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Removve unnecessary files

tags/v0.3.12-rc0
haixuanTao haixuantao 8 months ago
parent
7b376d743d
commit
e02d1db2be
7 changed files with 249 additions and 484 deletions
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  1. +58
    -280
      Cargo.lock
  2. +0
    -50
      examples/so100-remote/follower.right.json
  3. +0
    -95
      examples/so100-remote/parse_keyboard.py
  4. +185
    -0
      examples/so100-remote/qwenvl-remote.yml
  5. +0
    -57
      examples/so100-remote/test.yml
  6. +1
    -1
      node-hub/dora-rustypot/Cargo.toml
  7. +5
    -1
      node-hub/feetech-client/README.md

+ 58
- 280
Cargo.lock View File

@@ -1492,7 +1492,7 @@ dependencies = [
name = "benchmark-example-node"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"futures",
"rand 0.8.5",
@@ -1505,7 +1505,7 @@ dependencies = [
name = "benchmark-example-sink"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"tracing",
"tracing-subscriber",
@@ -3070,19 +3070,6 @@ dependencies = [
"num",
]

[[package]]
name = "dora-arrow-convert"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d65f654a79d32d436400dd15ef5b6ef02bf4913037e61d0de5a037118b6c2a02"
dependencies = [
"arrow 54.2.1",
"chrono",
"eyre",
"half",
"num",
]

[[package]]
name = "dora-cli"
version = "0.3.11"
@@ -3093,14 +3080,14 @@ dependencies = [
"communication-layer-request-reply",
"ctrlc",
"dora-coordinator",
"dora-core 0.3.11",
"dora-core",
"dora-daemon",
"dora-download",
"dora-message 0.4.4",
"dora-message",
"dora-node-api-c",
"dora-operator-api-c",
"dora-runtime",
"dora-tracing 0.3.11",
"dora-tracing",
"duration-str",
"env_logger 0.11.6",
"eyre",
@@ -3128,9 +3115,9 @@ name = "dora-coordinator"
version = "0.3.11"
dependencies = [
"ctrlc",
"dora-core 0.3.11",
"dora-message 0.4.4",
"dora-tracing 0.3.11",
"dora-core",
"dora-message",
"dora-tracing",
"eyre",
"futures",
"futures-concurrency",
@@ -3148,28 +3135,7 @@ dependencies = [
name = "dora-core"
version = "0.3.11"
dependencies = [
"dora-message 0.4.4",
"eyre",
"log",
"once_cell",
"schemars",
"serde",
"serde-with-expand-env",
"serde_json",
"serde_yaml 0.9.34+deprecated",
"tokio",
"tracing",
"uuid 1.16.0",
"which",
]

[[package]]
name = "dora-core"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f0b2d224efda6e1439574b56f85cf2b2ad02c821a8de64f427ac0390c4317dc1"
dependencies = [
"dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-message",
"eyre",
"log",
"once_cell",
@@ -3194,19 +3160,19 @@ dependencies = [
"crossbeam",
"crossbeam-skiplist",
"ctrlc",
"dora-arrow-convert 0.3.11",
"dora-core 0.3.11",
"dora-arrow-convert",
"dora-core",
"dora-download",
"dora-message 0.4.4",
"dora-node-api 0.3.11",
"dora-tracing 0.3.11",
"dora-message",
"dora-node-api",
"dora-tracing",
"eyre",
"flume 0.10.14",
"futures",
"futures-concurrency",
"serde_json",
"serde_yaml 0.8.26",
"shared-memory-server 0.3.11",
"shared-memory-server",
"sysinfo 0.30.13",
"tokio",
"tokio-stream",
@@ -3224,7 +3190,7 @@ dependencies = [
"bitstream-io",
"bytemuck",
"dav1d",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"log",
"pyo3",
@@ -3246,10 +3212,10 @@ name = "dora-examples"
version = "0.0.0"
dependencies = [
"dora-coordinator",
"dora-core 0.3.11",
"dora-core",
"dora-download",
"dora-message 0.4.4",
"dora-tracing 0.3.11",
"dora-message",
"dora-tracing",
"dunce",
"eyre",
"futures",
@@ -3264,7 +3230,7 @@ dependencies = [
name = "dora-kit-car"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"dotenv",
"eyre",
"pyo3",
@@ -3295,58 +3261,22 @@ dependencies = [
"uuid 1.16.0",
]

