modified IP and fix flip error prompting

.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.toml

@@ -39,6 +39,7 @@ members = [
     "node-hub/dora-mistral-rs",
     "node-hub/dora-rav1e",
     "node-hub/dora-dav1d",
+    "node-hub/dora-rustypot",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
     "libraries/extensions/ros2-bridge/python",

examples/reachy2-remote/boot_reachy.sh

@@ -0,0 +1,7 @@
+ssh bedrock@reachy2-pvt02.local
+
+
+docker exec -it core bash
+
+
+ros2 service call /SetZuuuSafety zuuu_interfaces/srv/SetZuuuSafety "{safety_on: False}"

examples/reachy2-remote/dataflow_reachy.yml

@@ -1,88 +1,74 @@
 nodes:
   - id: camera
+    build: pip install -e ../../node-hub/dora-reachy2
     path: dora-reachy2-camera
-    _unstable_deploy:
-      machine: encoder
     inputs:
-      tick: dora/timer/millis/20
+      image_left: dora/timer/millis/50
     outputs:
       - image_left
-      - image_depth
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: reachy-head
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-head
+    inputs:
+      look: parse_pose/look
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: camera_depth
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    inputs:
+      depth: dora/timer/millis/50
+    outputs:
       - depth
+      - image_depth
     env:
-      IMAGE_WIDTH: 640
-      IMAGE_HEIGHT: 480
-      ROBOT_IP: 127.0.0.1
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-left-arm
     build: pip install -e ../../node-hub/dora-reachy2
     path: dora-reachy2-left-arm
-    _unstable_deploy:
-      machine: encoder
     inputs:
       pose: parse_pose/action_l_arm
     outputs:
       - response_l_arm
     env:
-      ROBOT_IP: 127.0.0.1
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-right-arm
     build: pip install -e ../../node-hub/dora-reachy2
     path: dora-reachy2-right-arm
-    _unstable_deploy:
-      machine: encoder
     inputs:
       pose: parse_pose/action_r_arm
     outputs:
       - response_r_arm
     env:
-      ROBOT_IP: 127.0.0.1
+      ROBOT_IP: 10.42.0.242
 
-  - id: rav1e-local-image
-    path: dora-rav1e
-    build: cargo build -p dora-rav1e --release
-    _unstable_deploy:
-      machine: encoder
-    inputs:
-      image_depth: camera/image_depth
-      image_left: camera/image_left
-    outputs:
-      - image_left
-      - image_depth
-    env:
-      RAV1E_SPEED: 10
-
-  - id: rav1e-local-depth
-    path: dora-rav1e
-    build: cargo build -p dora-rav1e --release
-    _unstable_deploy:
-      machine: encoder
+  - id: reachy-mobile-base
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-mobile-base
     inputs:
-      depth: camera/depth
+      action_base: parse_point/action
+      action_whisper: parse_whisper/action
+      translate_base: parse_pose/translate_base
     outputs:
-      - depth
+      - response_base
     env:
-      RAV1E_SPEED: 7
-
-  - id: dav1d-remote
-    path: dora-dav1d
-    build: cargo build -p dora-dav1d --release
-    _unstable_deploy:
-      machine: gpu
-    inputs:
-      image_depth: rav1e-local-image/image_depth
-      image_left: rav1e-local-image/image_left
-      depth: rav1e-local-depth/depth
-    outputs:
-      - image_left
-      - image_depth
-      - depth
+      ROBOT_IP: 10.42.0.242
 
   - id: dora-microphone
     build: pip install -e ../../node-hub/dora-microphone
     path: dora-microphone
-    _unstable_deploy:
-      machine: macbook
     inputs:
       tick: dora/timer/millis/2000
     outputs:
@@ -90,8 +76,6 @@ nodes:
 
   - id: dora-vad
     build: pip install -e ../../node-hub/dora-vad
-    _unstable_deploy:
-      machine: macbook
     path: dora-vad
     inputs:
       audio: dora-microphone/audio
@@ -100,8 +84,6 @@ nodes:
 
   - id: dora-distil-whisper
     build: pip install -e ../../node-hub/dora-distil-whisper
-    _unstable_deploy:
-      machine: gpu
     path: dora-distil-whisper
     inputs:
       input: dora-vad/audio
@@ -112,11 +94,10 @@ nodes:
 
   - id: parse_whisper
     path: parse_whisper.py
-    _unstable_deploy:
-      machine: gpu
     inputs:
       text: dora-distil-whisper/text
       arrived: parse_point/arrived
+      success: parse_pose/success
     outputs:
       - bbox
       - action
@@ -124,18 +105,23 @@ nodes:
       - text
       - action_release_left
       - action_release_right
+      - follow_pose
+      - raise_arm_pose
+      - look_ahead
+      - emotion
+      - speech
     env:
       IMAGE_RESIZE_RATIO: "1.0"
 
   - id: dora-qwenvl
     build: pip install -e ../../node-hub/dora-qwen2-5-vl
     path: dora-qwen2-5-vl
-    _unstable_deploy:
-      machine: gpu
     inputs:
-      image_left: dav1d-remote/image_left
-      image_depth: dav1d-remote/image_depth
-      text: parse_whisper/text
+      image_left: camera/image_left
+      image_depth: camera_depth/image_depth
+      text:
+        source: parse_whisper/text
+        queue_size: 1000
     outputs:
       - text
     env:
@@ -144,35 +130,29 @@ nodes:
 
   - id: parse_bbox
     path: parse_bbox.py
-    _unstable_deploy:
-      machine: gpu
     inputs:
       text: dora-qwenvl/text
       points: parse_whisper/points
     outputs:
       - bbox_track
-      - bbox_grab
+      - bbox_pick
     env:
       IMAGE_RESIZE_RATIO: "1.0"
 
