diff --git a/Cargo.lock b/Cargo.lock
index 02aef736..fa4f7c5b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
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@@ -1749,9 +1562,9 @@ checksum = "2d2c12f985c78475a6b8d629afd0c360260ef34cfef52efccdcfd31972f81c2e"
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dependencies = [
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@@ -2035,9 +1848,9 @@ dependencies = [
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dependencies = [
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@@ -2045,7 +1858,7 @@ dependencies = [
"num-traits",
"serde",
"wasm-bindgen",
- "windows-targets 0.52.6",
+ "windows-link",
]
[[package]]
@@ -2286,6 +2099,16 @@ dependencies = [
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version = "0.3.11"
+[[package]]
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+ "syn 2.0.101",
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+
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@@ -3063,7 +2886,7 @@ dependencies = [
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version = "0.3.11"
dependencies = [
- "arrow 54.2.1",
+ "arrow",
"chrono",
"eyre",
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version = "0.4.4"
dependencies = [
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- "arrow-data 54.3.1",
- "arrow-schema 54.3.1",
+ "arrow-data",
+ "arrow-schema",
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"log",
@@ -3287,7 +3110,7 @@ name = "dora-node-api"
version = "0.3.11"
dependencies = [
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+ "arrow",
"bincode",
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@@ -3311,7 +3134,7 @@ dependencies = [
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version = "0.3.11"
dependencies = [
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+ "arrow-array",
"dora-node-api",
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version = "0.3.11"
dependencies = [
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+ "arrow",
"cxx",
"cxx-build",
"dora-node-api",
@@ -3339,7 +3162,7 @@ dependencies = [
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version = "0.3.11"
dependencies = [
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+ "arrow",
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"dora-download",
"dora-node-api",
@@ -3424,8 +3247,8 @@ name = "dora-operator-api-python"
version = "0.3.11"
dependencies = [
"aligned-vec",
- "arrow 54.2.1",
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+ "arrow",
+ "arrow-schema",
"dora-node-api",
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@@ -3439,7 +3262,7 @@ dependencies = [
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version = "0.3.11"
dependencies = [
- "arrow 54.2.1",
+ "arrow",
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@@ -3465,7 +3288,7 @@ dependencies = [
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"dora-tracing",
"eyre",
- "parquet 54.2.1",
+ "parquet",
"tokio",
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version = "0.3.11"
dependencies = [
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@@ -3527,7 +3349,7 @@ dependencies = [
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version = "0.3.11"
dependencies = [
- "arrow 54.2.1",
+ "arrow",
"dora-ros2-bridge",
"dora-ros2-bridge-msg-gen",
"eyre",
@@ -3542,7 +3364,7 @@ name = "dora-runtime"
version = "0.3.11"
dependencies = [
"aligned-vec",
- "arrow 54.2.1",
+ "arrow",
"dora-core",
"dora-download",
"dora-message",
@@ -3672,6 +3494,7 @@ dependencies = [
"egui-wgpu",
"egui-winit",
"egui_glow",
+ "glow",
"glutin",
"glutin-winit",
"home",
@@ -3759,6 +3582,17 @@ dependencies = [
"winit",
]
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46505945185b7ec0ecfac9aee8dfc824c7ab9aeecee89a0bc3cc80d072f5f73d"
+dependencies = [
+ "egui",
+ "hello_egui_utils",
+ "simple-easing",
+]
+
[[package]]
name = "egui_commonmark"
version = "0.20.0"
@@ -3782,6 +3616,18 @@ dependencies = [
"pulldown-cmark 0.12.2",
]
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85cbf1f1f9276b83eedb1259495570b8608437270c5cc729b734530e7f20d634"
+dependencies = [
+ "egui",
+ "egui_animation",
+ "simple-easing",
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+ "re_uri",
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+ "serde",
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+ "tiff",
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]
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]
+[[package]]
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+ "thiserror 1.0.69",
+ "url",
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"re_entity_db",
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@@ -10572,42 +10501,42 @@ dependencies = [
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dependencies = [
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+ "itertools 0.14.0",
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+ "re_dataframe_ui",
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"re_format",
"re_log",
"re_log_types",
"re_renderer",
+ "re_sorbet",
"re_tracing",
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"re_ui",
"re_viewer_context",
"re_viewport_blueprint",
- "thiserror 1.0.69",
]
[[package]]
name = "re_view_graph"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "itertools 0.14.0",
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"re_data_ui",
