Add IOS lidar example for reachy human shadowing

.gitignore

@@ -11,6 +11,7 @@ examples/**/*.txt
 
 # Remove hdf and stl files
 *.stl
+*.dae
 *.STL
 *.hdf5
 

Cargo.lock

@@ -853,7 +853,7 @@ dependencies = [
  "enumflags2",
  "futures-channel",
  "futures-util",
- "rand 0.9.0",
+ "rand 0.9.1",
  "raw-window-handle 0.6.2",
  "serde",
  "serde_repr",
@@ -1827,7 +1827,7 @@ dependencies = [
  "metal 0.27.0",
  "num-traits",
  "num_cpus",
- "rand 0.9.0",
+ "rand 0.9.1",
  "rand_distr",
  "rayon",
  "safetensors",
@@ -3480,6 +3480,7 @@ dependencies = [
  "k",
  "ndarray 0.15.6",
  "pyo3",
+ "rand 0.9.1",
  "rerun",
  "tokio",
 ]
@@ -4343,7 +4344,7 @@ dependencies = [
  "cudarc",
  "half",
  "num-traits",
- "rand 0.9.0",
+ "rand 0.9.1",
  "rand_distr",
 ]
 
@@ -5121,7 +5122,7 @@ dependencies = [
  "cfg-if 1.0.0",
  "crunchy",
  "num-traits",
- "rand 0.9.0",
+ "rand 0.9.1",
  "rand_distr",
 ]
 
@@ -6895,7 +6896,7 @@ dependencies = [
  "image",
  "indexmap 2.8.0",
  "mistralrs-core",
- "rand 0.9.0",
+ "rand 0.9.1",
  "reqwest 0.12.15",
  "serde",
  "serde_json",
@@ -6947,7 +6948,7 @@ dependencies = [
  "objc",
  "once_cell",
  "radix_trie",
- "rand 0.9.0",
+ "rand 0.9.1",
  "rand_isaac",
  "rayon",
  "regex",
@@ -9194,7 +9195,7 @@ checksum = "b820744eb4dc9b57a3398183639c511b5a26d2ed702cedd3febaa1393caa22cc"
 dependencies = [
  "bytes",
  "getrandom 0.3.2",
- "rand 0.9.0",
+ "rand 0.9.1",
  "ring 0.17.14",
  "rustc-hash 2.1.1",
  "rustls 0.23.25",
@@ -9272,13 +9273,12 @@ dependencies = [
 
 [[package]]
 name = "rand"
-version = "0.9.0"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3779b94aeb87e8bd4e834cee3650289ee9e0d5677f976ecdb6d219e5f4f6cd94"
+checksum = "9fbfd9d094a40bf3ae768db9361049ace4c0e04a4fd6b359518bd7b73a73dd97"
 dependencies = [
  "rand_chacha 0.9.0",
  "rand_core 0.9.3",
- "zerocopy 0.8.24",
 ]
 
 [[package]]
@@ -9326,7 +9326,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a8615d50dcf34fa31f7ab52692afec947c4dd0ab803cc87cb3b0b4570ff7463"
 dependencies = [
  "num-traits",
- "rand 0.9.0",
+ "rand 0.9.1",
 ]
 
 [[package]]
@@ -11606,7 +11606,7 @@ dependencies = [
  "num-derive",
  "num-traits",
  "paste",
- "rand 0.9.0",
+ "rand 0.9.1",
  "serde",
  "serde_repr",
  "socket2 0.5.8",
@@ -14253,7 +14253,7 @@ checksum = "458f7a779bf54acc9f347480ac654f68407d3aab21269a6e3c9f922acd9e2da9"
 dependencies = [
  "getrandom 0.3.2",
  "js-sys",
- "rand 0.9.0",
+ "rand 0.9.1",
  "serde",
  "uuid-macro-internal",
  "wasm-bindgen",

examples/mediapipe/realsense-dev.yml

@@ -0,0 +1,26 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+      - depth
+
+  - id: dora-mediapipe
+    build: pip install -e ../../node-hub/dora-mediapipe
+    path: dora-mediapipe
+    inputs:
+      image: camera/image
+      depth: camera/depth
+    outputs:
+      - points3d
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      realsense/image: camera/image
+      realsense/depth: camera/depth
+      realsense/points3d: dora-mediapipe/points3d

examples/mediapipe/rgb-dev.yml

@@ -0,0 +1,25 @@
+nodes:
+  - id: camera
+    build: pip install opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 0
+
+  - id: dora-mediapipe
+    build: pip install -e ../../node-hub/dora-mediapipe
+    path: dora-mediapipe
+    inputs:
+      image: camera/image
+    outputs:
+      - points2d
+
+  - id: plot
+    build: pip install dora-rerun
+    path: dora-rerun
+    inputs:
+      image: camera/image
+      series_mediapipe: dora-mediapipe/points2d

examples/reachy1-human-shadowing/README.md

@@ -0,0 +1,25 @@
+## Get started
+
+```bash
+
+## Deactivate any virtual environment
+
+
+uv venv --seed
+
+# This is because the current urdf fix is not yet merged in main
+uv pip install git+https://github.com/dora-rs/rerun-loader-python-urdf.git@fix-urdf
+
+# Git Clone somewhere:
+git clone https://github.com/haixuanTao/reachy_description --depth 1
+
+dora build realsense-dev.yml --uv
+dora run realsense-dev.yml --uv
+```
+
+For macos version
+
+```
+dora build ios-dev.yml --uv
+dora run ios-dev.yml --uv
+```

