END_EFFECTOR_LINK: "Moving Jaw"
-      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+      TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7
 
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun
@@ -41,6 +41,6 @@ nodes:
       camera/image: camera/image
       camera/depth: camera/depth
     env:
-      so100_urdf: so100.urdf
-      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf
+      so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
       CAMERA_PITCH: -3.1415

examples/so100-remote/parse_pose.py

@@ -51,7 +51,7 @@ def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, las
 
     node.send_output(
         "action",
-        pa.array([0.05, 0.04, top_z, roll, pitch, yaw_close]),
+        pa.array([0.05, 0.0, top_z, roll, pitch, yaw_close]),
         metadata={"encoding": "xyzrpy"},
     )
         
@@ -95,7 +95,7 @@ def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, la
 
     node.send_output(
         "action",
-        pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]),
+        pa.array([0.05, 0.0, top_z, roll, pitch, yaw_open]),
         metadata={"encoding": "xyzrpy"},
     )
         
@@ -104,7 +104,7 @@ time.sleep(0.6)
 
 node.send_output(
     "action",
-    pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]),
+    pa.array([0.05, 0.0, top_z, roll, pitch, yaw_open]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -127,7 +127,7 @@ for event in node:
             
 
             # Adjust z with the size of the gripper
-            z = z + 0.075
+            z = z + 0.06
             match action:
                 case "grab":
                     y = y + -0.01

examples/so100-remote/qwenvl-compression.yml

@@ -0,0 +1,180 @@
+nodes:
+  - id: so100
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/33
+      pose:
+        source: pytorch-kinematics/action
+        queue_size: 100
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      TORQUE: 3000
+      IDS: 1 2 3 4 5 6
+
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/150
+    outputs:
+      - image
+      - depth
+
+  - id: rav1e-local
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    inputs:
+      image: camera/image
+    outputs:
+      - image
+
+  - id: rav1e-depth
+    path: dora-rav1e
+    build: cargo build -p dora-rav1e --release
+    inputs:
+      depth: camera/depth
+    outputs:
+      - depth
+    env:
+      RAV1E_SPEED: 5
+
+  - id: dav1d
+    path: dora-dav1d
+    build: cargo build -p dora-dav1d --release
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      image: rav1e-local/image
+      depth: rav1e-depth/depth
+    outputs:
+      - image
+      - depth
+
+  - id: pytorch-kinematics
+    build: pip install node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      pose: so100/pose
+      action:
+        source: parse_pose/action
+        queue_size: 100
+    outputs:
+      - pose
+      - action
+    env:
+      URDF_PATH: so100.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      TRANSFORM: -0.2 -0.01 -0.57 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
+      jointstate_so100: so100/pose
+      camera/image: camera/image
+      camera/depth: camera/depth
+      text_whisper: dora-distil-whisper/text
+      text_vlm: dora-qwenvl/text
+      camera/boxes2d: parse_bbox/bbox
+      camera/masks: sam2/masks
+    env:
+      so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf
+      so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415
+
+  - id: dora-microphone
+    build: pip install node-hub/dora-microphone
+    path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: parse_whisper
+    path: parse_whisper.py
+    inputs:
+      text: dora-distil-whisper/text
+    outputs:
+      - text
+    env:
+      SPEED: 1.5
+
+  - id: dora-qwenvl
+    build: pip install node-hub/dora-qwen2-5-vl
+    path: dora-qwen2-5-vl
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      image: dav1d/image
+      text: parse_whisper/text
+    outputs:
+      - text
+    env:
+      DEFAULT_QUESTION: Output the bounding box of the suitcase.
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: parse_bbox
+    path: parse_bbox.py
+    inputs:
+      text: dora-qwenvl/text
+    outputs:
+      - bbox
+    env:
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: sam2
+    build: pip install node-hub/dora-sam2
+    path: dora-sam2
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      image: dav1d/image
+      boxes2d: parse_bbox/bbox
+    outputs:
+      - masks
+
+  - id: box_coordinates
+    build: pip install node-hub/dora-object-to-pose
+    path: dora-object-to-pose
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      depth: dav1d/depth
+      masks: sam2/masks
+    outputs:
+      - pose
+    env:
+      CAMERA_PITCH: -3.1415
+
+  - id: parse_pose
+    path: parse_pose.py
+    inputs:
+      pose: box_coordinates/pose
+    outputs:
+      - action
+
+  - id: dora-vad
+    build: pip install node-hub/dora-vad
+    path: dora-vad
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-distil-whisper
+    build: pip install node-hub/dora-distil-whisper
+    path: dora-distil-whisper
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english

examples/so100-remote/qwenvl-remote.yml

@@ -1,8 +1,6 @@
 nodes:
   - id: so100
     path: dora-rustypot
-    _unstable_deploy:
-      machine: local
     inputs:
       tick: dora/timer/millis/33
       pose:
@@ -18,10 +16,8 @@ nodes:
   - id: camera
     build: pip install -e ../../node-hub/dora-pyrealsense
     path: dora-pyrealsense
-    _unstable_deploy:
-      machine: local
     inputs:
-      tick: dora/timer/millis/33
+      tick: dora/timer/millis/100
     outputs:
       - image
       - depth
@@ -31,8 +27,6 @@ nodes:
     path: dora-pytorch-kinematics
     _unstable_deploy:
       machine: gpu
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
     inputs:
       pose: so100/pose
       action:
@@ -44,18 +38,15 @@ nodes:
     env:
       URDF_PATH: so100.urdf
       END_EFFECTOR_LINK: "Moving Jaw"
-      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+      TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7
 