[[package]]
name = "dora-message"
version = "0.4.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f1115e6526977ec91e61d5bb282af26c398cc7002317b3842176dff9dbd6961b"
dependencies = [
"aligned-vec",
"arrow-data 54.3.1",
"arrow-schema 54.3.1",
"bincode",
"eyre",
"log",
"once_cell",
"schemars",
"semver 1.0.26",
"serde",
"serde-with-expand-env",
"serde_yaml 0.9.34+deprecated",
"tokio",
"uhlc 0.5.2",
"uuid 1.16.0",
]

[[package]]
name = "dora-metrics"
version = "0.3.11"
dependencies = [
"eyre",
"opentelemetry 0.29.1",
"opentelemetry-otlp 0.29.0",
"opentelemetry-system-metrics 0.4.1",
"opentelemetry-otlp",
"opentelemetry-system-metrics",
"opentelemetry_sdk 0.29.0",
]

[[package]]
name = "dora-metrics"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7339d7be2f4cd7544cff7b30069514609fab4fb418a4ff9273ca1c6069db0f8c"
dependencies = [
"eyre",
"opentelemetry 0.28.0",
"opentelemetry-otlp 0.28.0",
"opentelemetry-system-metrics 0.3.1",
"opentelemetry_sdk 0.28.0",
]

[[package]]
name = "dora-mistral-rs"
version = "0.1.0"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"mistralrs",
"tokio",
@@ -3359,11 +3289,11 @@ dependencies = [
"aligned-vec",
"arrow 54.2.1",
"bincode",
"dora-arrow-convert 0.3.11",
"dora-core 0.3.11",
"dora-message 0.4.4",
"dora-metrics 0.3.11",
"dora-tracing 0.3.11",
"dora-arrow-convert",
"dora-core",
"dora-message",
"dora-metrics",
"dora-tracing",
"eyre",
"flume 0.10.14",
"futures",
@@ -3371,34 +3301,7 @@ dependencies = [
"futures-timer",
"serde_json",
"serde_yaml 0.8.26",
"shared-memory-server 0.3.11",
"shared_memory_extended",
"tokio",
"tracing",
]

[[package]]
name = "dora-node-api"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b82429c204a8d22d3561980f14c7a10b746eebcfda57f5b63b2459488dcee2ec"
dependencies = [
"aligned-vec",
"arrow 54.2.1",
"bincode",
"dora-arrow-convert 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-core 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-message 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-metrics 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-tracing 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"eyre",
"flume 0.10.14",
"futures",
"futures-concurrency",
"futures-timer",
"serde_json",
"serde_yaml 0.8.26",
"shared-memory-server 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"shared-memory-server",
"shared_memory_extended",
"tokio",
"tracing",
@@ -3409,7 +3312,7 @@ name = "dora-node-api-c"
version = "0.3.11"
dependencies = [
"arrow-array 54.2.1",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"tracing",
]
@@ -3421,7 +3324,7 @@ dependencies = [
"arrow 54.2.1",
"cxx",
"cxx-build",
"dora-node-api 0.3.11",
"dora-node-api",
"dora-ros2-bridge",
"dora-ros2-bridge-msg-gen",
"eyre",
@@ -3439,7 +3342,7 @@ dependencies = [
"arrow 54.2.1",
"dora-daemon",
"dora-download",
"dora-node-api 0.3.11",
"dora-node-api",
"dora-operator-api-python",
"dora-ros2-bridge-python",
"dora-runtime",
@@ -3456,7 +3359,7 @@ dependencies = [
name = "dora-object-to-pose"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"pyo3",
]
@@ -3466,7 +3369,7 @@ name = "dora-openai-proxy-server"
version = "0.3.11"
dependencies = [
"chrono",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"futures",
"hyper 0.14.32",
@@ -3486,7 +3389,7 @@ dependencies = [
name = "dora-operator-api"
version = "0.3.11"
dependencies = [
"dora-arrow-convert 0.3.11",
"dora-arrow-convert",
"dora-operator-api-macros",
"dora-operator-api-types",
]
@@ -3523,7 +3426,7 @@ dependencies = [
"aligned-vec",
"arrow 54.2.1",
"arrow-schema 54.3.1",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"flume 0.10.14",
"futures",
@@ -3537,7 +3440,7 @@ name = "dora-operator-api-types"
version = "0.3.11"
dependencies = [
"arrow 54.2.1",
"dora-arrow-convert 0.3.11",
"dora-arrow-convert",
"safer-ffi",
]