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name = "re_view_map"
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+ "itertools 0.14.0",
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dependencies = [
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- "itertools 0.13.0",
+ "itertools 0.14.0",
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@@ -10739,13 +10668,13 @@ dependencies = [
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name = "re_view_text_log"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "itertools 0.14.0",
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"re_entity_db",
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[[package]]
name = "re_view_time_series"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "itertools 0.14.0",
+ "nohash-hasher",
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"re_chunk_store",
"re_format",
@@ -10781,27 +10711,33 @@ dependencies = [
"re_view",
"re_viewer_context",
"re_viewport_blueprint",
+ "smallvec",
]
[[package]]
name = "re_viewer"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"anyhow",
+ "arrow",
"bytemuck",
"cfg-if 1.0.0",
+ "crossbeam",
"eframe",
"egui",
"egui-wgpu",
"egui_plot",
+ "egui_table",
"ehttp",
+ "glam",
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+ "itertools 0.14.0",
"js-sys",
"parking_lot",
+ "percent-encoding",
"poll-promise",
"re_analytics",
"re_blueprint_tree",
@@ -10815,23 +10751,27 @@ dependencies = [
"re_data_loader",
"re_data_source",
"re_data_ui",
+ "re_dataframe_ui",
"re_entity_db",
"re_error",
"re_format",
+ "re_grpc_client",
"re_log",
"re_log_encoding",
"re_log_types",
"re_memory",
"re_query",
+ "re_redap_browser",
"re_renderer",
- "re_sdk_comms",
"re_selection_panel",
"re_smart_channel",
+ "re_sorbet",
"re_time_panel",
"re_tracing",
"re_types",
"re_types_core",
"re_ui",
+ "re_uri",
"re_video",
"re_view_bar_chart",
"re_view_dataframe",
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"re_viewport",
"re_viewport_blueprint",
- "re_ws_comms",
"rfd",
"ron",
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"web-sys",
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name = "re_viewer_context"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "1ff905b6a6b98604dbece3fde70f85c9dbe51cd25e118e620a5927e3de1e0878"
dependencies = [
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"anyhow",
- "arrow 53.4.1",
+ "arrow",
"bit-vec",
"bitflags 2.9.0",
"bytemuck",
@@ -10885,12 +10823,13 @@ dependencies = [
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"image",
"indexmap 2.8.0",
- "itertools 0.13.0",
+ "itertools 0.14.0",
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"ndarray 0.16.1",
"nohash-hasher",
"once_cell",
"parking_lot",
+ "re_build_info",
"re_capabilities",
"re_chunk",
"re_chunk_store",
@@ -10898,16 +10837,19 @@ dependencies = [
"re_entity_db",
"re_format",
"re_log",
+ "re_log_encoding",
"re_log_types",
"re_math",
"re_query",
"re_renderer",
"re_smart_channel",
+ "re_sorbet",
"re_string_interner",
"re_tracing",
"re_types",
"re_types_core",
"re_ui",
+ "re_uri",
"re_video",
"rfd",
"serde",
@@ -10915,6 +10857,7 @@ dependencies = [
"smallvec",
"strum_macros 0.26.4",
"thiserror 1.0.69",
+ "tokio",
"uuid 1.16.0",
"wasm-bindgen-futures",
"web-sys",
@@ -10923,9 +10866,9 @@ dependencies = [
[[package]]
name = "re_viewport"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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name = "re_viewport_blueprint"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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+ "arrow",
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- "itertools 0.13.0",
+ "itertools 0.14.0",
"nohash-hasher",
"once_cell",
"parking_lot",
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name = "re_web_viewer_server"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+checksum = "a55cc4b7025804aee193619e6ee80422e32a8a9d393fbafb06d072f1f9a19be3"
dependencies = [
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"re_analytics",
@@ -10987,28 +10930,6 @@ dependencies = [
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]
-[[package]]
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version = "0.5.5"
@@ -11161,7 +11082,6 @@ dependencies = [
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- "mime_guess",
"once_cell",
"percent-encoding",
"pin-project-lite",
@@ -11234,30 +11154,34 @@ dependencies = [
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name = "reqwest-middleware"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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"async-trait",
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- "reqwest 0.11.27",
+ "http 1.3.1",
+ "reqwest 0.12.15",
"serde",
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"thiserror 1.0.69",
+ "tower-service",
]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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+ "arrow",
+ "camino",
+ "crossbeam",
"document-features",
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- "itertools 0.13.0",
+ "env_filter",
+ "indexmap 2.8.0",
+ "indicatif 0.17.11",
+ "itertools 0.14.0",
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"puffin",
"rayon",
@@ -11273,19 +11197,22 @@ dependencies = [
"re_error",
"re_format",
"re_format_arrow",
+ "re_grpc_server",
"re_log",
"re_log_encoding",