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun
     path: dora-rerun
-    _unstable_deploy:
-      machine: local
     inputs:
       #series_so100: so100/pose
       # series_pose: pytorch-kinematics/pose
       jointstate_so100: so100/pose
-      jointstate_so100_inference: pytorch-kinematics/action
       camera/image: camera/image
       camera/depth: camera/depth
       text_whisper: dora-distil-whisper/text
@@ -63,28 +54,21 @@ nodes:
       camera/boxes2d: parse_bbox/bbox
       camera/masks: sam2/masks
     env:
-      so100_urdf: so100.urdf
-      so100_inference_urdf: so100_inference.urdf
-      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
-      so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf
+      so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
+      so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
       CAMERA_PITCH: -3.1415
 
   - id: dora-microphone
     build: pip install node-hub/dora-microphone
     path: dora-microphone
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
-    _unstable_deploy:
-      machine: local
     inputs:
       tick: dora/timer/millis/2000
     outputs:
       - audio
 
   - id: parse_whisper
-    path: examples/remote-so100/parse_whisper.py
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    path: parse_whisper.py
     _unstable_deploy:
       machine: gpu
     inputs:
@@ -95,8 +79,6 @@ nodes:
   - id: dora-qwenvl
     build: pip install node-hub/dora-qwen2-5-vl
     path: dora-qwen2-5-vl
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
     _unstable_deploy:
       machine: gpu
     inputs:
@@ -109,11 +91,7 @@ nodes:
       IMAGE_RESIZE_RATIO: "1.0"
 
   - id: parse_bbox
-    path: examples/remote-so100/parse_bbox.py
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
-    _unstable_deploy:
-      machine: gpu
+    path: parse_bbox.py
     inputs:
       text: dora-qwenvl/text
     outputs:
@@ -124,10 +102,8 @@ nodes:
   - id: sam2
     build: pip install node-hub/dora-sam2
     path: dora-sam2
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
     _unstable_deploy:
-      machine: gpus
+      machine: gpu
     inputs:
       image: camera/image
       boxes2d: parse_bbox/bbox
@@ -137,8 +113,6 @@ nodes:
   - id: box_coordinates
     build: pip install node-hub/dora-object-to-pose
     path: dora-object-to-pose
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
     _unstable_deploy:
       machine: gpu
     inputs:
@@ -150,9 +124,7 @@ nodes:
       CAMERA_PITCH: -3.1415
 
   - id: parse_pose
-    path: examples/remote-so100/parse_pose.py
-    _unstable_deploy:
-      machine: gpu
+    path: parse_pose.py
     inputs:
       pose: box_coordinates/pose
     outputs:
@@ -161,10 +133,6 @@ nodes:
   - id: dora-vad
     build: pip install node-hub/dora-vad
     path: dora-vad
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
-    _unstable_deploy:
-      machine: gpu
     inputs:
       audio: dora-microphone/audio
     outputs:
@@ -173,8 +141,6 @@ nodes:
   - id: dora-distil-whisper
     build: pip install node-hub/dora-distil-whisper
     path: dora-distil-whisper
-    git: https://github.com/dora-rs/dora.git
-    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
     _unstable_deploy:
       machine: gpu
     inputs:

examples/so100-remote/qwenvl.yml

@@ -10,7 +10,7 @@ nodes:
       - pose
     env:
       PORT: /dev/ttyACM0
-      TORQUE: 2000
+      TORQUE: 5000
       IDS: 1 2 3 4 5 6
 
   - id: camera
@@ -34,9 +34,9 @@ nodes:
       - pose
       - action
     env:
-      URDF_PATH: so100.urdf
+      URDF_PATH: /home/xavier/Downloads/so100_urdf/so100.urdf
       END_EFFECTOR_LINK: "Moving Jaw"
-      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+      TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7
 
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun
@@ -53,10 +53,9 @@ nodes:
       camera/boxes2d: parse_bbox/bbox
       camera/masks: sam2/masks
     env:
-      so100_urdf: so100.urdf
-      so100_inference_urdf: so100_inference.urdf
-      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
-      so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      so100_urdf: /home/xavier/Downloads/so100_urdf/so100.urdf
+      so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
+      so100_inference_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7
       CAMERA_PITCH: -3.1415
 
   - id: dora-microphone

examples/so100-remote/so100.urdf

@@ -1,384 +0,0 @@
-<?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 -->
-
-  </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="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="revolute">
-    <origin
-      xyz="0 0.11257 0.028"
-      rpy="-0.1 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="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" />
-
-  </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" />
-
-  </joint>
-</robot>

examples/so100-remote/so100_inference.urdf

@@ -1,384 +0,0 @@
-<?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="0.2 0.819607843137255 0.2 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="0.2 0.819607843137255 0.2 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 -->
-
-  </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="0.2 0.819607843137255 0.2 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="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="0.2 0.819607843137255 0.2 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="-0.1 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="0.2 0.819607843137255 0.2 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="0.2 0.819607843137255 0.2 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" />
-
-  </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="0.2 0.819607843137255 0.2 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" />
-
-  </joint>
-</robot>

node-hub/dora-rerun/pyproject.toml

@@ -28,4 +28,4 @@ extend-select = [
 ]
 
 [tool.uv.sources]
-rerun-loader-urdf = { git = "thttps://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" }
+rerun-loader-urdf = { git = "https://github.com/haixuanTao/rerun-loader-python-example-urdf.git", branch = "patch-2" }