@@ -3547,7 +3450,7 @@ version = "0.3.11+fix1"
dependencies = [
"avif-serialize",
"bytemuck",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"log",
"pyo3",
@@ -3559,8 +3462,8 @@ name = "dora-record"
version = "0.3.11"
dependencies = [
"chrono",
"dora-node-api 0.3.11",
"dora-tracing 0.3.11",
"dora-node-api",
"dora-tracing",
"eyre",
"parquet 54.2.1",
"tokio",
@@ -3572,7 +3475,7 @@ version = "0.3.11"
dependencies = [
"bytemuck",
"chrono",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"k",
"ndarray 0.15.6",
@@ -3640,14 +3543,14 @@ version = "0.3.11"
dependencies = [
"aligned-vec",
"arrow 54.2.1",
"dora-core 0.3.11",
"dora-core",
"dora-download",
"dora-message 0.4.4",
"dora-metrics 0.3.11",
"dora-node-api 0.3.11",
"dora-message",
"dora-metrics",
"dora-node-api",
"dora-operator-api-python",
"dora-operator-api-types",
"dora-tracing 0.3.11",
"dora-tracing",
"eyre",
"flume 0.10.14",
"futures",
@@ -3666,7 +3569,7 @@ dependencies = [
name = "dora-rustypot"
version = "0.1.0"
dependencies = [
"dora-node-api 0.3.11 (registry+https://github.com/rust-lang/crates.io-index)",
"dora-node-api",
"eyre",
"rustypot",
"serialport",
@@ -3684,20 +3587,6 @@ dependencies = [
"tracing-subscriber",
]

[[package]]
name = "dora-tracing"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e50b8839c08b2ab87fd299b76d5a741647a76a22681a855d37ae099bdd77003f"
dependencies = [
"eyre",
"opentelemetry 0.18.0",
"opentelemetry-jaeger",
"tracing",
"tracing-opentelemetry",
"tracing-subscriber",
]

[[package]]
name = "dotenv"
version = "0.15.0"
@@ -7167,7 +7056,7 @@ dependencies = [
name = "multiple-daemons-example-node"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"futures",
"rand 0.8.5",
@@ -7185,7 +7074,7 @@ dependencies = [
name = "multiple-daemons-example-sink"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]

@@ -8066,20 +7955,6 @@ dependencies = [
"opentelemetry_sdk 0.18.0",
]

[[package]]
name = "opentelemetry"
version = "0.28.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "236e667b670a5cdf90c258f5a55794ec5ac5027e960c224bff8367a59e1e6426"
dependencies = [
"futures-core",
"futures-sink",
"js-sys",
"pin-project-lite",
"thiserror 2.0.12",
"tracing",
]

[[package]]
name = "opentelemetry"
version = "0.29.1"
@@ -8094,20 +7969,6 @@ dependencies = [
"tracing",
]

[[package]]
name = "opentelemetry-http"
version = "0.28.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a8863faf2910030d139fb48715ad5ff2f35029fc5f244f6d5f689ddcf4d26253"
dependencies = [
"async-trait",
"bytes",
"http 1.3.1",
"opentelemetry 0.28.0",
"reqwest 0.12.15",
"tracing",
]

[[package]]
name = "opentelemetry-http"
version = "0.29.0"
@@ -8139,27 +8000,6 @@ dependencies = [
"tokio",
]

[[package]]
name = "opentelemetry-otlp"
version = "0.28.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5bef114c6d41bea83d6dc60eb41720eedd0261a67af57b66dd2b84ac46c01d91"
dependencies = [
"async-trait",
"futures-core",
"http 1.3.1",
"opentelemetry 0.28.0",
"opentelemetry-http 0.28.0",
"opentelemetry-proto 0.28.0",
"opentelemetry_sdk 0.28.0",
"prost",
"reqwest 0.12.15",
"thiserror 2.0.12",
"tokio",
"tonic",
"tracing",
]

[[package]]
name = "opentelemetry-otlp"
version = "0.29.0"
@@ -8169,8 +8009,8 @@ dependencies = [
"futures-core",
"http 1.3.1",
"opentelemetry 0.29.1",
"opentelemetry-http 0.29.0",
"opentelemetry-proto 0.29.0",
"opentelemetry-http",
"opentelemetry-proto",
"opentelemetry_sdk 0.29.0",
"prost",
"reqwest 0.12.15",
@@ -8180,18 +8020,6 @@ dependencies = [
"tracing",
]

