Fix CI/CD And improve example

.github/workflows/node-hub-ci-cd.yml

@@ -54,7 +54,7 @@ jobs:
         run: |
           sudo apt update
           sudo apt-get install portaudio19-dev
-          sudo apt-get install libdav1d-dev nasm
+          sudo apt-get install libdav1d-dev nasm libudev-dev
           mkdir -p $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib
           ln -s /lib/x86_64-linux-gnu/libdav1d.so $HOME/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/lib/libdav1d.so
 

Cargo.lock

@@ -6505,26 +6505,6 @@ dependencies = [
  "redox_syscall 0.5.10",
 ]
 
-[[package]]
-name = "libudev"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
-dependencies = [
- "libc",
- "libudev-sys",
-]
-
-[[package]]
-name = "libudev-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
-dependencies = [
- "libc",
- "pkg-config",
-]
-
 [[package]]
 name = "libz-sys"
 version = "1.1.22"
@@ -12456,7 +12436,6 @@ dependencies = [
  "core-foundation 0.10.0",
  "core-foundation-sys",
  "io-kit-sys",
- "libudev",
  "mach2",
  "nix 0.26.4",
  "scopeguard",

examples/so100-remote/no_torque.yml

@@ -7,7 +7,7 @@ nodes:
     outputs:
       - pose
     env:
-      PORT: /dev/ttyACM1
+      PORT: /dev/ttyACM0
       IDS: 1 2 3 4 5 6
       TORQUE: false
 
@@ -31,13 +31,12 @@ nodes:
     env:
       URDF_PATH: so100.urdf
       END_EFFECTOR_LINK: "Moving Jaw"
-      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      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_so100: so100/pose
       series_fk: pytorch-kinematics/pose
       jointstate_so100: so100/pose
       camera/image: camera/image

examples/so100-remote/parse_keyboard.py

@@ -7,18 +7,26 @@ from dora import Node
 
 node = Node()
 
-target_x = -0.08
-target_y = -0.20
+target_y = -0.02
+target_x = 0.00
 
-place_x = -0.08
-place_y = 0.20
+place_x = -0.02
+place_y = -0.1
+
+top_z = -0.50
+low_z = -0.57
+
+roll = 1.86
+pitch = 1.43
+yaw_closed = 0.8
+yaw_opened = -0.5
 
 now = time.time()
 time.sleep(1.5)
 
 node.send_output(
     "action",
-    pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]),
+    pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -26,7 +34,7 @@ time.sleep(0.8)
 
 node.send_output(
     "action",
-    pa.array([target_y, target_x, 0.15, -1.6, -0.0, -1]),
+    pa.array([target_x, target_y, top_z, roll, pitch, yaw_closed]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -34,7 +42,7 @@ time.sleep(0.5)
 
 node.send_output(
     "action",
-    pa.array([target_y, target_x, 0.09, -1.6, -0.0, -1]),
+    pa.array([target_x, target_y, low_z, roll, pitch, yaw_closed]),
     metadata={"encoding": "xyzrpy"},
 )
 time.sleep(0.2)
@@ -42,7 +50,7 @@ time.sleep(0.2)
 
 node.send_output(
     "action",
-    pa.array([target_y, target_x, 0.09, -1.6, -0.0, -3]),
+    pa.array([target_x, target_y, low_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -51,7 +59,7 @@ time.sleep(1.0)
 
 node.send_output(
     "action",
-    pa.array([target_y, target_x, 0.15, -1.6, -0.0, -3]),
+    pa.array([target_x, target_y, top_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -60,7 +68,7 @@ time.sleep(0.3)
 
 node.send_output(
     "action",
-    pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]),
+    pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -68,7 +76,7 @@ time.sleep(1.0)
 
 node.send_output(
     "action",
-    pa.array([place_y, place_x, 0.10, -1.6, -0.0, -3]),
+    pa.array([place_x, place_y, low_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -76,14 +84,14 @@ time.sleep(0.2)
 
 node.send_output(
     "action",
-    pa.array([place_y, place_x, 0.10, -1.6, -0.0, -1]),
+    pa.array([place_x, place_y, low_z, roll, pitch, yaw_closed]),
     metadata={"encoding": "xyzrpy"},
 )
 time.sleep(1.0)
 
 node.send_output(
     "action",
-    pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]),
+    pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )
 