examples/reachy1-human-shadowing/human_shadowing.py

@@ -0,0 +1,542 @@
+import os
+from typing import Dict, Literal, Tuple
+
+import mediapipe as mp
+import numpy as np
+import pyarrow as pa
+from dora import Node
+from scipy.optimize import minimize
+
+REACHY_R_SHOULDER_COORDINATES = np.array([0, -0.19, 0])
+REACHY_L_SHOULDER_COORDINATES = np.array([0, 0.19, 0])
+ELBOW_WEIGHT = 0.1
+MAX_CHANGE = 5.0
+MAX_ITER = 20
+SMOOTHING_BUFFER_SIZE = 10
+POSITION_ALPHA = 0.3
+MAX_CHANGE = 5.0
+TARGET_POS_TOLERANCE = 0.03
+MOVEMENT_MIN_TOLERANCE = 0.005
+HAND_SCALE_FACTOR = 0.94
+ELBOW_SCALE_FACTOR = 0.93
+
+mp_pose = mp.solutions.pose
+initial_pose = [
+    -0.11903145498601328,
+    0.11292280260403312,
+    0.48048914307403895,
+    -1.4491468779308918,
+    0.1895427567665842,
+    0.009599310885968814,
+    -0.20141099568014562,
+    2.2656896114349365,
+    -0.13212142437597074,
+    -0.07731808586334879,
+    -0.5141739976375295,
+    -1.512502329778286,
+    0.00034906585039886593,
+    0.3193952531149623,
+    0.40474185353748504,
+    2.2610876560211,
+]
+
+
+def mattransfo(alpha, d, theta, r):
+    ct = np.cos(theta)
+    st = np.sin(theta)
+    ca = np.cos(alpha)
+    sa = np.sin(alpha)
+
+    return np.array(
+        [
+            [ct, -st, 0, d],
+            [ca * st, ca * ct, -sa, -r * sa],
+            [sa * st, sa * ct, ca, r * ca],
+            [0, 0, 0, 1],
+        ],
+        dtype=np.float64,
+    )
+
+
+def compute_transformation_matrices(joint_angles, length, side):
+    """
+    Compute the transformation matrices for the robotic arm.
+    """
+    pi = np.pi
+    alpha = [0, -pi / 2, -pi / 2, -pi / 2, +pi / 2, -pi / 2, -pi / 2, -pi / 2]
+    r = np.array([0, 0, -length[0], 0, -length[1], 0, 0, -length[2]])
+    th = [
+        joint_angles[0],
+        joint_angles[1] - pi / 2,
+        joint_angles[2] - pi / 2,
+        joint_angles[3],
+        joint_angles[4],
+        joint_angles[5] - pi / 2,
+        joint_angles[6] - pi / 2,
+        -pi / 2,
+    ]
+
+    if side == "right":
+        d = [0, 0, 0, 0, 0, 0, -0.325, -0.01]
+        Tbase0 = mattransfo(-pi / 2, 0, -pi / 2, -0.19)
+    if side == "left":
+        d = [0, 0, 0, 0, 0, 0, -0.325, 0.01]
+        Tbase0 = mattransfo(-pi / 2, 0, -pi / 2, 0.19)
+
+    T01 = Tbase0 @ mattransfo(alpha[0], d[0], th[0], r[0])
+    T12 = mattransfo(alpha[1], d[1], th[1], r[1])
+    T23 = mattransfo(alpha[2], d[2], th[2], r[2])
+    T34 = mattransfo(alpha[3], d[3], th[3], r[3])
+    T45 = mattransfo(alpha[4], d[4], th[4], r[4])
+    T56 = mattransfo(alpha[5], d[5], th[5], r[5])
+    T67 = mattransfo(alpha[6], d[6], th[6], r[6])
+    T78 = mattransfo(alpha[7], d[7], th[7], r[7])
+
+    T02 = T01 @ T12
+    T03 = T02 @ T23
+    T04 = T03 @ T34
+    T05 = T04 @ T45
+    T06 = T05 @ T56
+    T07 = T06 @ T67
+    T08 = T07 @ T78
+    return T04, T08
+
+
+def forward_kinematics(joint_angles, length=[0.28, 0.25, 0.075], side="right"):
+    """
+    Calculate the hand-effector position using forward kinematics.
+    """
+    T04, T08 = compute_transformation_matrices(joint_angles, length, side)
+    position_e = np.array(T04[0:3, 3], dtype=np.float64).flatten()
+    position = np.array(T08[0:3, 3], dtype=np.float64).flatten()
+    return position_e, position
+
+
+def cost_function(
+    joint_angles, target_ee_coords, target_elbow_coords, length, side
+) -> float:
+    """
+    Compute the cost function that includes end-effector and elbow position errors.
+    """
+    # Compute the end-effector and elbow coordinates + errors
+    elbow_coords, ee_coords = forward_kinematics(joint_angles, length, side)
+    ee_error = np.linalg.norm(target_ee_coords - ee_coords)
+    elbow_error = np.linalg.norm(target_elbow_coords - elbow_coords)
+
+    # Compute the total cost
+    total_cost = ee_error + ELBOW_WEIGHT * elbow_error
+    return total_cost
+
+
+def inverse_kinematics_fixed_wrist(
+    hand_position,
+    elbow_position,
+    initial_guess,
+    length=[0.28, 0.25, 0.075],
+    side="right",
+):
+    """
+    Implement the inverse kinematics with a fixed wrist.
+    Input initial_guess is in degrees. Output is in degrees.
+    """
+    pi = np.pi
+    # Convert initial guess from degrees to radians
+    initial_guess_rad = np.deg2rad(initial_guess)
+
+    joint_limits = [
+        (-1.0 * pi, 0.5 * pi),
+        (-1.0 * pi, 10 / 180 * pi),
+        (-0.5 * pi, 0.5 * pi),
+        (-125 / 180 * pi, 0),
+        (0, 0),
+        (0, 0),
+        (0, 0),
+    ]
+
+    result = minimize(
+        cost_function,
+        initial_guess_rad,  # Use radian value for optimization
+        args=(hand_position, elbow_position, length, side),
+        # method="SLSQP",
+        method="L-BFGS-B",
+        bounds=joint_limits,
+        # NOTE: these are new
+        tol=1e-3,  # Higher tolerance = faster but less accurate
+        options={"maxiter": 20},
+    )
+
+    # Convert result from radians to degrees
+    return np.rad2deg(result.x)
+
+
+# Helper function to convert a landmark to 3D coordinates from the camera's perspective using the human coordinate system
+def get_3D_coordinates(landmark, depth_frame, w, h, intrinsics):
+    """Convert a landmark to 3D coordinates using depth information.
+
+    Note that this function converts the camera frame to the human frame whereas the origin remains the same.
+
+    Transforms from camera coordinates to robot coordinates:
+    Human x = -Camera depth
+    Human y = -Camera x
+    Human z = -Camera y
+
+    Args:
+        landmark: Either a landmark object with x, y, z attributes or
+                 a numpy array/list with [x, y, z] coordinates (normalized)
+        depth_frame: The depth frame from the camera
+        w: Image width
+        h: Image height
+        intrinsics: Camera intrinsic parameters
+    """
+    # Handle both landmark objects and numpy arrays/lists
+    if hasattr(landmark, "x") and hasattr(landmark, "y"):
+        cx, cy = int(landmark.x * w), int(landmark.y * h)
+    else:
+        # Assume it's a numpy array or list with [x, y, z]
+        cx, cy = int(landmark[0] * w), int(landmark[1] * h)
+
+    # Check if pixel coordinates are within image bounds
+    if 0 <= cx < w and 0 <= cy < h:
+        depth = depth_frame.get_distance(cx, cy)
+        if depth > 0:  # Ensure depth is valid
+            # Get camera intrinsic parameters
+            fx, fy = intrinsics.fx, intrinsics.fy
+            ppx, ppy = intrinsics.ppx, intrinsics.ppy
+
+            # Convert to camera 3D coordinates
+            x = (cx - ppx) * depth / fx
+            y = (cy - ppy) * depth / fy
+
+            # Transform to robot coordinate system
+            # TODO: based on the camera's system, it should really be -z, -x, -y
+            return np.array([-depth, x, -y])
+
+    # Default return if coordinates are invalid
+    return np.array([0, 0, 0])
+
+
+def get_3D_coordinates_of_hand(
+    index_landmark, pinky_landmark, depth_frame, w, h, intrinsics
+):
+    # Calculate average coordinates
+    x_pixels = (index_landmark.x + pinky_landmark.x) / 2
+    y_pixels = (index_landmark.y + pinky_landmark.y) / 2
+    z_zoom_factor = (index_landmark.z + pinky_landmark.z) / 2
+
+    # Create a numpy array with the averaged values
+    avg_coords = np.array([x_pixels, y_pixels, z_zoom_factor])
+
+    # Call get_3D_coordinates with all required parameters
+    return get_3D_coordinates(avg_coords, depth_frame, w, h, intrinsics)
+
+
+def get_landmark_indices(side: Literal["right", "left"], mp_pose):
+    """Return MediaPipe landmark indices for the specified arm side
+
+    Args:
+        side: Either "right" or "left"
+        mp_pose: MediaPipe pose module
+
+    Returns:
+        Dictionary mapping landmark names to MediaPipe indices
+    """
+    if side == "right":
+        return {
+            "shoulder": mp_pose.PoseLandmark.RIGHT_SHOULDER,
+            "elbow": mp_pose.PoseLandmark.RIGHT_ELBOW,
+            "index": mp_pose.PoseLandmark.RIGHT_INDEX,
+            "pinky": mp_pose.PoseLandmark.RIGHT_PINKY,
+        }
+    else:
+        return {
+            "shoulder": mp_pose.PoseLandmark.LEFT_SHOULDER,
+            "elbow": mp_pose.PoseLandmark.LEFT_ELBOW,
+            "index": mp_pose.PoseLandmark.LEFT_INDEX,
+            "pinky": mp_pose.PoseLandmark.LEFT_PINKY,
+        }
+
+
+def get_arm_coordinates(
+    landmarks_data, landmark_indices, depth_frame, w, h, intrinsics
+):
+    """Get 3D coordinates for the arm
+
+    Args:
+        landmarks_data: MediaPipe pose landmarks
+        landmark_indices: Dictionary mapping landmark names to MediaPipe indices
+        depth_frame: RealSense depth frame
+        w: Image width
+        h: Image height
+        intrinsics: Camera intrinsic parameters
+
+    Returns:
+        Tuple of (shoulder, elbow, hand) 3D coordinates
+    """
+    shoulder = get_3D_coordinates(
+        landmarks_data[landmark_indices["shoulder"]],
+        depth_frame,
+        w,
+        h,
+        intrinsics,
+    )
+    elbow = get_3D_coordinates(
+        landmarks_data[landmark_indices["elbow"]],