   - id: sam2
     build: pip install -e ../../node-hub/dora-sam2
     path: dora-sam2
-    _unstable_deploy:
-      machine: gpu
     inputs:
-      image_depth: dav1d-remote/image_depth
-      boxes2d: parse_bbox/bbox_grab
+      image_depth: camera_depth/image_depth
+      boxes2d: parse_bbox/bbox_pick
     outputs:
       - masks
 
   - id: tracker
     build: pip install -e ../../node-hub/dora-cotracker
     path: dora-cotracker
-    _unstable_deploy:
-      machine: gpu
     inputs:
-      image: dav1d-remote/image_left
+      image: camera/image_left
       boxes2d: parse_bbox/bbox_track
     outputs:
       - tracked_image
@@ -183,34 +163,36 @@ nodes:
   - id: box_coordinates
     build: pip install -e ../../node-hub/dora-object-to-pose
     path: dora-object-to-pose
-    _unstable_deploy:
-      machine: gpu
     inputs:
-      depth: dav1d-remote/depth
+      depth: camera_depth/depth
       masks: sam2/masks
     outputs:
       - pose
 
   - id: parse_pose
     path: parse_pose.py
-    _unstable_deploy:
-      machine: gpu
     inputs:
       pose: box_coordinates/pose
       response_r_arm: reachy-right-arm/response_r_arm
       response_l_arm: reachy-left-arm/response_l_arm
       release_left: parse_whisper/action_release_left
       release_right: parse_whisper/action_release_right
+      follow_pose: parse_whisper/follow_pose
+      raise_arm_pose: parse_whisper/raise_arm_pose
+      look_ahead: parse_whisper/look_ahead
+      translate_base: reachy-mobile-base/response_base
+      emotion: parse_whisper/emotion
     outputs:
       - action_r_arm
       - action_l_arm
+      - translate_base
+      - look
+      - success
     env:
       IMAGE_RESIZE_RATIO: "1.0"
 
   - id: parse_point
     path: parse_point.py
-    _unstable_deploy:
-      machine: gpu
     inputs:
       points: tracker/points
     outputs:
@@ -219,32 +201,38 @@ nodes:
     env:
       IMAGE_RESIZE_RATIO: "1.0"
 
-  - id: reachy-mobile-base
-    build: pip install -e ../../node-hub/dora-reachy2
-    path: dora-reachy2-mobile-base
-    _unstable_deploy:
-      machine: encoder
-    inputs:
-      action_base: parse_point/action
-      action_whisper: parse_whisper/action
-    outputs:
-      - response_base
-    env:
-      ROBOT_IP: 127.0.0.1
-
   - id: plot
     build: pip install -e ../../node-hub/dora-rerun
     path: dora-rerun
-    _unstable_deploy:
-      machine: macbook
     inputs:
-      image: dav1d-remote/image_left
-      torso/image: dav1d-remote/image_depth
-      torso/depth: dav1d-remote/depth
-      torso/boxes2d: parse_bbox/bbox
+      head/boxes2d: parse_bbox/bbox_track
+      head/image: camera/image_left
+      torso/image: camera_depth/image_depth
+      torso/depth: camera_depth/depth
+      torso/boxes2d: parse_bbox/bbox_pick
+      torso/masks: sam2/masks
       original_text: dora-distil-whisper/text
+      emotion_text: parse_whisper/emotion
       parsed_text: parse_whisper/text
       qwenvl_text: dora-qwenvl/text
+      cotracker/tracked_image: tracker/tracked_image
+      head/points2d: tracker/points
+    env:
+      RERUN_MEMORY_LIMIT: 25%
+      CAMERA_PITCH: 2.40
+
+  - id: dora-kokoro-tts
+    build: pip install -e ../../node-hub/dora-kokoro-tts
+    path: dora-kokoro-tts
+    inputs:
+      text: parse_whisper/speech
+    outputs:
+      - audio
     env:
-      RERUN_MEMORY_LIMIT: 5%
-      CAMERA_PITCH: 2.47
+      VOICE: bm_fable
+
+  - id: dora-pyaudio
+    build: pip install -e ../../node-hub/dora-pyaudio
+    path: dora-pyaudio
+    inputs:
+      audio: dora-kokoro-tts/audio

examples/reachy2-remote/no_torque copy.yml

@@ -0,0 +1,45 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      image_left: dora/timer/millis/20
+    outputs:
+      #- image_depth
+      #- depth
+      - image_left
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: camera_depth
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      depth: dora/timer/millis/20
+    outputs:
+      - image_depth
+      - depth
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      torso/depth: camera_depth/depth
+      torso/image: camera_depth/image_depth
+      head/image_left: camera/image_left
+      #torso/depth: camera/depth
+    env:
+      RERUN_MEMORY_LIMIT: 5%
+      CAMERA_PITCH: 2.47

examples/reachy2-remote/no_torque.yml

@@ -0,0 +1,45 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      image_left: dora/timer/millis/20
+    outputs:
+      #- image_depth
+      #- depth
+      - image_left
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 172.18.131.66
+
+  - id: camera_depth
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      depth: dora/timer/millis/20
+    outputs:
+      - image_depth
+      - depth
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 172.18.131.66
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      torso/depth: camera_depth/depth
+      torso/image: camera_depth/image_depth
+      head/image_left: camera/image_left
+      #torso/depth: camera/depth
+    env:
+      RERUN_MEMORY_LIMIT: 5%
+      CAMERA_PITCH: 2.40