[[package]]
name = "opentelemetry-proto"
version = "0.28.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "56f8870d3024727e99212eb3bb1762ec16e255e3e6f58eeb3dc8db1aa226746d"
dependencies = [
"opentelemetry 0.28.0",
"opentelemetry_sdk 0.28.0",
"prost",
"tonic",
]

[[package]]
name = "opentelemetry-proto"
version = "0.29.0"
@@ -8213,21 +8041,6 @@ dependencies = [
"opentelemetry 0.18.0",
]

[[package]]
name = "opentelemetry-system-metrics"
version = "0.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "febe29a01146e142a724009278d86d80e6924acc91cedb0f508e7e14ddd06670"
dependencies = [
"eyre",
"indexmap 2.8.0",
"nvml-wrapper",
"opentelemetry 0.28.0",
"sysinfo 0.33.1",
"tokio",
"tracing",
]

[[package]]
name = "opentelemetry-system-metrics"
version = "0.4.1"
@@ -8280,27 +8093,6 @@ dependencies = [
"tokio-stream",
]

[[package]]
name = "opentelemetry_sdk"
version = "0.28.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "84dfad6042089c7fc1f6118b7040dc2eb4ab520abbf410b79dc481032af39570"
dependencies = [
"async-trait",
"futures-channel",
"futures-executor",
"futures-util",
"glob",
"opentelemetry 0.28.0",
"percent-encoding",
"rand 0.8.5",
"serde_json",
"thiserror 2.0.12",
"tokio",
"tokio-stream",
"tracing",
]

[[package]]
name = "opentelemetry_sdk"
version = "0.29.0"
@@ -11228,7 +11020,7 @@ name = "receive_data"
version = "0.3.11"
dependencies = [
"chrono",
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]

@@ -11696,7 +11488,7 @@ dependencies = [
name = "rust-dataflow-example-node"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
"futures",
"rand 0.8.5",
@@ -11707,7 +11499,7 @@ dependencies = [
name = "rust-dataflow-example-sink"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]

@@ -11715,7 +11507,7 @@ dependencies = [
name = "rust-dataflow-example-sink-dynamic"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]

@@ -11723,7 +11515,7 @@ dependencies = [
name = "rust-dataflow-example-status-node"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]

@@ -11742,7 +11534,7 @@ dependencies = [
name = "rust-ros2-dataflow-example-node"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"dora-ros2-bridge",
"eyre",
"futures",
@@ -12617,20 +12409,6 @@ dependencies = [
"tracing",
]

[[package]]
name = "shared-memory-server"
version = "0.3.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f7bc3a6490bf74045c4eb9fce4374ca217ec0363ee6a76ba9b2dbc7c1f87da88"
dependencies = [
"bincode",
"eyre",
"raw_sync_2",
"serde",
"shared_memory_extended",
"tracing",
]

[[package]]
name = "shared_memory_extended"
version = "0.13.0"
@@ -13479,7 +13257,7 @@ dependencies = [
name = "terminal-print"
version = "0.3.11"
dependencies = [
"dora-node-api 0.3.11",
"dora-node-api",
"eyre",
]



+ 0
- 50
examples/so100-remote/follower.right.json View File

@@ -1,50 +0,0 @@
{
"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 }
}
}

+ 0
- 95
examples/so100-remote/parse_keyboard.py View File

@@ -1,95 +0,0 @@
"""TODO: Add docstring."""

import time

import pyarrow as pa
from dora import Node

node = Node()

target_y = -0.02
target_x = 0.00

place_x = -0.02
place_y = 0.2
place_z = -0.48
top_z = -0.44
low_z = -0.57

roll = 1.86
pitch = 1.43
yaw_open = 0.8
yaw_close = -0.5


def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close):
node.send_output(
"action",
pa.array([target_x, target_y, top_z, roll, pitch, yaw_open]),
metadata={"encoding": "xyzrpy"},
)

time.sleep(0.8)

node.send_output(
"action",
pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]),
metadata={"encoding": "xyzrpy"},
)
time.sleep(0.2)


node.send_output(
"action",
pa.array([target_x, target_y, low_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)

time.sleep(1.0)

node.send_output(
"action",
pa.array([target_x, target_y, top_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)


def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close):

node.send_output(
"action",
pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)

time.sleep(1.0)

node.send_output(
"action",
pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)

time.sleep(1.0)

node.send_output(
"action",
pa.array([place_x, place_y, place_z, roll, pitch, yaw_open]),
metadata={"encoding": "xyzrpy"},
)
time.sleep(0.5)

node.send_output(
"action",
pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)

time.sleep(0.5)

node.send_output(
"action",
pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]),
metadata={"encoding": "xyzrpy"},
)