+        depth_frame,
+        w,
+        h,
+        intrinsics,
+    )
+    hand = get_3D_coordinates_of_hand(
+        landmarks_data[landmark_indices["index"]],
+        landmarks_data[landmark_indices["pinky"]],
+        depth_frame,
+        w,
+        h,
+        intrinsics,
+    )
+    return shoulder, elbow, hand
+
+
+def process_new_position(
+    target_ee_coords: np.ndarray,
+    current_ee_coords: np.ndarray,
+    position_history: list | None,
+) -> Tuple[bool, np.ndarray, np.ndarray]:
+    """Process a new target end effector position and determine if movement is needed
+
+    Args:
+        target_ee_coord: The target hand position in Reachy's coordinate system
+        prev_hand_pos: Previous hand position
+        position_history: List of previous positions for smoothing
+        current_ee_pos: Current end effector position
+
+    Returns:
+        Tuple containing:
+            bool: True if the position has changed enough to require an update
+            np.ndarray: The smoothed target position
+    """
+    # ! We're not actually using the position history for smoothing here
+    # if position_history is None:
+    #     position_history = []
+
+    # # Apply position smoothing
+    # position_history.append(target_ee_coords)
+    # if len(position_history) > SMOOTHING_BUFFER_SIZE:
+    #     position_history.pop(0)
+
+    # Compute EMA for smoother position
+    smoothed_position = (
+        POSITION_ALPHA * target_ee_coords + (1 - POSITION_ALPHA) * current_ee_coords
+    )
+
+    # Check if the desired position is different from current position
+    already_at_position = np.allclose(
+        current_ee_coords, smoothed_position, atol=TARGET_POS_TOLERANCE
+    )
+
+    # Check if the position has changed significantly from the previous position
+    should_update_position = (
+        not np.allclose(
+            current_ee_coords, smoothed_position, atol=MOVEMENT_MIN_TOLERANCE
+        )
+        and not already_at_position
+    )
+
+    return should_update_position, smoothed_position
+
+
+def calculate_joint_positions_custom_ik(
+    target_ee_position: np.ndarray,
+    target_elbow_position: np.ndarray,
+    joint_array: np.ndarray,
+    side: Literal["right", "left"],
+) -> Tuple[bool, Dict[str, float]]:
+    """Calculate new joint positions using inverse kinematics
+
+    Args:
+        target_ee_position: The target hand position
+        target_elbow_position: The target elbow position
+        joint_array: Current joint positions
+        side: Arm side (right or left)
+
+    Returns:
+        Tuple containing:
+            bool: True if calculation was successful
+            Dict[str, float]: Updated joint positions dictionary
+    """
+    prefix = f"{side[0]}_"  # "r_" or "l_"
+    joint_dict = {}
+
+    try:
+        # Compute IK
+        joint_pos = inverse_kinematics_fixed_wrist(
+            hand_position=target_ee_position,
+            elbow_position=target_elbow_position,
+            initial_guess=joint_array,
+            length=[0.28, 0.25, 0.075],
+            side=side,
+        )
+
+        # Get joint names for this arm
+        joint_names = [
+            f"{prefix}shoulder_pitch",
+            f"{prefix}shoulder_roll",
+            f"{prefix}arm_yaw",
+            f"{prefix}elbow_pitch",
+            f"{prefix}forearm_yaw",
+            f"{prefix}wrist_pitch",
+            f"{prefix}wrist_roll",
+        ]
+
+        # Apply rate limiting and update joint dictionary
+        updated_joint_array = joint_array.copy()
+        for i, (name, value) in enumerate(zip(joint_names, joint_pos)):
+            # Apply rate limiting
+            limited_change = np.clip(value - joint_array[i], -MAX_CHANGE, MAX_CHANGE)
+            updated_joint_array[i] += limited_change
+            joint_dict[name] = updated_joint_array[i]
+
+        # Handle gripper separately - maintain closed
+        joint_dict[f"{prefix}gripper"] = 0
+
+        return True, joint_dict
+    except Exception as e:
+        print(f"{side.capitalize()} arm IK calculation error: {e}")
+        return False, {}
+
+
+def get_reachy_coordinates(point, shoulder, sf, side="right"):
+    """
+
+    Args:
+        point: The point in camera-relative coordinates and human frame
+        shoulder: The shoulder (on same side as the point) in camera-relative coordinates and human frame
+        sf: The scaling factor
+        arm: Either "right" or "left" to specify which shoulder
+
+    Returns:
+        The point, now relative to Reachy's origin and scaled
+    """
+    if side.lower() == "left":
+        return (point - shoulder) * sf + REACHY_L_SHOULDER_COORDINATES
+    else:
+        return (point - shoulder) * sf + REACHY_R_SHOULDER_COORDINATES
+
+
+def entry_point(
+    human_shoulder_coords: np.ndarray,
+    human_elbow_coords: np.ndarray,
+    human_hand_coords: np.ndarray,
+    current_joint_array: np.ndarray,
+    side: Literal["right", "left"],
+    position_history: list | None = None,
+) -> Tuple[bool, Dict[str, float]]:
+    """
+    Process 3D pose data to generate joint positions for a robotic arm.
+
+    Parameters:
+        human_shoulder_coords: The shoulder coordinates in depth camera frame
+        human_elbow_coords: The elbow coordinates in depth camera frame
+        human_hand_coords: The hand coordinates in depth camera frame
+        current_joint_array: Current joint angles (degrees)
+        position_history: List of recent positions for smoothing
+
+    Returns:
+        Tuple containing:
+            - bool: True if the arm was updated, False otherwise
+            - Dict[str, float]: Dictionary mapping joint names to angle values in degrees (e.g., 'r_shoulder_pitch': 45.0)
+
+    This function extracts 3D coordinates for the shoulder, elbow, and hand from camera data,
+    converts them to the robot's coordinate system, and calculates inverse kinematics
+    to determine joint angles needed to position the arm.
+    """
+    if (
+        human_shoulder_coords is None
+        or human_hand_coords is None
+        or human_elbow_coords is None
+    ):
+        return False, {}
+
+    # Convert to Reachy coordinate frame
+    target_ee_coords = get_reachy_coordinates(
+        human_hand_coords, human_shoulder_coords, 1.0, side
+    )
+    target_elbow_coords = get_reachy_coordinates(
+        human_elbow_coords, human_shoulder_coords, 1.0, side
+    )
+
+    # Calculate current end effector position using forward kinematics
+    current_elbow_coords, current_ee_coords = forward_kinematics(
+        current_joint_array, length=[0.28, 0.25, 0.075], side=side
+    )
+
+    # Process the new position and determine if update is needed
+    should_update, target_ee_coords_smoothed = process_new_position(
+        target_ee_coords,
+        current_ee_coords,
+        position_history,
+    )
+
+    if should_update:
+        # ! We're not smoothing the elbow position here
+        # Calculate IK and update joint positions
+        successful_update, joint_dict = calculate_joint_positions_custom_ik(
+            target_ee_coords_smoothed,
+            target_elbow_coords,
+            current_joint_array,
+            side,
+        )
+        return successful_update, joint_dict
+
+    return False, {}
+
+
+if __name__ == "__main__":
+    node = Node()
+    current_joint_array = np.array([0, 0, 0, 0, 0, 0, 0])
+    position_history = None
+    side = os.getenv("SIDE", "left").lower()
+
+    ids = get_landmark_indices(side, mp_pose)
+    current_joint_array = initial_pose[:7]
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        # if event["id"] == "robot_pose":
+        # current_joint_array = event["value"].to_pylist()
+        elif event["id"] == "human_pose":
+            # Process human pose data
+            values = event["value"].to_numpy().reshape(-1, 3)
+            shoulder = values[ids["shoulder"]]
+            elbow = values[ids["elbow"]]
+            index = values[ids["index"]]
+            pinky = values[ids["pinky"]]
+            hand = (index + pinky) / 2.0
+            if hand[0] == 0 and hand[1] == 0 and hand[2] == 0:
+                continue
+            elif shoulder[0] == 0 and shoulder[1] == 0 and shoulder[2] == 0:
+                continue
+            elif elbow[0] == 0 and elbow[1] == 0 and elbow[2] == 0:
+                continue
+
+            success, joint_dict = entry_point(
+                shoulder,
+                elbow,
+                hand,
+                current_joint_array,
+                side,
+                position_history,
+            )
+
+            if success:
+                current_joint_array = np.array(list(joint_dict.values())).ravel()[:7]
+                # Send joint_dict to the robot
+                current_joint_array = np.deg2rad(current_joint_array)
+                node.send_output(
+                    output_id="pose",
+                    data=pa.array(current_joint_array),
+                    metadata={},
+                )
+            else:
+                print("Failed to update arm positions.")