examples/reachy2-remote/no_torque_remote.yml

@@ -0,0 +1,45 @@
+nodes:
+  - id: camera
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      image_left: dora/timer/millis/20
+    outputs:
+      #- image_depth
+      #- depth
+      - image_left
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: camera_depth
+    build: pip install -e ../../node-hub/dora-reachy2
+    path: dora-reachy2-camera
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      depth: dora/timer/millis/20
+    outputs:
+      - image_depth
+      - depth
+    env:
+      # IMAGE_WIDTH: 640
+      # IMAGE_HEIGHT: 480
+      ROBOT_IP: 10.42.0.242
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    _unstable_deploy:
+      machine: macbook
+    inputs:
+      torso/depth: camera_depth/depth
+      torso/image: camera_depth/image_depth
+      head/image_left: camera/image_left
+      #torso/depth: camera/depth
+    env:
+      RERUN_MEMORY_LIMIT: 5%
+      CAMERA_PITCH: 2.47

examples/reachy2-remote/parse_bbox.py

@@ -70,7 +70,7 @@ for event in node:
                 )
             elif image_id == "image_depth":
                 node.send_output(
-                    "bbox_grab",
+                    "bbox_pick",
                     pa.array(bboxes.ravel()),
                     metadata,
                 )

examples/reachy2-remote/parse_point.py

@@ -13,6 +13,7 @@ node = Node()
 IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))
 
 arrive_time = time.time()
+arrived = False
 
 for event in node:
     if event["type"] == "INPUT":
@@ -25,38 +26,35 @@ for event in node:
         # Do point 0 first
         if len(values) == 0:
             continue
-        elif len(values) > 1:
+        elif len(values) >= 1:
             point = values[-1]
 
         rz = int((width / 2) - point[0]) / (width / 2)
         x_distance = min(height, height - point[1])
         y = 0
         if abs(rz) > 0.75:
-            rz = np.deg2rad(45) * np.sign(rz)
+            rz = np.deg2rad(70) * np.sign(rz)
         elif abs(rz) > 0.5:
-            rz = np.deg2rad(30) * np.sign(rz)
+            rz = np.deg2rad(60) * np.sign(rz)
         elif abs(rz) > 0.3:
-            rz = np.deg2rad(20) * np.sign(rz)
+            rz = np.deg2rad(30) * np.sign(rz)
         elif abs(rz) > 0.1:
             rz = np.deg2rad(10) * np.sign(rz)
         else:
             x = 0
 
+        if x_distance > (height * 0.8):
+            x = 1.0
         if x_distance > (height * 0.7):
-            x = 0.7
+            x = 1.0
         elif x_distance > (height * 0.5):
-            x = 0.6
+            x = 0.8
         elif x_distance > (height * 0.25):
-            x = 0.5 
+            x = 0.61
+        elif x_distance > (height * 0.1):
+            x = 0.3
         else:
             x = 0
-            
-        if x_distance < (height * 0.25):
-            print("ARRIVED!")
-            time.sleep(1.0)
-            if time.time() - arrive_time > 4.0:
-                node.send_output("arrived", pa.array([]))
-                arrive_time = time.time()
-        # Action
+            node.send_output("arrived", pa.array([]))
         action = pa.array([x, y, 0, 0, 0, rz])
         node.send_output("action", action)

examples/reachy2-remote/parse_pose.py

@@ -1,8 +1,6 @@
 """TODO: Add docstring."""
 
-import json
 import os
-
 import numpy as np
 import pyarrow as pa
 from dora import Node
@@ -15,64 +13,21 @@ IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))
 l_init_pose = [
     -7.0631310641087435,
     -10.432298603362307,
-    24.429809104404114,
-    -132.15000828778648,
-    -1.5494749438811133,
-    -21.749917789205202,
-    8.099312596108344,
+    57.429809104404114,
+    -126.15000828778648,
+    -3.5494749438811133,
+    -35.749917789205202,
+    0.999312596108344,
     100,
 ]
 r_init_pose = [
     -5.60273587426976,
     10.780818397272316,
-    -27.868146823156042,
+    -57.868146823156042,
     -126.15650363072193,
     3.961108018106834,
     -35.43682799906162,
-    350.9236448374495,
-    100,
-]
-r_release_closed_pose = [
-    -26.1507947940993,
-    12.16735021387949,
-    -2.2657319092611976,
-    -97.63648867582175,
-    -19.91084837404425,
-    22.10184328619011,
-    366.71351223614494,
-    0,
-]
-
-r_release_opened_pose = [
-    -26.1507947940993,
-    12.16735021387949,
-    -2.2657319092611976,
-    -97.63648867582175,
-    -19.91084837404425,
-    22.10184328619011,
-    366.71351223614494,
-    100,
-]
-
-l_release_opened_pose = [
-    -30.04330081906935,
-    -7.415231584691132,
-    3.6972339048071468,
-    -97.7274736257555,
-    12.996718740452982,
-    30.838020649757016,
-    -1.5572310505704858,
-    0,
-]
-
-l_release_closed_pose = [
-    -30.04330081906935,
-    -7.415231584691132,
-    3.6972339048071468,
-    -97.7274736257555,
-    12.996718740452982,
-    30.838020649757016,
-    -1.5572310505704858,
+    0.9236448374495,
     100,
 ]
 