+ 185
- 0
examples/so100-remote/qwenvl-remote.yml View File

@@ -0,0 +1,185 @@
nodes:
- id: so100
path: dora-rustypot
_unstable_deploy:
machine: local
inputs:
tick: dora/timer/millis/33
pose:
source: pytorch-kinematics/action
queue_size: 100
outputs:
- pose
env:
PORT: /dev/ttyACM0
TORQUE: 2000
IDS: 1 2 3 4 5 6

- id: camera
build: pip install -e ../../node-hub/dora-pyrealsense
path: dora-pyrealsense
_unstable_deploy:
machine: local
inputs:
tick: dora/timer/millis/33
outputs:
- image
- depth

- id: pytorch-kinematics
build: pip install node-hub/dora-pytorch-kinematics
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:
source: parse_pose/action
queue_size: 100
outputs:
- pose
- action
env:
URDF_PATH: so100.urdf
END_EFFECTOR_LINK: "Moving Jaw"
TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7

- id: plot
build: pip install -e ../../node-hub/dora-rerun
path: dora-rerun
_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
text_vlm: dora-qwenvl/text
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
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
_unstable_deploy:
machine: gpu
inputs:
text: dora-distil-whisper/text
outputs:
- text

- 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:
image: camera/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: 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
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
git: https://github.com/dora-rs/dora.git
rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
_unstable_deploy:
machine: gpus
inputs:
image: camera/image
boxes2d: parse_bbox/bbox
outputs:
- masks

- 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:
depth: camera/depth
masks: sam2/masks
outputs:
- pose
env:
CAMERA_PITCH: -3.1415

- id: parse_pose
path: examples/remote-so100/parse_pose.py
_unstable_deploy:
machine: gpu
inputs:
pose: box_coordinates/pose
outputs:
- action

- 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:
- audio

- 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:
input: dora-vad/audio
outputs:
- text
env:
TARGET_LANGUAGE: english

+ 0
- 57
examples/so100-remote/test.yml View File

@@ -1,57 +0,0 @@
nodes:
- id: so100
path: dora-rustypot
inputs:
tick: dora/timer/millis/33
pose: pytorch-kinematics/action
outputs:
- pose
env:
PORT: /dev/ttyACM0
TORQUE: true
IDS: 1 2 3 4 5 6

- id: parse_keyboard
path: parse_keyboard.py
outputs:
- action

- id: camera
build: pip install -e ../../node-hub/dora-pyrealsense
path: dora-pyrealsense
inputs:
tick: dora/timer/millis/33
outputs:
- image
- depth

- id: pytorch-kinematics
build: pip install -e ../../node-hub/dora-pytorch-kinematics
path: dora-pytorch-kinematics
inputs:
pose: so100/pose
action: parse_keyboard/action
outputs:
- pose
- action
env:
URDF_PATH: so100.urdf
END_EFFECTOR_LINK: "Moving Jaw"
TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7

- id: plot
build: pip install -e ../../node-hub/dora-rerun
path: dora-rerun
inputs:
# series_pose: pytorch-kinematics/pose
series_so100_inference: pytorch-kinematics/action
jointstate_so100: so100/pose
jointstate_so100_inference: pytorch-kinematics/action
camera/image: camera/image
camera/depth: camera/depth
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
CAMERA_PITCH: -3.1415

+ 1
- 1
node-hub/dora-rustypot/Cargo.toml View File

@@ -6,7 +6,7 @@ edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[dependencies]
dora-node-api = "0.3.11"
dora-node-api = { workspace = true }
eyre = "0.6.12"
rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" }
serialport = { version = "4.7.1", default-features = false }

+ 5
- 1
node-hub/feetech-client/README.md View File

@@ -1,5 +1,9 @@
## FeetechClient for SCS/STS motors

> [!WARNING]
> As of 02.05.2025, this node is no more supported and is replaced in favor of dora-rustypot for higher performance
> with the possibility of being able to handle more servomotors.

This node is a client for the Feetech motors. It is based on the Dynamixel SDK and is used to control the motors. It
is a Python node that communicates with the motors via the USB port.

@@ -97,4 +101,4 @@ the goal current for the motor at the beginning, null if you don't want to set i

## License

This library is licensed under the [Apache License 2.0](../../LICENSE).
This library is licensed under the [Apache License 2.0](../../LICENSE).

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