examples/reachy1-human-shadowing/ios-dev.yml

@@ -0,0 +1,39 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-ios-lidar
+    path: dora-ios-lidar
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+      - depth
+
+  - id: dora-mediapipe
+    build: pip install -e ../../node-hub/dora-mediapipe
+    path: dora-mediapipe
+    inputs:
+      image: camera/image
+      depth: camera/depth
+    outputs:
+      - points3d
+
+  - id: human-shadowing
+    build: pip install scipy
+    path: human_shadowing.py
+    inputs:
+      human_pose: dora-mediapipe/points3d
+    outputs:
+      - pose
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      realsense/image: camera/image
+      realsense/depth: camera/depth
+      realsense/points3d: dora-mediapipe/points3d
+      jointstate_reachy: human-shadowing/pose
+    env:
+      # git clone git clone https://github.com/aubrune/reachy_description.git
+      # Replace package path with local path relative to the urdf. Ex: meshes/...
+      reachy_urdf: reachy_description/reachy.urdf

examples/reachy1-human-shadowing/realsense-dev.yml

@@ -0,0 +1,38 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image
+      - depth
+
+  - id: dora-mediapipe
+    build: pip install -e ../../node-hub/dora-mediapipe
+    path: dora-mediapipe
+    inputs:
+      image: camera/image
+      depth: camera/depth
+    outputs:
+      - points3d
+
+  - id: human-shadowing
+    build: pip install scipy
+    path: human_shadowing.py
+    inputs:
+      human_pose: dora-mediapipe/points3d
+    outputs:
+      - pose
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      realsense/image: camera/image
+      realsense/depth: camera/depth
+      realsense/points3d: dora-mediapipe/points3d
+      jointstate_reachy: human-shadowing/pose
+    env:
+      # git clone chttps://github.com/haixuanTao/reachy_description
+      reachy_urdf: reachy_description/reachy.urdf

examples/so100-remote/follower.right.json

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

examples/so100-remote/so100.urdf

@@ -0,0 +1,405 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-2.45960666746703E-07 0.0311418169687909 0.0175746661003382"
+        rpy="0 0 0" />
+      <mass
+        value="0.193184127927598" />
+      <inertia
+        ixx="0.000137030709467877"
+        ixy="2.10136126944992E-08"
+        ixz="4.24087422551286E-09"
+        iyy="0.000169089551209259"
+        iyz="2.26514711036514E-05"
+        izz="0.000145097720857224" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Rotation_Pitch">
+    <inertial>
+      <origin
+        xyz="-9.07886224712597E-05 0.0590971820568318 0.031089016892169"
+        rpy="0 0 0" />
+      <mass
+        value="0.119226314127197" />
+      <inertia
+        ixx="5.90408775624429E-05"
+        ixy="4.90800532852998E-07"
+        ixz="-5.90451772654387E-08"
+        iyy="3.21498601038881E-05"
+        iyz="-4.58026206663885E-06"
+        izz="5.86058514263952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Rotation_Pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rotation"
+    type="revolute">
+    <origin
+      xyz="0 -0.0452 0.0165"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Rotation_Pitch" />
+    <axis
+      xyz="0 -1 0" />
+      <!-- note for the so100 arm there is no well defined effort/velocity limits at the moment -->
+    <limit
+      lower="-2.1"
+      upper="2.1"
+      effort="0"
+      velocity="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="revolute">
+    <origin
+      xyz="0 0.1025 0.0306"
+      rpy="1.5708 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" />
+  </joint>
+  <link
+    name="Lower_Arm">
+    <inertial>
+      <origin
+        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
+        rpy="0 0 0" />
+      <mass
+        value="0.147967774582291" />
+      <inertia
+        ixx="0.000105333995841409"
+        ixy="1.73059237226499E-07"
+        ixz="-1.1720305455211E-05"
+        iyy="0.000138766654485212"
+        iyz="1.77429964684103E-06"
+        izz="5.08741652515214E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Lower_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Elbow"
+    type="revolute">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="-1.5708 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">
+    <inertial>
+      <origin
+        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.066132067097723" />
+      <inertia
+        ixx="1.95717492443445E-05"
+        ixy="-6.62714374412293E-07"
+        ixz="5.20089016442066E-09"
+        iyy="2.38028417569933E-05"
+        iyz="4.09549055863776E-08"
+        izz="3.4540143384536E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Pitch_Roll.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.0052 0.1349"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Lower_Arm" />
+    <child
+      link="Wrist_Pitch_Roll" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-1.8"
+      upper="1.8"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Fixed_Jaw">
+    <inertial>
+      <origin
+        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0929859131176897" />
+      <inertia
+        ixx="4.3328249304211E-05"
+        ixy="7.09654328670947E-06"
+        ixz="5.99838530879484E-07"
+        iyy="3.04451747368212E-05"
+        iyz="-1.58743247545413E-07"
+        izz="5.02460913506734E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Fixed_Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Fixed_Jaw.STL" />
+      </geometry>
+    </collision> -->
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Wrist_Roll_Follower_SO101.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.0601 0"
+      rpy="0 1.5708 0" />
+    <parent
+      link="Wrist_Pitch_Roll" />
+    <child
+      link="Fixed_Jaw" />
+    <axis
+      xyz="0 -1 0" />
+    <limit 
+      lower="-3.14159"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Moving Jaw">
+    <inertial>
+      <origin
+        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202443794940372" />
+      <inertia
+        ixx="1.10911325081525E-05"
+        ixy="-5.35076503033314E-07"
+        ixz="-9.46105662101403E-09"
+        iyy="3.03576451001973E-06"
+        iyz="-1.71146075110632E-07"
+        izz="8.9916083370498E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="Moving_Jaw_SO101.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Jaw"
+    type="revolute">
+    <origin
+      xyz="-0.0202 -0.0244 0"
+      rpy="3.1416 0 3.33" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving Jaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit 
+      lower="0"
+      upper="1.7"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>

examples/so100-remote/so100_2.urdf

@@ -0,0 +1,365 @@
+<?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">
+    <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" />
+    <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="0 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 0 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="3.1416 0 3.1416" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving Jaw" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+</robot>

examples/so100-remote/test.yml

@@ -0,0 +1,34 @@
+nodes:
+  - id: so100
+    build: pip install -e ../../node-hub/feetech-client
+    path: feetech-client
+    inputs:
+      pull_position: dora/timer/millis/33
+    outputs:
+      - position
+    env:
+      PORT: /dev/tty.usbmodem585A0080971
+      CONFIG: follower.right.json
+
+  - id: pytorch-kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      pose: so100/position
+    outputs:
+      - pose
+    env:
+      URDF_PATH: so100_2.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      so100_transform: 0 -0.3 0
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      # series_so100: so100/position
+      series_pose: pytorch-kinematics/pose
+      #jointstate_so100: so100/position
+    env:
+      so100_urdf: so100_2.urdf
+      so100_transform: 0 -0.3 0

node-hub/dora-ios-lidar/dora_ios_lidar/main.py

@@ -135,7 +135,7 @@ class DemoApp:
                         "width": depth.shape[1],
                         "height": depth.shape[0],
                         "encoding": "mono16",
-                        "focal": [
+                        "focal_length": [
                             int(f_0),
                             int(f_1),
                         ],

node-hub/dora-mediapipe/README.md

@@ -0,0 +1,40 @@
+# dora-mediapipe
+
+## Getting started
+
+- Install it with uv:
+
+```bash
+uv venv -p 3.11 --seed
+uv pip install -e .
+```
+
+## Contribution Guide
+
+- Format with [ruff](https://docs.astral.sh/ruff/):
+
+```bash
+uv pip install ruff
+uv run ruff check . --fix
+```
+
+- Lint with ruff:
+
+```bash
+uv run ruff check .
+```
+
+- Test with [pytest](https://github.com/pytest-dev/pytest)
+
+```bash
+uv pip install pytest
+uv run pytest . # Test
+```
+
+## YAML Specification
+
+## Examples
+
+## License
+
+dora-mediapipe's code are released under the MIT License

node-hub/dora-mediapipe/dora_mediapipe/__init__.py

@@ -0,0 +1,13 @@
+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

node-hub/dora-mediapipe/dora_mediapipe/__main__.py

@@ -0,0 +1,6 @@
+"""TODO: Add docstring."""
+
+from .main import main
+
+if __name__ == "__main__":
+    main()