@@ -98,17 +53,7 @@ cache = {}
 
 
 ## ---- INIT ---
-node.send_output(
-    "action_r_arm",
-    pa.array(r_init_pose),
-    metadata={"encoding": "jointstate", "duration": 2},
-)
-node.send_output(
-    "action_l_arm",
-    pa.array(l_init_pose),
-    metadata={"encoding": "jointstate", "duration": 2},
-)
-node.send_output("look", pa.array([0.35, 0, 0]))
+node.send_output("look", pa.array([1.0, 0, 0]))
 
 
 for event in node:
@@ -123,134 +68,325 @@ for event in node:
             y = values[1]
             z = values[2]
             action = event["metadata"]["action"]
+            node.send_output("look", pa.array([x, y, z]))
 
             match action:
-                case "grab":
+                case "pick":
                     if len(values) == 0:
                         continue
-                    x = x + 0.01
+                    x = x + 0.05
+                    z = z + 0.03
 
-                    ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement.
-                    trajectory = np.array(
-                        [
-                            [x, y, -0.16, 0, 0, 0, 100],
-                            [x, y, z, 0, 0, 0, 0],
-                            [x, y, -0.16, 0, 0, 0, 0],
-                        ],
-                    ).ravel()
-
-                    if y < 0:
+                    if y < 0:  # right arm
+                        node.send_output("look", pa.array([x, y, z]))
+
+                        # Send a mobile base command to move slightly left to facilitate the grasp
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y + 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        node.send_output("look", pa.array([x, -0.3, z]))
+
+                        trajectory = np.array(
+                            [
+                                [x, -0.3, z + 0.1, 0, 0, 0, 100],
+                                [x, -0.3, z, 0, 0, 0, 0],
+                                [x, -0.3, z + 0.1, 0, 0, 0, 0],
+                                [0.3, -0.3, -0.16, 0, 0, 0, 0],
+                            ],
+                        ).ravel()
                         node.send_output(
                             "action_r_arm",
                             pa.array(trajectory),
-                            metadata={"encoding": "xyzrpy", "duration": "0.75"},
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
                         )
-                        event = wait_for_event(id="response_r_arm", timeout=5)
-                        if event is not None and event[0]:
-                            print("Success")
-                            arm_holding_object = "right"
-                            node.send_output(
-                                "action_r_arm",
-                                pa.array([0.1, -0.2, -0.16, 0, 0, 0, 0]),
-                                metadata={"encoding": "xyzrpy", "duration": "1"},
-                            )
-                        else:
-                            print("Failed: x: ", x, " y: ", y, " z: ", z)
-                            node.send_output(
-                                "action_r_arm",
-                                pa.array(r_init_pose),
-                                metadata={"encoding": "jointstate", "duration": "1"},
-                            )
-                            event = wait_for_event(id="response_r_arm")
-                    else:
-                        y += 0.03
+                        event = wait_for_event(id="response_r_arm")
+
+                        node.send_output("look", pa.array([x, -0.3, z]))
+
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y + 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        arm_holding_object = "right"
+                        node.send_output("look", pa.array([0.4, 0, 0]))
+                        node.send_output("success", pa.array([True]))
+
+                    else:  # left arm
+                        # Send a mobile base command to move slightly left to facilitate the grasp
+                        node.send_output("look", pa.array([x, y, z]))
+
+                        ## Move the base
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y - 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+
+                        node.send_output("look", pa.array([x, 0.3, z]))
+                        trajectory = np.array(
+                            [
+                                [x, 0.3, z + 0.1, 0, 0, 0, 100],
+                                [x, 0.3, z, 0, 0, 0, 0],
+                                [x, 0.3, z + 0.1, 0, 0, 0, 0],
+                                [0.3, 0.3, -0.16, 0, 0, 0, 0],
+                            ],
+                        ).ravel()
+                        node.send_output("look", pa.array([x, 0.3, z]))
+
                         node.send_output(
                             "action_l_arm",
                             pa.array(trajectory),
-                            metadata={"encoding": "xyzrpy", "duration": "0.75"},
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
                         )
-                        event = wait_for_event(id="response_l_arm", timeout=5)
-                        if event is not None and event[0]:
-                            print("Success")
-                            arm_holding_object = "left"
-                            node.send_output(
-                                "action_l_arm",
-                                pa.array([0.1, 0.2, -0.16, 0, 0, 0, 0]),
-                                metadata={"encoding": "xyzrpy", "duration": "1"},
-                            )
-                        else:
-                            print("Failed")
+
+                        event = wait_for_event(id="response_l_arm")
+                        if not (
+                            event is not None
+                            and event[0] is not None
+                            and event[0][0].as_py()
+                        ):
                             node.send_output(
-                                "action_l_arm",
-                                pa.array(l_init_pose),
-                                metadata={"encoding": "jointstate", "duration": "1"},
-                            )
+                            "action_l_arm",
+                            pa.array(trajectory),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+
                             event = wait_for_event(id="response_l_arm")
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y - 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        node.send_output("look", pa.array([0.4, 0.0, 0.0]))
+
+                        arm_holding_object = "left"
+                        node.send_output("success", pa.array([True]))
+                case "flip":
+                    if len(values) == 0:
+                        continue
+                    x = x + 0.05
+                    z = z + 0.03
+
+                    if y < 0:  # right arm
+                        node.send_output("look", pa.array([x, y, z]))
+
+                        # Send a mobile base command to move slightly left to facilitate the grasp
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y + 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        node.send_output("look", pa.array([x, -0.3, z]))
+
+                        trajectory = np.array(
+                            [
+                                [x, -0.3, z + 0.1, 0, 0, 0, 100],
+                                [x, -0.3, z, 0, 0, 0, 0],
+                                [x, -0.3, z + 0.1, 0, 0, 0, 0],
+                                [x, -0.3, z + 0.1, -np.pi, 0, 0, 0],
+                                [x, -0.3, z, -np.pi, 0, 0, 100],
+                                [x, -0.3, z + 0.1, -np.pi, 0, 0, 100],
+                                [x, -0.3, z + 0.1, 0, 0, 0, 100],
+                            ],
+                        ).ravel()
+                        node.send_output(
+                            "action_r_arm",
+                            pa.array(trajectory),
+                            metadata={"encoding": "xyzrpy", "duration": "0.8"},
+                        )
+                        event = wait_for_event(id="response_r_arm")
+
+                        node.send_output("look", pa.array([x, -0.3, z]))
+
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y + 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        arm_holding_object = "right"
+                        node.send_output("look", pa.array([0.4, 0, 0]))
+                        node.send_output("success", pa.array([True]))
+
+                    else:  # left arm
+                        # Send a mobile base command to move slightly left to facilitate the grasp
+                        node.send_output("look", pa.array([x, y, z]))
+
+                        ## Move the base
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y - 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+
+                        node.send_output("look", pa.array([x, 0.3, z]))
+                        trajectory = np.array(
+                            [
+                                [x, 0.3, z + 0.1, 0, 0, 0, 100],
+                                [x, 0.3, z, 0, 0, 0, 0],
+                                [x, 0.3, z + 0.1, 0, 0, 0, 0],
+                                [x, 0.3, z + 0.1, -np.pi, 0, 0, 0],
+                                [x, 0.3, z, -np.pi, 0, 0, 100],
+                                [x, 0.3, z + 0.1, -np.pi, 0, 0, 100],
+                                [x, 0.3, z + 0.1, 0, 0, 0, 100],
+                            ],
+                        ).ravel()
+                        node.send_output("look", pa.array([x, 0.3, z]))
+
+                        node.send_output(
+                            "action_l_arm",
+                            pa.array(trajectory),
+                            metadata={"encoding": "xyzrpy", "duration": "0.8"},
+                        )
+
+                        event = wait_for_event(id="response_l_arm")
+
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y - 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        node.send_output("look", pa.array([0.4, 0.0, 0.0]))
+
+                        arm_holding_object = "left"
+                        node.send_output("success", pa.array([True]))
+
                 case "release":
                     if len(values) == 0:
                         continue
-                    x = x + 0.01
-                    if z < -0.4:
-                        z = -0.16
+                    x = x + 0.05
+                    z = z + 0.13
 
