diff --git a/Cargo.lock b/Cargo.lock
index 88fb6004..02aef736 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -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",
 ]
 
diff --git a/examples/so100-remote/follower.right.json b/examples/so100-remote/follower.right.json
deleted file mode 100644
index 6219a71b..00000000
--- a/examples/so100-remote/follower.right.json
+++ /dev/null
@@ -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 }
-  }
-}
diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py
deleted file mode 100644
index 2e0d84cb..00000000
--- a/examples/so100-remote/parse_keyboard.py
+++ /dev/null
@@ -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"},
-    )
-
diff --git a/examples/so100-remote/qwenvl-remote.yml b/examples/so100-remote/qwenvl-remote.yml
new file mode 100644
index 00000000..38e3ce72
--- /dev/null
+++ b/examples/so100-remote/qwenvl-remote.yml
@@ -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
diff --git a/examples/so100-remote/test.yml b/examples/so100-remote/test.yml
deleted file mode 100644
index 05cfb161..00000000
--- a/examples/so100-remote/test.yml
+++ /dev/null
@@ -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
diff --git a/node-hub/dora-rustypot/Cargo.toml b/node-hub/dora-rustypot/Cargo.toml
index 26ef058b..995cd808 100644
--- a/node-hub/dora-rustypot/Cargo.toml
+++ b/node-hub/dora-rustypot/Cargo.toml
@@ -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 }
diff --git a/node-hub/feetech-client/README.md b/node-hub/feetech-client/README.md
index 1c878127..4665a122 100644
--- a/node-hub/feetech-client/README.md
+++ b/node-hub/feetech-client/README.md
@@ -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).
\ No newline at end of file
+This library is licensed under the [Apache License 2.0](../../LICENSE).