node-hub/dora-mediapipe/dora_mediapipe/main.py

@@ -0,0 +1,136 @@
+"""TODO: Add docstring."""
+
+import cv2
+import mediapipe as mp
+import numpy as np
+import pyarrow as pa
+from dora import Node
+
+# Initialiser MediaPipe Pose
+mp_pose = mp.solutions.pose
+pose = mp_pose.Pose()
+mp_draw = mp.solutions.drawing_utils
+
+
+def get_3d_coordinates(landmark, depth_frame, w, h, resolution, focal_length):
+    """Convert 2D landmark coordinates to 3D coordinates."""
+    cx, cy = int(landmark.x * w), int(landmark.y * h)
+    if 0 < cx < w and 0 < cy < h:
+        depth = depth_frame[cy, cx] / 1_000.0
+        if depth > 0:
+            fx, fy = focal_length
+            ppx, ppy = resolution
+            x = (cy - ppy) * depth / fy
+            y = (cx - ppx) * depth / fx
+
+            # Convert to right-handed coordinate system
+            return [x, -y, depth]
+    return [0, 0, 0]
+
+
+def get_image(event: dict) -> np.ndarray:
+    """Convert the image from the event to a numpy array.
+
+    Args:
+        event (dict): The event containing the image data.
+
+    """
+    storage = event["value"]
+    metadata = event["metadata"]
+    encoding = metadata["encoding"]
+    width = metadata["width"]
+    height = metadata["height"]
+
+    if (
+        encoding == "bgr8"
+        or encoding == "rgb8"
+        or encoding in ["jpeg", "jpg", "jpe", "bmp", "webp", "png"]
+    ):
+        channels = 3
+        storage_type = np.uint8
+    else:
+        raise RuntimeError(f"Unsupported image encoding: {encoding}")
+
+    if encoding == "bgr8":
+        frame = (
+            storage.to_numpy().astype(storage_type).reshape((height, width, channels))
+        )
+        frame = frame[:, :, ::-1]  # OpenCV image (BGR to RGB)
+    elif encoding == "rgb8":
+        frame = (
+            storage.to_numpy().astype(storage_type).reshape((height, width, channels))
+        )
+    elif encoding in ["jpeg", "jpg", "jpe", "bmp", "webp", "png"]:
+        storage = storage.to_numpy()
+        frame = cv2.imdecode(storage, cv2.IMREAD_COLOR)
+        frame = frame[:, :, ::-1]  # OpenCV image (BGR to RGB)
+    else:
+        raise RuntimeError(f"Unsupported image encoding: {encoding}")
+    return frame
+
+
+def main():
+    """TODO: Add docstring."""
+    node = Node()
+    depth = None
+    focal_length = None
+    resolution = None
+
+    for event in node:
+        if event["type"] == "INPUT":
+            event_id = event["id"]
+            if "image" in event_id:
+                rgb_image = get_image(event)
+                width = rgb_image.shape[1]
+                height = rgb_image.shape[0]
+                pose_results = pose.process(rgb_image)
+                if pose_results.pose_landmarks:
+                    values = pose_results.pose_landmarks.landmark
+                    values = np.array(
+                        [
+                            [landmark.x * width, landmark.y * height]
+                            for landmark in pose_results.pose_landmarks.landmark
+                        ]
+                    )
+                    # Warning: Make sure to add my_output_id and my_input_id within the dataflow.
+                    node.send_output(
+                        output_id="points2d",
+                        data=pa.array(values.ravel()),
+                        metadata={},
+                    )
+                    if depth is not None:
+                        values = np.array(
+                            [
+                                get_3d_coordinates(
+                                    landmark,
+                                    depth,
+                                    width,
+                                    height,
+                                    resolution,
+                                    focal_length,
+                                )
+                                for landmark in pose_results.pose_landmarks.landmark
+                            ]
+                        )
+                        # Warning: Make sure to add my_output_id and my_input_id within the dataflow.
+                        node.send_output(
+                            output_id="points3d",
+                            data=pa.array(values.ravel()),
+                            metadata={},
+                        )
+
+                else:
+                    print("No pose landmarks detected.")
+            elif "depth" in event_id:
+                metadata = event["metadata"]
+                _encoding = metadata["encoding"]
+                width = metadata["width"]
+                height = metadata["height"]
+                focal_length = metadata["focal_length"]
+                resolution = metadata["resolution"]
+
+                depth = event["value"].to_numpy().reshape((height, width))
+
+
+if __name__ == "__main__":
+    main()

node-hub/dora-mediapipe/pyproject.toml

@@ -0,0 +1,25 @@
+[project]
+name = "dora-mediapipe"
+version = "0.0.0"
+authors = [{ name = "Your Name", email = "email@email.com" }]
+description = "dora-mediapipe"
+license = { text = "MIT" }
+readme = "README.md"
+requires-python = ">=3.8"
+
+dependencies = [
+    "dora-rs >= 0.3.9",
+    "mediapipe>=0.10.14",
+]
+
+[dependency-groups]
+dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+
+[project.scripts]
+dora-mediapipe = "dora_mediapipe.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-mediapipe/tests/test_dora_mediapipe.py

@@ -0,0 +1,13 @@
+"""Test module for dora_mediapipe package."""
+
+import pytest
+
+
+def test_import_main():
+    """Test importing and running the main function."""
+    from dora_mediapipe.main import main
+
+    # Check that everything is working, and catch Dora RuntimeError
+    # as we're not running in a Dora dataflow.
+    with pytest.raises(RuntimeError):
+        main()

node-hub/dora-pytorch-kinematics/README.md

@@ -0,0 +1,40 @@
+# dora-pytorch-kinematics
+
+## Getting started
+
+- Install it with uv:
+
+```bash
+uv venv -p 3.11 --seed
+uv pip install -e .
+```
+
+## Contribution Guide
+
+- Format with [ruff](https://docs.astral.sh/ruff/):
+
+```bash
+uv pip install ruff
+uv run ruff check . --fix
+```
+
+- Lint with ruff:
+
+```bash
+uv run ruff check .
+```
+
+- Test with [pytest](https://github.com/pytest-dev/pytest)
+
+```bash
+uv pip install pytest
+uv run pytest . # Test
+```
+
+## YAML Specification
+
+## Examples
+
+## License
+
+dora-pytorch-kinematics's code are released under the MIT License

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

@@ -0,0 +1,13 @@
+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

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

@@ -0,0 +1,6 @@
+"""TODO: Add docstring."""
+
+from .main import main
+
+if __name__ == "__main__":
+    main()