@@ -91,6 +99,6 @@ time.sleep(1.0)
 
 node.send_output(
     "action",
-    pa.array([place_y, place_x, 0.15, -1.6, -0.0, -3]),
+    pa.array([place_x, place_y, top_z, roll, pitch, yaw_opened]),
     metadata={"encoding": "xyzrpy"},
 )

examples/so100-remote/so100.urdf

@@ -95,13 +95,9 @@
     <child
       link="Rotation_Pitch" />
     <axis
-      xyz="0 1 0" />
+      xyz="0 -1 0" />
       <!-- note for the so100 arm there is no well defined effort/velocity limits at the moment -->
-    <limit
-      lower="-2.1"
-      upper="2.1"
-      effort="0"
-      velocity="0" />
+
   </joint>
   <link
     name="Upper_Arm">
@@ -148,18 +144,14 @@
     type="revolute">
     <origin
       xyz="0 0.1025 0.0306"
-      rpy="1.5708 0 0" />
+      rpy="0 0 0" />
     <parent
       link="Rotation_Pitch" />
     <child
       link="Upper_Arm" />
     <axis
-      xyz="-1 0 0" />
-    <limit
-      lower="-0.1"
-      upper="3.45"
-      effort="0"
-      velocity="0" />
+      xyz="1 0 0" />
+
   </joint>
   <link
     name="Lower_Arm">
@@ -206,18 +198,13 @@
     type="revolute">
     <origin
       xyz="0 0.11257 0.028"
-      rpy="-1.5708 0 0" />
+      rpy="-0.1 0 0" />
     <parent
       link="Upper_Arm" />
     <child
       link="Lower_Arm" />
     <axis
       xyz="1 0 0" />
-    <limit 
-      lower="-0.2"
-      upper="3.14159"
-      effort="0"
-      velocity="0" />
   </joint>
   <link
     name="Wrist_Pitch_Roll">
@@ -322,7 +309,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="Wrist_Roll_Follower_SO101.stl" />
+          filename="Wrist_Roll_Follower_SO101.STL" />
       </geometry>
     </collision>
   </link>
@@ -337,12 +324,8 @@
     <child
       link="Fixed_Jaw" />
     <axis
-      xyz="0 -1 0" />
-    <limit 
-      lower="-3.14159"
-      upper="3.14159"
-      effort="0"
-      velocity="0" />
+      xyz="0 1 0" />
+
   </joint>
   <link
     name="Moving Jaw">
@@ -380,7 +363,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="Moving_Jaw_SO101.stl" />
+          filename="Moving_Jaw_SO101.STL" />
       </geometry>
     </collision>
   </link>
@@ -396,10 +379,6 @@
       link="Moving Jaw" />
     <axis
       xyz="0 0 1" />
-    <limit 
-      lower="0"
-      upper="1.7"
-      effort="0"
-      velocity="0" />
+
   </joint>
 </robot>