                     ## Clip the Maximum and minim values for the height of the arm to avoid collision or weird movement.
-                    trajectory = np.array(
-                        [
-                            [x, y, z + 0.1, 0, 0, 0, 100],
-                        ],
-                    ).ravel()
-
+                    node.send_output("look", pa.array([x, y, z]))
+                    if abs(y) > 0.5:
+                        continue
                     if arm_holding_object is None:
+                        print("No arm holding object!!!")
                         continue
                     elif arm_holding_object == "right":
+                        # Send a mobile base command to move slightly left to facilitate the grasp
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y + 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base", timeout=10)
+                        node.send_output("look", pa.array([x, -0.3, z]))
+                        trajectory = np.array(
+                            [
+                                [x, -0.3, z + 0.1, 0, 0, 0, 0],
+                                [x, -0.3, z, 0, 0, 0, 100],
+                                [x, -0.3, z + 0.1, 0, 0, 0, 100],
+                            ],
+                        ).ravel()
+
                         node.send_output(
                             "action_r_arm",
                             pa.array(trajectory),
-                            metadata={"encoding": "xyzrpy", "duration": "0.75"},
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
                         )
-                        event = wait_for_event(id="response_r_arm", timeout=5)
-                        if event is not None and event[0]:
-                            print("Success release right with", event[0])
-                            arm_holding_object = "right"
-                            node.send_output(
-                                "action_r_arm",
-                                pa.array(r_init_pose),
-                                metadata={"encoding": "jointstate", "duration": 1},
-                            )
-                            arm_holding_object = None
-                        else:
-                            print("Failed: x: ", x, " y: ", y, " z: ", z)
+                        event = wait_for_event(id="response_r_arm", timeout=10)
+                        if not (
+                            event is not None
+                            and event[0] is not None
+                            and event[0][0].as_py()
+                        ):
+                            trajectory = np.array(
+                                [
+                                    [x, 0.3, -0.2, 0, 0, 0, 0],
+                                    [x, 0.3, -0.2, 0, 0, 0, 100],
+                                    [x, 0.3, -0.2, 0, 0, 0, 100],
+                                ],
+                            ).ravel()
+
                             node.send_output(
-                                "action_r_arm",
-                                pa.array(r_init_pose),
-                                metadata={"encoding": "jointstate", "duration": "1"},
+                                "action_l_arm",
+                                pa.array(trajectory),
+                                metadata={"encoding": "xyzrpy", "duration": "0.3"},
                             )
-                            event = wait_for_event(id="response_r_arm")
+                        node.send_output(
+                            "action_r_arm",
+                            pa.array(r_init_pose),
+                            metadata={"encoding": "jointstate", "duration": "0.7"},
+                        )
+
+                        event = wait_for_event(id="response_r_arm", timeout=10)
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y + 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base", timeout=10)
+                        node.send_output("success", pa.array([True]))
+                        node.send_output("look", pa.array([0.4, 0.0, 0.0]))
+
                     else:
-                        y += 0.03
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, y - 0.3, 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        trajectory = np.array(
+                            [
+                                [x, 0.3, z + 0.1, 0, 0, 0, 0],
+                                [x, 0.3, z, 0, 0, 0, 100],
+                                [x, 0.3, z + 0.1, 0, 0, 0, 100],
+                            ],
+                        ).ravel()
+
+                        node.send_output("look", pa.array([x, 0.3, z]))
                         node.send_output(
                             "action_l_arm",
                             pa.array(trajectory),
-                            metadata={"encoding": "xyzrpy", "duration": "0.75"},
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
                         )
-                        event = wait_for_event(id="response_l_arm", timeout=5)
-                        if event is not None and event[0]:
-                            print("Success release left with", event[0])
-                            arm_holding_object = "left"
-                            node.send_output(
-                                "action_l_arm",
-                                pa.array(l_init_pose),
-                                metadata={"encoding": "jointstate", "duration": 1},
-                            )
-                            arm_holding_object = None
-                        else:
-                            print("Failed")
+                        event = wait_for_event(id="response_l_arm")
+                        if not (
+                            event is not None
+                            and event[0] is not None
+                            and event[0][0].as_py()
+                        ):
+                            trajectory = np.array(
+                                [
+                                    [x, 0.3, -0.2, 0, 0, 0, 0],
+                                    [x, 0.3, -0.2, 0, 0, 0, 100],
+                                    [x, 0.3, -0.2, 0, 0, 0, 100],
+                                ],
+                            ).ravel()
+
                             node.send_output(
                                 "action_l_arm",
-                                pa.array(l_init_pose),
-                                metadata={"encoding": "jointstate", "duration": "1"},
+                                pa.array(trajectory),
+                                metadata={"encoding": "xyzrpy", "duration": "0.3"},
                             )
-                            event = wait_for_event(id="response_l_arm")
+
+                        node.send_output(
+                            "action_l_arm",
+                            pa.array(l_init_pose),
+                            metadata={"encoding": "jointstate", "duration": "0.7"},
+                        )
+                        event = wait_for_event(id="response_l_arm")
+
+                        node.send_output(
+                            "translate_base",
+                            pa.array([0.0, -(y - 0.3), 0, 0, 0, 0]),
+                            metadata={"encoding": "xyzrpy", "duration": "0.3"},
+                        )
+                        event = wait_for_event(id="translate_base")
+                        node.send_output("success", pa.array([True]))
+                        node.send_output("look", pa.array([0.4, 0.0, 0.0]))
 