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

@@ -0,0 +1,251 @@
+"""TODO: Add docstring."""
+
+import os
+from typing import List, Optional, Tuple, Union
+
+import numpy as np
+import pyarrow as pa
+import pytorch_kinematics as pk
+import torch
+from dora import Node
+from pytorch_kinematics.transforms.rotation_conversions import matrix_to_euler_angles
+
+
+def get_xyz_rpy_array_from_transform3d(
+    transform: "pytorch_kinematics.transforms.Transform3d", convention: str = "XYZ"
+) -> torch.Tensor:
+    """Extracts translation (xyz) and rotation (RPY Euler angles in radians)
+    from a pytorch_kinematics Transform3d object and returns them concatenated
+    into a single tensor.
+
+    Args:
+        transform: A Transform3d object or a batch of Transform3d objects.
+                    Expected to have a method like get_matrix() or directly
+                    access attributes like .R and .T.
+        convention: The Euler angle convention (e.g., "XYZ", "ZYX").
+                    RPY typically corresponds to "XYZ" (roll around X,
+                    pitch around Y, yaw around Z). Adjust if needed.
+
+    Returns:
+        A single tensor of shape (..., 6) where the last dimension contains
+        [x, y, z, roll, pitch, yaw] in radians.
+
+    """
+    # Attempt to get the full 4x4 transformation matrix
+    # Common methods are get_matrix() or accessing internal properties.
+    # This might need adjustment based on the specific API version.
+    matrix = transform.get_matrix()  # Shape (..., 4, 4)
+
+    # Extract translation (first 3 elements of the last column)
+    xyz = matrix[..., :3, 3]
+
+    # Extract rotation matrix (top-left 3x3 submatrix)
+    rotation_matrix = matrix[..., :3, :3]
+
+    # Convert the rotation matrix to Euler angles in radians
+    # The matrix_to_euler_angles function likely exists based on pytorch3d's structure
+    rpy = matrix_to_euler_angles(
+        rotation_matrix, convention=convention
+    )  # Shape (..., 3)
+
+    # Concatenate xyz and rpy along the last dimension
+    return torch.cat((xyz, rpy), dim=-1)  # Shape (..., 6)
+
+
+class RobotKinematics:
+    """Concise wrapper for pytorch_kinematics FK and IK operations,
+    closely mirroring library usage patterns.
+    """
+
+    def __init__(
+        self,
+        urdf_path: str,
+        end_effector_link: str,
+        device: Union[str, torch.device] = "cpu",
+    ):
+        """Initializes the kinematic chain from a URDF.
+
+        Args:
+            urdf_path (str): Path to the URDF file.
+            end_effector_link (str): Name of the end-effector link.
+            device (Union[str, torch.device]): Computation device ('cpu' or 'cuda').
+
+        """
+        self.device = torch.device(device)
+        try:
+            # Load kinematic chain (core pytorch_kinematics object)
+            self.chain = pk.build_serial_chain_from_urdf(
+                open(urdf_path, mode="rb").read(), end_effector_link
+            ).to(device=self.device)
+        except Exception as e:
+            raise RuntimeError(f"Failed to build chain from URDF: {urdf_path}") from e
+
+        self.num_joints = len(self.chain.get_joint_parameter_names(exclude_fixed=True))
+        # Default initial guess for IK if none provided
+        self._default_q = torch.zeros(
+            (1, self.num_joints), device=self.device, dtype=torch.float32
+        )
+        # print(f"Initialized RobotKinematicsConcise: {self.num_joints} joints, EE='{end_effector_link}', device='{self.device}'") # Optional print
+
+    def _prepare_joint_tensor(
+        self, joints: Union[List[float], torch.Tensor], batch_dim_required: bool = True
+    ) -> torch.Tensor:
+        """Validates and formats joint angles input tensor."""
+        if isinstance(joints, list):
+            j = torch.tensor(joints, dtype=torch.float32, device=self.device)
+        elif isinstance(joints, np.ndarray):
+            j = torch.tensor(joints, device=self.device, dtype=torch.float32)
+        elif isinstance(joints, torch.Tensor):
+            j = joints.to(device=self.device, dtype=torch.float32)
+        else:
+            raise TypeError(
+                "Joints must be a list or torch.Tensor and got: ", joints.type
+            )
+
+        if j.ndim == 1:
+            if j.shape[0] != self.num_joints:
+                raise ValueError(f"Expected {self.num_joints} joints, got {j.shape[0]}")
+            if batch_dim_required:
+                j = j.unsqueeze(0)  # Add batch dimension if needed (e.g., shape (1, N))
+        elif j.ndim == 2:
+            if j.shape[1] != self.num_joints:
+                raise ValueError(
+                    f"Expected {self.num_joints} joints (dim 1), got {j.shape[1]}"
+                )
+            if batch_dim_required and j.shape[0] != 1:
+                # Most common IK solvers expect batch=1 for initial guess, FK can handle batches
+                # Relaxing this check slightly, but user should be aware for IK
+                pass
+        else:
+            raise ValueError(f"Joint tensor must have 1 or 2 dimensions, got {j.ndim}")
+        return j
+
+    def compute_fk(
+        self, joint_angles: Union[List[float], torch.Tensor]
+    ) -> pk.Transform3d:
+        """Computes Forward Kinematics (FK).
+
+        Args:
+            joint_angles (Union[List[float], torch.Tensor]): Joint angles (radians).
+                Shape (num_joints,) or (B, num_joints).
+
+        Returns:
+            pk.Transform3d: End-effector pose(s). Batched if input is batched.
+
+        """
+        # 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
+        )  # FK handles batches naturally
+        # Direct call to pytorch_kinematics FK
+        goal_in_rob_frame_tf = self.chain.forward_kinematics(
+            angles_tensor, end_only=True
+        )
+        goal_tf = rob_tf.compose(goal_in_rob_frame_tf)
+        return goal_tf
+
+    def compute_ik(
+        self,
+        target_pose: pk.Transform3d,
+        initial_guess: Optional[Union[List[float], torch.Tensor]] = None,
+        iterations: int = 100,
+        lr: float = 0.1,
+        error_tolerance: float = 1e-4,
+    ) -> Tuple[torch.Tensor, bool]:
+        """Computes Inverse Kinematics (IK) using PseudoInverseIK.
+
+        Args:
+            target_pose (pk.Transform3d): Target end-effector pose (batch size 1).
+            initial_guess (Optional): Initial joint angles guess. Uses zeros if None.
+            Shape (num_joints,) or (1, num_joints).
+            iterations (int): Max solver iterations.
+            lr (float): Solver learning rate.
+            error_tolerance (float): Solver convergence tolerance.
+
+        Returns:
+            Tuple[torch.Tensor, bool]: Solution joint angles (1, num_joints), convergence status.
+
+        """
+        if not isinstance(target_pose, pk.Transform3d):
+            raise TypeError("target_pose must be a pk.Transform3d")
+        target_pose = target_pose.to(device=self.device)
+        if target_pose.get_matrix().shape[0] != 1:
+            raise ValueError(
+                "target_pose must have batch size 1 for this IK method."
+            )  # Common limitation
+
+        # Prepare initial guess (q_init)
+        q_init = self._prepare_joint_tensor(
+            initial_guess if initial_guess is not None else self._default_q,
+            batch_dim_required=True,
+        )
+        if q_init.shape[0] != 1:
+            raise ValueError(
+                "initial_guess must result in batch size 1 for this IK setup."
+            )  # Enforce batch=1 for guess
+
+        q_init = q_init.requires_grad_(True)  # Need gradient for solver
+
+        # Instantiate and run the IK solver (core pytorch_kinematics objects/methods)
+        ik_solver = pk.PseudoInverseIK(
+            self.chain,
+            max_iterations=300,
+            retry_configs=q_init,
+            joint_limits=torch.tensor(self.chain.get_joint_limits()),
+            early_stopping_any_converged=True,
+            early_stopping_no_improvement="all",
+            debug=False,
+            lr=0.05,
+        )
+        solution_angles = ik_solver.solve(target_pose)
+        return solution_angles.solutions.detach()
+
+
+def main():
+    """TODO: Add docstring."""
+    node = Node()
+
+    urdf_path = os.getenv("URDF_PATH")
+    end_effector_link = os.getenv("END_EFFECTOR_LINK")
+    robot = RobotKinematics(urdf_path, end_effector_link)
+    last_known_state = None
+
+    for event in node:
+        if event["type"] == "INPUT":
+            metadata = event["metadata"]
+
+            match metadata["encoding"]:
+                case "xyzrpy":
+                    # Apply Inverse Kinematics
+                    if last_known_state is not None:
+                        target = event["value"].to_numpy()
+                        target = target.astype(np.float32)
+                        target = pk.Transform3d(
+                            pos=target[:3],
+                            rot=pk.transforms.euler_angles_to_matrix(
+                                torch.tensor(target[3:6]), convention="XYZ"
+                            ),
+                        )
+                        solution = robot.compute_ik(target, last_known_state)
+                        metadata["encoding"] = "jointstate"
+                        last_known_state = solution.numpy().ravel()
+                        solution = pa.array(last_known_state)
+                        node.send_output(event["id"], solution, metadata=metadata)
+                        print(solution)
+                case "jointstate":
+                    target = event["value"].to_numpy()
+                    last_known_state = target
+                    # Apply Forward Kinematics
+                    target = robot.compute_fk(target)
+                    target = np.array(get_xyz_rpy_array_from_transform3d(target))
+                    target = pa.array(target.ravel())
+                    metadata["encoding"] = "xyzrpy"
+                    node.send_output(event["id"], target, metadata=metadata)
+
+
+if __name__ == "__main__":
+    main()

node-hub/dora-pytorch-kinematics/pyproject.toml

@@ -0,0 +1,25 @@
+[project]
+name = "dora-pytorch-kinematics"
+version = "0.0.0"
+authors = [{ name = "Your Name", email = "email@email.com" }]
+description = "dora-pytorch-kinematics"
+license = { text = "MIT" }
+readme = "README.md"
+requires-python = ">=3.8"
+
+dependencies = [
+    "dora-rs >= 0.3.9",
+    "pytorch-kinematics>=0.7.5",
+]
+
+[dependency-groups]
+dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+
+[project.scripts]
+dora-pytorch-kinematics = "dora_pytorch_kinematics.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

node-hub/dora-pytorch-kinematics/tests/test_dora_pytorch_kinematics.py

@@ -0,0 +1,13 @@
+"""Test module for dora_pytorch_kinematics package."""
+
+import pytest
+
+
+def test_import_main():
+    """Test importing and running the main function."""
+    from dora_pytorch_kinematics.main import main
+
+    # Check that everything is working, and catch Dora RuntimeError
+    # as we're not running in a Dora dataflow.
+    with pytest.raises(RuntimeError):
+        main()

node-hub/dora-rerun/Cargo.toml

@@ -28,6 +28,7 @@ pyo3 = { workspace = true, features = [
     "generate-import-lib",
 ], optional = true }
 bytemuck = "1.20.0"
+rand = "0.9.1"
 
 
 [lib]

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

@@ -3,12 +3,14 @@
 use std::{collections::HashMap, env::VarError, path::Path};
 
 use dora_node_api::{
-    arrow::array::{Array, Float32Array, Float64Array, StringArray, UInt16Array, UInt8Array},
-    arrow::{array::AsArray, datatypes::Float32Type},
+    arrow::{
+        array::{Array, AsArray, Float64Array, StringArray, UInt16Array, UInt8Array},
+        datatypes::Float32Type,
+    },
     dora_core::config::DataId,
-    DoraNode, Event, Parameter,
+    into_vec, DoraNode, Event, Parameter,
 };
-use eyre::{eyre, Context, ContextCompat, Result};
+use eyre::{eyre, Context, Result};
 
 use rerun::{
     components::ImageBuffer,
@@ -32,6 +34,7 @@ pub fn lib_main() -> Result<()> {
     // Setup an image cache to paint depth images.
     let mut image_cache = HashMap::new();
     let mut mask_cache: HashMap<DataId, Vec<bool>> = HashMap::new();
+    let mut color_cache: HashMap<DataId, rerun::Color> = HashMap::new();
     let mut options = SpawnOptions::default();
 
     let memory_limit = match std::env::var("RERUN_MEMORY_LIMIT") {
@@ -316,11 +319,7 @@ pub fn lib_main() -> Result<()> {
                 };
                 mask_cache.insert(id.clone(), masks.clone());
             } else if id.as_str().contains("jointstate") {
-                let buffer: &Float32Array = data
-                    .as_any()
-                    .downcast_ref()
-                    .context("jointstate is not float32")?;
-                let mut positions: Vec<f32> = buffer.values().to_vec();
+                let mut positions: Vec<f32> = into_vec(&data)?;
 