examples/so100-remote/so100_2.urdf

@@ -1,365 +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="continuous">
-    <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" />
-  </joint>
-  <link
-    name="Upper_Arm">
-    <inertial>
-      <origin
-        xyz="-1.7205170190925E-05 0.0701802156327694 0.00310545118155671"
-        rpy="0 0 0" />
-      <mass
-        value="0.162409284599177" />
-      <inertia
-        ixx="0.000167153146617081"
-        ixy="1.03902689187701E-06"
-        ixz="-1.20161820645189E-08"
-        iyy="7.01946992214245E-05"
-        iyz="2.11884806298698E-06"
-        izz="0.000213280241160769" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Upper_Arm.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Upper_Arm.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="Pitch"
-    type="continuous">
-    <origin
-      xyz="0 0.1025 0.0306"
-      rpy="0 0 0" />
-    <parent
-      link="Rotation_Pitch" />
-    <child
-      link="Upper_Arm" />
-    <axis
-      xyz="1 0 0" />
-  </joint>
-  <link
-    name="Lower_Arm">
-    <inertial>
-      <origin
-        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
-        rpy="0 0 0" />
-      <mass
-        value="0.147967774582291" />
-      <inertia
-        ixx="0.000105333995841409"
-        ixy="1.73059237226499E-07"
-        ixz="-1.1720305455211E-05"
-        iyy="0.000138766654485212"
-        iyz="1.77429964684103E-06"
-        izz="5.08741652515214E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Lower_Arm.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Lower_Arm.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="Elbow"
-    type="continuous">
-    <origin
-      xyz="0 0.11257 0.028"
-      rpy="0 0 0" />
-    <parent
-      link="Upper_Arm" />
-    <child
-      link="Lower_Arm" />
-    <axis
-      xyz="1 0 0" />
-  </joint>
-  <link
-    name="Wrist_Pitch_Roll">
-    <inertial>
-      <origin
-        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.066132067097723" />
-      <inertia
-        ixx="1.95717492443445E-05"
-        ixy="-6.62714374412293E-07"
-        ixz="5.20089016442066E-09"
-        iyy="2.38028417569933E-05"
-        iyz="4.09549055863776E-08"
-        izz="3.4540143384536E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Wrist_Pitch_Roll.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Wrist_Pitch_Roll.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="Wrist_Pitch"
-    type="continuous">
-    <origin
-      xyz="0 0.0052 0.1349"
-      rpy="-1.57 0 0" />
-    <parent
-      link="Lower_Arm" />
-    <child
-      link="Wrist_Pitch_Roll" />
-    <axis
-      xyz="1 0 0" />
-  </joint>
-  <link
-    name="Fixed_Jaw">
-    <inertial>
-      <origin
-        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
-        rpy="0 0 0" />
-      <mass
-        value="0.0929859131176897" />
-      <inertia
-        ixx="4.3328249304211E-05"
-        ixy="7.09654328670947E-06"
-        ixz="5.99838530879484E-07"
-        iyy="3.04451747368212E-05"
-        iyz="-1.58743247545413E-07"
-        izz="5.02460913506734E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Wrist_Roll_Follower_SO101.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Wrist_Roll_Follower_SO101.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="Wrist_Roll"
-    type="continuous">
-    <origin
-      xyz="0 -0.0601 0"
-      rpy="0 1.57 0" />
-    <parent
-      link="Wrist_Pitch_Roll" />
-    <child
-      link="Fixed_Jaw" />
-    <axis
-      xyz="0 1 0" />
-  </joint>
-  <link
-    name="Moving Jaw">
-    <inertial>
-      <origin
-        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
-        rpy="0 0 0" />
-      <mass
-        value="0.0202443794940372" />
-      <inertia
-        ixx="1.10911325081525E-05"
-        ixy="-5.35076503033314E-07"
-        ixz="-9.46105662101403E-09"
-        iyy="3.03576451001973E-06"
-        iyz="-1.71146075110632E-07"
-        izz="8.9916083370498E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Moving_Jaw_SO101.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="Moving_Jaw_SO101.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="Jaw"
-    type="continuous">
-    <origin
-      xyz="-0.0202 -0.0244 0"
-      rpy="0 0 0" />
-    <parent
-      link="Fixed_Jaw" />
-    <child
-      link="Moving Jaw" />
-    <axis
-      xyz="0 0 1" />
-  </joint>
-</robot>

examples/so100-remote/test.yml

@@ -8,7 +8,6 @@ nodes:
       - pose
     env:
       PORT: /dev/ttyACM0
-      CONFIG: follower.right.json
       TORQUE: true
       IDS: 1 2 3 4 5 6
 
@@ -17,6 +16,15 @@ nodes:
     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
@@ -27,18 +35,21 @@ nodes:
       - pose
       - action
     env:
-      URDF_PATH: so100_2.urdf
+      URDF_PATH: so100.urdf
       END_EFFECTOR_LINK: "Moving Jaw"
-      so100_transform: 0 -0.3 0
+      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_so100: so100/pose
-      series_pose: pytorch-kinematics/pose
-      series_action: pytorch-kinematics/action
-      jointstate_so100: so100/pose
+      #series_so100: so100/pose
+      # series_pose: pytorch-kinematics/pose
+      series_so100: pytorch-kinematics/action
+      jointstate_so100: pytorch-kinematics/action
+      camera/image: camera/image
+      camera/depth: camera/depth
     env:
-      so100_urdf: so100_2.urdf
-      so100_transform: 0 -0.3 0
+      so100_urdf: so100.urdf
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415