         elif event["id"] == "release_right":
             node.send_output(
@@ -275,26 +411,41 @@ for event in node:
                     pa.array(r_init_pose),
                     metadata={"encoding": "jointstate", "duration": 1},
                 )
-        elif event["id"] == "release_left":
+
+        elif event["id"] == "follow_pose":
             node.send_output(
                 "action_l_arm",
                 pa.array(
-                    [
-                        0.4,
-                        0,
-                        -0.16,
-                        0,
-                        0,
-                        0,
-                        100,
-                    ],
+                    [0, -15, 0, 0, 0, 0, 0, 0],
                 ),
-                metadata={"encoding": "xyzrpy", "duration": "0.75"},
+                metadata={"encoding": "jointstate", "duration": "0.75"},
             )
+
             event, cache = wait_for_event(id="response_l_arm", cache=cache)
-            if event is not None and event[0]:
-                node.send_output(
-                    "action_l_arm",
-                    pa.array(l_init_pose),
-                    metadata={"encoding": "jointstate", "duration": 1},
-                )
+
+            node.send_output(
+                "action_r_arm",
+                pa.array(
+                    [0, 15, 0, 0, 0, 0, 0, 0],
+                ),
+                metadata={"encoding": "jointstate", "duration": "0.75"},
+            )
+            event, cache = wait_for_event(id="response_r_arm", cache=cache)
+
+        elif event["id"] == "raise_arm_pose":
+            node.send_output(
+                "action_r_arm",
+                pa.array(r_init_pose),
+                metadata={"encoding": "jointstate", "duration": 2},
+            )
+            event = wait_for_event(id="response_r_arm", timeout=10)
+
+            node.send_output(
+                "action_l_arm",
+                pa.array(l_init_pose),
+                metadata={"encoding": "jointstate", "duration": 2},
+            )
+            event = wait_for_event(id="response_l_arm", timeout=10)
+
+        elif event["id"] == "look_ahead":
+            node.send_output("look", pa.array([0.7, 0, 0]))

examples/reachy2-remote/parse_whisper.py

@@ -1,135 +1,162 @@
 """TODO: Add docstring."""
 
-import json
 import os
 import time
+import re
 
 import numpy as np
 import pyarrow as pa
 from dora import Node
 
+
 node = Node()
 
 IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))
 
+queue = []
 
-def extract_bboxes(json_text):
-    """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array.
+last_prompt = ""
 
-    Parameters
-    ----------
-    json_text : str
-        JSON string containing bounding box data, including ```json markers.
 
-    Returns
-    -------
-    np.ndarray: NumPy array of bounding boxes.
+def handle_event(text: str):
+    global queue
+    if "stop" in text:
+        node.send_output("points", pa.array([], type=pa.float64()))
+    elif "follow" in text:
+        text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object"
+        node.send_output("look_ahead", pa.array([1.0]))
+        time.sleep(0.5)  # Sync image
+        node.send_output("text", pa.array([text]), {"image_id": "image_left"})
+        node.send_output("follow_pose", pa.array([1.0]))
+    elif "raise your arms" in text:
+        node.send_output("raise_arm_pose", pa.array([1.0]))
 