                 // Match file name
                 let mut id = id.as_str().replace("jointstate_", "");
@@ -340,10 +339,41 @@ pub fn lib_main() -> Result<()> {
 
                     update_visualization(&rec, chain, &id, &positions)?;
                 } else {
-                    println!("Could not find chain for {}", id);
+                    println!(
+                        "Could not find chain for {}. Only contains: {:#?}",
+                        id,
+                        chains.keys()
+                    );
                 }
             } else if id.as_str().contains("series") {
                 update_series(&rec, id, data).context("could not plot series")?;
+            } else if id.as_str().contains("points3d") {
+                // Get color or assign random color in cache
+                let color = color_cache.get(&id);
+                let color = if let Some(color) = color {
+                    color.clone()
+                } else {
+                    let color =
+                        rerun::Color::from_rgb(rand::random::<u8>(), 180, rand::random::<u8>());
+
+                    color_cache.insert(id.clone(), color.clone());
+                    color
+                };
+                let dataid = id;
+
+                // get a random color
+                if let Ok(buffer) = into_vec::<f32>(&data) {
+                    let mut points = vec![];
+                    let mut colors = vec![];
+                    buffer.chunks(3).for_each(|chunk| {
+                        points.push((chunk[0], chunk[1], chunk[2]));
+                        colors.push(color);
+                    });
+                    let points = Points3D::new(points).with_radii(vec![0.013; colors.len()]);
+
+                    rec.log(dataid.as_str(), &points.with_colors(colors))
+                        .context("could not log points")?;
+                }
             } else {
                 println!("Could not find handler for {}", id);
             }

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

@@ -88,8 +88,8 @@ pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
                 ),
             )
             .unwrap();
-            chains.insert(path, chain);
         }
+        chains.insert(path, chain);
     }
 
     Ok(chains)
@@ -113,11 +113,14 @@ pub fn update_visualization(
             .world_transform()
             .context("Could not get world transform")?;
         let link_to_parent = if link_name != "base_link" {
-            let parent = link.parent().context("could not get parent")?;
-            parent
-                .world_transform()
-                .context("Could not get world transform")?
-                .inv_mul(&link_to_world)
+            if let Some(parent) = link.parent() {
+                parent
+                    .world_transform()
+                    .context("Could not get world transform")?
+                    .inv_mul(&link_to_world)
+            } else {
+                link_to_world
+            }
         } else {
             link_to_world
         };

node-hub/dora-rustypot/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "dora-rustypot"
+version = "0.1.0"
+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"
+eyre = "0.6.12"
+rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" }
+serialport = "4.7.1"

node-hub/dora-rustypot/src/main.rs

@@ -0,0 +1,76 @@
+use dora_node_api::dora_core::config::DataId;
+use dora_node_api::{into_vec, DoraNode, Event, IntoArrow, Parameter};
+use eyre::{Context, Result};
+use rustypot::servo::feetech::sts3215::Sts3215Controller;
+use std::collections::BTreeMap;
+use std::time::Duration;
+
+fn main() -> Result<()> {
+    let (mut node, mut events) = DoraNode::init_from_env()?;
+    let serialportname: String = std::env::var("PORT").context("Serial port name not provided")?;
+    let baudrate: u32 = std::env::var("BAUDRATE")
+        .unwrap_or_else(|_| "1000000".to_string())
+        .parse()
+        .context("Invalid baudrate")?;
+    let ids = std::env::var("IDS")
+        .unwrap_or_else(|_| "1,2,3,4,5,6".to_string())
+        .split(&[',', ' '][..])
+        .map(|s| s.parse::<u8>().unwrap())
+        .collect::<Vec<u8>>();
+    let torque = std::env::var("TORQUE")
+        .unwrap_or_else(|_| "false".to_string())
+        .parse::<bool>()
+        .context("Invalid torque")?;
+
+    let serial_port = serialport::new(serialportname, baudrate)
+        .timeout(Duration::from_millis(1000))
+        .open()?;
+
+    let mut c = Sts3215Controller::new()
+        .with_protocol_v1()
+        .with_serial_port(serial_port);
+
+    if torque {
+        let truthies = vec![true; ids.len()];
+        c.write_torque_enable(&ids, &truthies)
+            .expect("could not enable torque");
+    } else {
+        let falsies = vec![false; ids.len()];
+        c.write_torque_enable(&ids, &falsies)
+            .expect("could not enable torque");
+    }
+
+    while let Some(event) = events.recv() {
+        match event {
+            Event::Input {
+                id,
+                metadata: _,
+                data,
+            } => match id.as_str() {
+                "tick" => {
+                    if let Ok(joints) = c.read_present_position(&ids) {
+                        let mut parameter = BTreeMap::new();
+                        parameter.insert(
+                            "encoding".to_string(),
+                            Parameter::String("jointstate".to_string()),
+                        );
+                        node.send_output(
+                            DataId::from("pose".to_string()),
+                            parameter,
+                            joints.into_arrow(),
+                        )
+                        .unwrap();
+                    };
+                }
+                "pose" => {
+                    let data: Vec<f64> = into_vec(&data).expect("could not cast values");
+                    c.write_goal_position(&ids, &data).unwrap();
+                }
+                other => eprintln!("Received input `{other}`"),
+            },
+            _ => {}
+        }
+    }
+
+    Ok(())
+}

node-hub/feetech-client/feetech_client/bus.py

@@ -1,4 +1,5 @@
 """TODO: Add docstring."""
+
 import enum
 from typing import Union
 
@@ -150,7 +151,9 @@ class FeetechBus:
         ]
 
         values = [
-            np.uint32(32767 - value.as_py()) if value < 0 else np.uint32(value.as_py())
+            np.uint32(32767 - value.as_py())
+            if value.as_py() < 0
+            else np.uint32(value.as_py())
             for value in data.field("values")
         ]
 
@@ -243,7 +246,9 @@ class FeetechBus:
         values = pa.array(
             [
                 self.group_readers[group_key].getData(
-                    idx, packet_address, packet_bytes_size,
+                    idx,
+                    packet_address,
+                    packet_bytes_size,
                 )
                 for idx in motor_ids
             ],