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

@@ -10,6 +10,20 @@ import torch
 from dora import Node
 from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles
 
+TRANSFORM = np.array(os.getenv("TRANSFORM", "0. 0. 0. 0. 0. 0. 1.").split(" ")).astype(
+    np.float32
+)
+pos = torch.tensor([TRANSFORM[0], TRANSFORM[1], TRANSFORM[2]])
+rot = torch.tensor(
+    [
+        TRANSFORM[3],
+        TRANSFORM[4],
+        TRANSFORM[5],
+        TRANSFORM[6],
+    ],
+)
+ROB_TF = pk.Transform3d(pos=pos, rot=rot)
+
 
 def get_xyz_rpy_array_from_transform3d(
     transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ"
@@ -134,9 +148,6 @@ class RobotKinematics:
 
         """
         # robot frame
-        pos = torch.tensor([0.0, 0.0, 0.0])
-        rot = torch.tensor([0.0, 0.0, 0.0])
-        rob_tf = pk.Transform3d(pos=pos, rot=rot)
 
         angles_tensor = self._prepare_joint_tensor(
             joint_angles, batch_dim_required=False
@@ -145,7 +156,7 @@ class RobotKinematics:
         goal_in_rob_frame_tf = self.chain.forward_kinematics(
             angles_tensor, end_only=True
         )
-        goal_tf = rob_tf.compose(goal_in_rob_frame_tf)
+        goal_tf = ROB_TF.compose(goal_in_rob_frame_tf)
         return goal_tf
 
     def compute_ik(
@@ -250,6 +261,7 @@ def main():
                                 torch.tensor(target[3:6]), convention="XYZ"
                             ),
                         )
+                        target = ROB_TF.inverse().compose(target)
                         solution = robot.compute_ik(target, last_known_state)
                         if solution is None:
                             continue
@@ -275,7 +287,7 @@ def main():
                     # Apply Forward Kinematics
                     target = robot.compute_fk(target)
                     target = np.array(get_xyz_rpy_array_from_transform3d(target))
-                    target = pa.array(target.ravel())
+                    target = pa.array(target.ravel(), type=pa.float32())
                     metadata["encoding"] = "xyzrpy"
                     node.send_output(event["id"], target, metadata=metadata)
 

node-hub/dora-rerun/src/urdf.rs

@@ -1,4 +1,4 @@
-use std::collections::HashMap;
+use std::{collections::HashMap, path::PathBuf};
 
 use eyre::{Context, ContextCompat, Result};
 use k::{nalgebra::Quaternion, Chain, Translation3, UnitQuaternion};
@@ -64,6 +64,12 @@ pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
         let chain = k::Chain::<f32>::from_urdf_file(&urdf_path).context("Could not load URDF")?;
 
         let transform = key.replace("_urdf", "_transform");
+
+        if PathBuf::from(&urdf_path).file_name() != PathBuf::from(&path).file_name() {
+            return Err(eyre::eyre!(
+                "URDF path should be the same as the key without _urdf or _URDF. Got {} instead of {}", urdf_path, path
+            ));
+        }
         if let Err(err) = rec.log_file_from_path(&urdf_path, None, false) {
             println!("Could not log file: {}. Errored with {}", urdf_path, err);
             println!("Make sure to install urdf loader with:");
@@ -71,6 +77,7 @@ pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
                 "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git"
             )
         };
+
         // Get transform by replacing URDF_ with TRANSFORM_
         if let Ok(transform) = std::env::var(transform) {
             let transform = transform

node-hub/dora-rustypot/Cargo.toml

@@ -9,4 +9,4 @@ edition = "2021"
 dora-node-api = "0.3.11"
 eyre = "0.6.12"
 rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" }
-serialport = "4.7.1"
+serialport = { version = "4.7.1", default-features = false }