-    """
-    # Ensure all lines are stripped of whitespace and markers
-    lines = json_text.strip().splitlines()
+    elif (
+        ("pick" in text and "place" in text)
+        or ("make a hot dog" in text)
+        or ("make a vegetarian hot dog" in text)
+        or ("cook" in text)
+    ):
+        if "make a hot dog" in text:
+            text = "pick the sausage, place it on the black grill, wait, flip the sausage on the grill, wait, pick the sausage on the grill, place it on the hot dog bun, speak it's ready!"
+        if "make a vegetarian hot dog" in text:
+            text = "pick the cucumber, place it on the black grill, wait, flip the cucumber on the grill, wait, pick the cucumber on the grill, place it on the hot dog bun, speak it's ready!"
+        elif "cook" in text:
+            # Match 'grill' followed by two words
+            match = re.search(r"\bcook\b\s+(\w+)\s+(\w+)", text)
 
-    # Filter out lines that are markdown markers
-    clean_lines = [line for line in lines if not line.strip().startswith("```")]
+            if match:
+                word1 = match.group(1)
+                word2 = match.group(2)
+                grilled_item = word1 + " " + word2
+                text = f"pick {grilled_item}, place it on the black grill, wait, flip {grilled_item}, wait, pick {grilled_item} again, place it on the white plate, speak {grilled_item} is ready!"
 
-    # Join the lines back into a single string
-    clean_text = "\n".join(clean_lines)
-    # Parse the cleaned JSON text
-    try:
-        data = json.loads(clean_text)
+        if "," or "." in text:
+            prompts = re.split(r"[,.]", text)
+            queue = prompts
+            first_prompt = queue[0]
+            queue = queue[1:]
+            handle_event(first_prompt)
 
-        # Extract bounding boxes
-        bboxes = [item["bbox_2d"] for item in data]
-        labels = [item["label"] for item in data]
+    elif "pick " in text:
+        text = text.replace("can you", "")
+        text = text.replace("please", "")
+        text = text.replace("reachy", "")
+
+        node.send_output("speech", pa.array(["I'm going to " + text]))
+
+        text = f"Given the prompt: {text}. Output the bounding boxes for the object to be picked"
+
+        node.send_output(
+            "text",
+            pa.array([text]),
+            {"image_id": "image_depth", "action": "pick"},
+        )
+    elif "place " in text:
+        text = text.replace("can you", "")
+        text = text.replace("please", "")
+        text = text.replace("reachy", "")
+
+        node.send_output("speech", pa.array(["I'm going to " + text]))
+
+        text = f"Given the prompt: {text}. Output the bounding boxes for the place to place the object"
+        node.send_output(
+            "text",
+            pa.array([text]),
+            {"image_id": "image_depth", "action": "release"},
+        )
+    elif " wait" in text:
+        node.send_output("speech", pa.array(["I'm going to wait for 5 seconds."]))
+
+        time.sleep(5)
+        if len(queue) > 0:
+            first_prompt = queue[0]
+            queue = queue[1:]
+            handle_event(first_prompt)
+    elif " speak" in text:
+        node.send_output("speech", pa.array([text.replace("speak ", "")]))
+
+        if len(queue) > 0:
+            first_prompt = queue[0]
+            queue = queue[1:]
+            handle_event(first_prompt)
+    elif " flip" in text:
+        text = text.replace("can you", "")
+        text = text.replace("please", "")
+        text = text.replace("reachy", "")
+
+        node.send_output("speech", pa.array(["I'm going to " + text]))
+
+        text = f"Given the prompt: {text}. Output the bounding boxes for the object to flip"
+        node.send_output(
+            "text",
+            pa.array([text]),
+            {"image_id": "image_depth", "action": "flip"},
+        )
+    # elif "flip " in text:
+    #    node.send_output("flip", pa.array([True]))
+    elif "release left" in text:
+        node.send_output("action_release_left", pa.array([1.0]))
+    elif "release right" in text:
+        node.send_output("action_release_right", pa.array([1.0]))
+    elif "turn left" in text:
+        action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(30)])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "turn right" in text:
+        action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(30)])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "turn around" in text:
+        action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(180)])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "move left" in text:
+        action = pa.array([0.0, 0.2, 0, 0, 0, 0])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "move right" in text:
+        action = pa.array([0.0, -0.2, 0, 0, 0, 0])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "move forward" in text:
+        action = pa.array([0.2, 0, 0, 0, 0, 0])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
+    elif "move backward" in text:
+        action = pa.array([-0.2, 0, 0, 0, 0, 0])
+        node.send_output("action", action)
+        node.send_output("points", pa.array([]))
 
-        return np.array(bboxes), np.array(labels)
-    except Exception as _e:  # noqa
-        pass
-    return None, None
 