"re_log_types",
"re_memory",
"re_sdk",
- "re_sdk_comms",
"re_smart_channel",
+ "re_sorbet",
"re_tracing",
"re_types",
+ "re_uri",
"re_video",
"re_viewer",
"re_web_viewer_server",
"similar-asserts",
+ "tokio",
]
[[package]]
@@ -11302,6 +11229,12 @@ dependencies = [
"usvg",
]
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "be932047c168919c8d5af065b16fa7d4bd24835ffa256bf0cf1ff463f91c15df"
+
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name = "rfd"
version = "0.15.3"
@@ -11823,7 +11756,8 @@ checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"log",
@@ -11968,6 +11902,19 @@ dependencies = [
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]
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6277f0217056f77f1d8f49f2950ac6c278c0d607c45f5ee99328d792ede24ec"
+dependencies = [
+ "ab_glyph",
+ "log",
+ "memmap2 0.9.5",
+ "smithay-client-toolkit",
+ "tiny-skia",
+]
+
[[package]]
name = "secrecy"
version = "0.8.0"
@@ -12562,6 +12509,12 @@ dependencies = [
"similar",
]
+[[package]]
+name = "simple-easing"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "832ddd7df0d98d6fd93b973c330b7c8e0742d5cb8f1afc7dea89dba4d2531aa1"
+
[[package]]
name = "simplecss"
version = "0.2.2"
@@ -13222,15 +13175,6 @@ version = "0.12.16"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1"
-[[package]]
-name = "task-local-extensions"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba323866e5d033818e3240feeb9f7db2c4296674e4d9e16b97b7bf8f490434e8"
-dependencies = [
- "pin-utils",
-]
-
[[package]]
name = "tempfile"
version = "3.19.1"
@@ -13652,6 +13596,7 @@ dependencies = [
"futures-core",
"pin-project-lite",
"tokio",
+ "tokio-util",
]
[[package]]
@@ -13762,8 +13707,11 @@ dependencies = [
"percent-encoding",
"pin-project",
"prost",
+ "rustls-native-certs 0.8.1",
+ "rustls-pemfile 2.2.0",
"socket2 0.5.8",
"tokio",
+ "tokio-rustls 0.26.2",
"tokio-stream",
"tower 0.4.13",
"tower-layer",
@@ -13771,6 +13719,26 @@ dependencies = [
"tracing",
]
+[[package]]
+name = "tonic-web"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5299dd20801ad736dccb4a5ea0da7376e59cd98f213bf1c3d478cf53f4834b58"
+dependencies = [
+ "base64 0.22.1",
+ "bytes",
+ "http 1.3.1",
+ "http-body 1.0.1",
+ "http-body-util",
+ "pin-project",
+ "tokio-stream",
+ "tonic",
+ "tower-http",
+ "tower-layer",
+ "tower-service",
+ "tracing",
+]
+
[[package]]
name = "tonic-web-wasm-client"
version = "0.6.2"
@@ -13831,6 +13799,22 @@ dependencies = [
"tower-service",
]
+[[package]]
+name = "tower-http"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e9cd434a998747dd2c4276bc96ee2e0c7a2eadf3cae88e52be55a05fa9053f5"
+dependencies = [
+ "bitflags 2.9.0",
+ "bytes",
+ "http 1.3.1",
+ "http-body 1.0.1",
+ "http-body-util",
+ "pin-project-lite",
+ "tower-layer",
+ "tower-service",
+]
+
[[package]]
name = "tower-layer"
version = "0.3.3"
@@ -14447,9 +14431,9 @@ dependencies = [
[[package]]
name = "walkers"
-version = "0.34.0"
+version = "0.36.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e15ae9bf81b8cf852ecacf362a5d720ba0b523add2c806ffb3c57731d259c43a"
+checksum = "01c614541ed9e6749af0d3836b5adb563a8cec55097fc938daa33a4bea293472"
dependencies = [
"egui",
"egui_extras",
@@ -14459,7 +14443,7 @@ dependencies = [
"image",
"log",
"lru",
- "reqwest 0.11.27",
+ "reqwest 0.12.15",
"reqwest-middleware",
"thiserror 2.0.12",
"tokio",
@@ -15622,6 +15606,7 @@ dependencies = [
"raw-window-handle 0.6.2",
"redox_syscall 0.4.1",
"rustix 0.38.44",
+ "sctk-adwaita",
"smithay-client-toolkit",
"smol_str",
"tracing",
diff --git a/examples/so100-remote/no_torque.yml b/examples/so100-remote/no_torque.yml
index 608ab774..404a816d 100644
--- a/examples/so100-remote/no_torque.yml
+++ b/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
diff --git a/examples/so100-remote/parse_pose.py b/examples/so100-remote/parse_pose.py
index db4f0634..a3d8a1fa 100644
--- a/examples/so100-remote/parse_pose.py
+++ b/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
diff --git a/examples/so100-remote/qwenvl-compression.yml b/examples/so100-remote/qwenvl-compression.yml
new file mode 100644
index 00000000..b903f57d
--- /dev/null
+++ b/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
diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml
index 38e3ce72..decb75ea 100644
--- a/examples/so100-remote/qwenvl-remote.yml
+++ b/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:
diff --git a/examples/so100-remote/qwenvl.yml b/examples/so100-remote/qwenvl.yml
index c29d0c5a..76f8cd0f 100644
--- a/examples/so100-remote/qwenvl.yml
+++ b/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
diff --git a/examples/so100-remote/so100.urdf b/examples/so100-remote/so100.urdf
deleted file mode 100644
index c993f6b5..00000000
--- a/examples/so100-remote/so100.urdf
+++ /dev/null
@@ -1,384 +0,0 @@
-
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\ No newline at end of file
diff --git a/examples/so100-remote/so100_inference.urdf b/examples/so100-remote/so100_inference.urdf
deleted file mode 100644
index a72a7ebb..00000000
--- a/examples/so100-remote/so100_inference.urdf
+++ /dev/null
@@ -1,384 +0,0 @@
-
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\ No newline at end of file
diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml
index 5ff72b99..42ec1643 100644
--- a/node-hub/dora-rerun/pyproject.toml
+++ b/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" }