node-hub/feetech-client/feetech_client/configure.py

@@ -0,0 +1,200 @@
+"""Module for configuring and setting up the SO100 robot hardware.
+
+This module provides functionality for initializing and configuring the SO100 robot's
+servo motors and other hardware components.
+
+The program will:
+1. Disable all torque motors of provided SO100.
+2. Ask the user to move the SO100 to the position 1 (see CONFIGURING.md for more details).
+3. Record the position of the SO100.
+4. Ask the user to move the SO100 to the position 2 (see CONFIGURING.md for more details).
+5. Record the position of the SO100.
+8. Calculate the offset and inverted mode of the SO100.
+9. Let the user verify in real time that the SO100 is working properly.
+
+It will also enable all appropriate operating modes for the SO100.
+"""
+
+import argparse
+import json
+import time
+
+import pyarrow as pa
+from pwm_position_control.functions import construct_control_table
+from pwm_position_control.tables import (
+    construct_logical_to_pwm_conversion_table_arrow,
+    construct_pwm_to_logical_conversion_table_arrow,
+)
+from pwm_position_control.transform import pwm_to_logical_arrow, wrap_joints_and_values
+
+from .bus import FeetechBus, OperatingMode, TorqueMode
+
+FULL_ARM = pa.array(
+    [
+        "shoulder_pan",
+        "shoulder_lift",
+        "elbow_flex",
+        "wrist_flex",
+        "wrist_roll",
+        "gripper",
+    ],
+    type=pa.string(),
+)
+
+ARM_WITHOUT_GRIPPER = pa.array(
+    ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll"],
+    type=pa.string(),
+)
+
+GRIPPER = pa.array(["gripper"], type=pa.string())
+
+
+def pause():
+    """Pause execution and wait for user input."""
+    input("Press Enter to continue...")
+
+
+def configure_servos(bus: FeetechBus):
+    """Configure the servos with default settings.
+
+    Args:
+        bus: The FeetechBus instance to configure.
+
+    """
+    bus.write_torque_enable(
+        wrap_joints_and_values(FULL_ARM, [TorqueMode.DISABLED.value] * 6),
+    )
+
+    bus.write_operating_mode(
+        wrap_joints_and_values(FULL_ARM, [OperatingMode.ONE_TURN.value] * 6),
+    )
+
+    bus.write_max_angle_limit(
+        wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6),
+    )
+
+    bus.write_min_angle_limit(
+        wrap_joints_and_values(FULL_ARM, [pa.scalar(0, pa.uint32())] * 6),
+    )
+
+
+def main():
+    """Run the servo configuration process."""
+    parser = argparse.ArgumentParser(
+        description="SO100 Auto Configure: This program is used to automatically configure the Low Cost Robot (SO100) "
+        "for the user.",
+    )
+
+    parser.add_argument(
+        "--port",
+        type=str,
+        required=True,
+        help="The port of the SO100.",
+    )
+    parser.add_argument(
+        "--right",
+        action="store_true",
+        help="If the SO100 is on the right side of the user.",
+    )
+    parser.add_argument(
+        "--left",
+        action="store_true",
+        help="If the SO100 is on the left side of the user.",
+    )
+
+    args = parser.parse_args()
+
+    if args.right and args.left:
+        raise ValueError("You cannot specify both --right and --left.")
+
+    args = parser.parse_args()
+
+    targets = (
+        wrap_joints_and_values(FULL_ARM, [0, -90, 90, 0, -90, 0]),
+        wrap_joints_and_values(FULL_ARM, [90, 0, 0, 90, 0, -90]),
+    )
+
+    arm = FeetechBus(
+        args.port,
+        {
+            "shoulder_pan": (1, "st3215"),
+            "shoulder_lift": (2, "st3215"),
+            "elbow_flex": (3, "st3215"),
+            "wrist_flex": (4, "st3215"),
+            "wrist_roll": (5, "st3215"),
+            "gripper": (6, "st3215"),
+        },
+    )
+
+    configure_servos(arm)
+
+    print("Please move the SO100 to the first position.")
+    pause()
+    pwm_position_1 = arm.read_position(FULL_ARM)
+    print(pwm_position_1)
+
+    print("Please move the SO100 to the second position.")
+    pause()
+    pwm_position_2 = arm.read_position(FULL_ARM)
+    print(pwm_position_2)
+
+    print("Configuration completed.")
+
+    pwm_positions = (pwm_position_1, pwm_position_2)
+
+    pwm_to_logical_conversion_table = construct_pwm_to_logical_conversion_table_arrow(
+        pwm_positions,
+        targets,
+    )
+    logical_to_pwm_conversion_table = construct_logical_to_pwm_conversion_table_arrow(
+        pwm_positions,
+        targets,
+    )
+
+    control_table_json = {}
+    for i in range(len(FULL_ARM)):
+        control_table_json[FULL_ARM[i].as_py()] = {
+            "id": i + 1,
+            "model": "sts3215",
+            "torque": True,
+            "pwm_to_logical": pwm_to_logical_conversion_table[FULL_ARM[i].as_py()],
+            "logical_to_pwm": logical_to_pwm_conversion_table[FULL_ARM[i].as_py()],
+        }
+
+    left = "left" if args.left else "right"
+    path = (
+        input(
+            f"Please enter the path of the configuration file (default is follower.{left}.json): ",
+        )
+        or f"follower.{left}.json"
+    )
+
+    with open(path, "w") as file:
+        json.dump(control_table_json, file)
+
+    control_table = construct_control_table(
+        pwm_to_logical_conversion_table,
+        logical_to_pwm_conversion_table,
+    )
+
+    while True:
+        try:
+            pwm_position = arm.read_position(FULL_ARM)
+            logical_position = pwm_to_logical_arrow(
+                pwm_position,
+                control_table,
+                ranged=True,
+            ).field("values")
+
+            print(f"Logical Position: {logical_position}")
+
+        except ConnectionError:
+            print(
+                "Connection error occurred. Please check the connection and try again.",
+            )
+
+        time.sleep(0.5)
+
+
+if __name__ == "__main__":
+    main()

node-hub/feetech-client/feetech_client/main.py

@@ -4,6 +4,7 @@ import argparse
 import json
 import os
 
+import numpy as np
 import pyarrow as pa
 from dora import Node
 
@@ -65,9 +66,16 @@ class Client:
     def pull_position(self, node, metadata):
         """TODO: Add docstring."""
         try:
+            struct = self.bus.read_position(self.config["joints"])
+            metadata["encoding"] = "jointstate"
             node.send_output(
                 "position",
-                self.bus.read_position(self.config["joints"]),
+                pa.array(
+                    np.deg2rad(
+                        ((struct.flatten()[1].to_numpy() - 2048) / 4096.0) * 360
+                    ),
+                    type=pa.float32(),
+                ),
                 metadata,
             )
 
@@ -166,21 +174,12 @@ def main():
         "torque": wrap_joints_and_values(
             pa.array(config.keys(), pa.string()),
             pa.array(
-                [
-                    (
-                        TorqueMode.ENABLED.value
-                        if config[joint]["torque"]
-                        else TorqueMode.DISABLED.value
-                    )
-                    for joint in joints
-                ],
+                [(TorqueMode.DISABLED.value) for joint in joints],
                 type=pa.uint32(),
             ),
         ),
     }
 
-    print("Feetech Client Configuration: ", bus, flush=True)
-
     client = Client(bus)
     client.run()
     client.close()

node-hub/feetech-client/pyproject.toml

@@ -1,16 +1,17 @@
 [project]
 name = "feetech-client"
 version = "0.1"
-authors = [{ name = "Hennzau", email = "<dev@enzo-le-van.fr>"}]
+authors = [{ name = "Hennzau", email = "<dev@enzo-le-van.fr>" }]
 description = "Dora Node client for feetech motors."
 license = { text = "MIT" }
 readme = "README.md"
 requires-python = ">=3.9"
 
 dependencies = [
-"dora-rs == 0.3.5",
-"numpy <=  2.0.0",
-"feetech-servo-sdk == 1.0.0", 
+  "dora-rs == 0.3.11",
+  "numpy <=  2.0.0",
+  "feetech-servo-sdk == 1.0.0",
+  "pwm-position-control",
 ]
 
 [dependency-groups]
@@ -18,7 +19,7 @@ dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
 
 [project.scripts]
 feetech-client = "feetech_client.main:main"
-
+feetech-configure = "feetech_client.configure:main"
 [build-system]
 requires = ["poetry-core>=1.8.0"]
 build-backend = "poetry.core.masonry.api"
@@ -34,3 +35,6 @@ extend-select = [
   "N",    # Ruff's N rule
   "I",    # Ruff's I rule
 ]
+
+[tool.uv.sources]
+pwm-position-control = { git = "https://github.com/Hennzau/pwm-position-control" }

node-hub/feetech-client/uv.lock

@@ -1,5 +1,4 @@
 version = 1
-revision = 1
 requires-python = ">=3.9"
 
 [[package]]
@@ -31,6 +30,17 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/de/d8/a6bfeb961b8a15c8e73a51a839482783154a2f8927fef267d57d039043dc/dora_rs-0.3.5-cp37-abi3-win_amd64.whl", hash = "sha256:88b4fe5e5569562fcdb3817abb89532f4abca913e8bd02e4ec228833716cbd09", size = 6129593 },
 ]
 
+[[package]]
+name = "dynamixel-sdk"
+version = "3.7.31"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pyserial" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/03/e8/2c65d11d312fdb1a2308563d32f63f93c39123bcfb4909d947e0b294c794/dynamixel_sdk-3.7.31-py3-none-any.whl", hash = "sha256:74e8c112ca6b0b869b196dd8c6a44ffd5dd5c1a3cb9fe2030e9933922406b466", size = 23664 },
+]
+
 [[package]]
 name = "exceptiongroup"
 version = "1.2.2"
@@ -48,6 +58,7 @@ dependencies = [
     { name = "dora-rs" },
     { name = "feetech-servo-sdk" },
     { name = "numpy" },
+    { name = "pwm-position-control" },
 ]
 
 [package.dev-dependencies]
@@ -61,6 +72,7 @@ requires-dist = [
     { name = "dora-rs", specifier = "==0.3.5" },
     { name = "feetech-servo-sdk", specifier = "==1.0.0" },
     { name = "numpy", specifier = "<=2.0.0" },
+    { name = "pwm-position-control", git = "https://github.com/Hennzau/pwm-position-control" },
 ]
 
 [package.metadata.requires-dev]
@@ -89,54 +101,45 @@ wheels = [
 
 [[package]]
 name = "numpy"
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+version = "1.26.4"
 source = { registry = "https://pypi.org/simple" }
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+sdist = { url = "https://files.pythonhosted.org/packages/65/6e/09db70a523a96d25e115e71cc56a6f9031e7b8cd166c1ac8438307c14058/numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010", size = 15786129 }
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