-last_prompt = ""
 for event in node:
     if event["type"] == "INPUT":
         if event["id"] == "text":
-            text = event["value"][0].as_py().lower()
-
-            if "stop" in text:
-                node.send_output("points", pa.array([], type=pa.float64()))
-            elif "follow" in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the given followed object"
-                node.send_output("text", pa.array([text]), {"image_id": "image_left"})
-            elif "grab " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the given grabbed object"
-                node.send_output(
-                    "text", pa.array([text]), {"image_id": "image_depth", "action": "grab"}
-                )
-            elif "get " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the object"
-                node.send_output(
-                    "text", pa.array([text]), {"image_id": "image_left", "action": "grab"}
-                )
-                last_prompt = text
-            elif "put " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object"
-                node.send_output(
-                    "text",
-                    pa.array([text]),
-                    {"image_id": "image_left", "action": "release"},
-                )
-                last_prompt = text
-            elif "drop " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the place to drop the object"
-                node.send_output(
-                    "text",
-                    pa.array([text]),
-                    {"image_id": "image_depth", "action": "release"},
-                )
-            elif "release left" in text:
-                node.send_output("action_release_left", pa.array([1.0]))
-            elif "release right" in text:
-                node.send_output("action_release_right", pa.array([1.0]))
-            elif "turn left" in text:
-                action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)])
-                node.send_output("action", action)
-                time.sleep(0.25)
-                action = pa.array([0.0, 0, 0, 0, 0, np.deg2rad(160)])
-                node.send_output("action", action)
-                node.send_output("points", pa.array([]))
-            elif "turn right" in text:
-                action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)])
-                node.send_output("action", action)
-                time.sleep(0.25)
-                action = pa.array([0.0, 0, 0, 0, 0, -np.deg2rad(160)])
-                node.send_output("action", action)
-                node.send_output("points", pa.array([]))
-            elif "move forward" in text:
-                action = pa.array([0.5, 0, 0, 0, 0, 0])
-                node.send_output("action", action)
-                time.sleep(0.25)
-                node.send_output("action", action)
-                node.send_output("points", pa.array([]))
-            elif "move backward" in text:
-                action = pa.array([-0.5, 0, 0, 0, 0, 0])
-                node.send_output("action", action)
-                time.sleep(0.25)
-                node.send_output("action", action)
-                node.send_output("points", pa.array([]))
-        elif event["id"] == "arrived":
-            text = last_prompt
-            print("received arrived message")
-            node.send_output("points", pa.array([]))
-            if "get " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object"
-                node.send_output(
-                    "text",
-                    pa.array([text]),
-                    {"image_id": "image_depth", "action": "grab"},
-                )
-            elif "put " in text:
-                text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object"
-                node.send_output(
-                    "text",
-                    pa.array([text]),
-                    {"image_id": "image_depth", "action": "release"},
-                )
-                
+            event_text = event["value"][0].as_py().lower()
+            handle_event(event_text)
+        elif event["id"] == "success":
+            if len(queue) > 0:
+                time.sleep(0.3)
+                first_prompt = queue[0]
+                queue = queue[1:]
+                handle_event(first_prompt)

examples/so100-remote/no_torque.yml

@@ -0,0 +1,46 @@
+nodes:
+  - id: so100
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/33
+      #pose: pytorch-kinematics/action
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      IDS: 1 2 3 4 5 6
+
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+      - depth
+
+  - id: pytorch-kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      pose: so100/pose
+    outputs:
+      - pose
+      - action
+    env:
+      URDF_PATH: so100.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      series_fk: pytorch-kinematics/pose
+      jointstate_so100: so100/pose
+      camera/image: camera/image
+      camera/depth: camera/depth
+    env:
+      so100_urdf: so100.urdf
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415

examples/so100-remote/parse_bbox.py

@@ -0,0 +1,69 @@
+"""TODO: Add docstring."""
+
+import json
+import os
+
+import numpy as np
+import pyarrow as pa
+from dora import Node
+
+node = Node()
+
+IMAGE_RESIZE_RATIO = float(os.getenv("IMAGE_RESIZE_RATIO", "1.0"))
+
+
+def extract_bboxes(json_text):
+    """Extract bounding boxes from a JSON string with markdown markers and return them as a NumPy array.
+
+    Parameters
+    ----------
+    json_text : str
+        JSON string containing bounding box data, including ```json markers.
+
+    Returns
+    -------
+    np.ndarray: NumPy array of bounding boxes.
+
+    """
+    # Ensure all lines are stripped of whitespace and markers
+    lines = json_text.strip().splitlines()
+
+    # Filter out lines that are markdown markers
+    clean_lines = [line for line in lines if not line.strip().startswith("```")]
+
+    # Join the lines back into a single string
+    clean_text = "\n".join(clean_lines)
+    # Parse the cleaned JSON text
+    try:
+        data = json.loads(clean_text)
+
+        # Extract bounding boxes
+        bboxes = [item["bbox_2d"] for item in data]
+        labels = [item["label"] for item in data]
+
+        return np.array(bboxes), np.array(labels)
+    except Exception as _e:  # noqa
+        pass
+    return None, None
+
+
+for event in node:
+    if event["type"] == "INPUT":
+        if len(event["value"]) == 0:
+            node.send_output("bbox_track", pa.array([]))
+            continue
+
+        text = event["value"][0].as_py()
+        metadata = event["metadata"]
+        image_id = event["metadata"]["image_id"]
+
+        bboxes, labels = extract_bboxes(text)
+        if bboxes is not None and len(bboxes) > 0:
+            bboxes = bboxes * int(1 / IMAGE_RESIZE_RATIO)
+            metadata["image_id"] = image_id
+            metadata["encoding"] = "xyxy"
+            node.send_output(
+                "bbox",
+                pa.array(bboxes.ravel()),
+                metadata,
+            )

examples/so100-remote/parse_pose.py

@@ -0,0 +1,160 @@
+"""TODO: Add docstring."""
+
+import time
+import numpy as np
+import pyarrow as pa
+from dora import Node
+
+node = Node()
+top_z = -0.5
+low_z = -0.57
+
+roll = 1.86
+pitch = 1.43
+yaw_open = 0.8
+yaw_close = -0.5
+
+
+def grab(target_x, target_y, low_z, top_z, roll, pitch, yaw_open, yaw_close, last_x, last_y):
+
+    node.send_output(
+        "action",
+        pa.array([target_x, target_y, top_z, roll, pitch, yaw_open]),
+        metadata={"encoding": "xyzrpy"},
+    )
+
+    time.sleep(0.6)
+
+    node.send_output(
+        "action",
+        pa.array([target_x, target_y, low_z, roll, pitch, yaw_open]),
+        metadata={"encoding": "xyzrpy"},
+    )
+    time.sleep(0.2)
+
+
+    node.send_output(
+        "action",
+        pa.array([target_x, target_y, low_z, roll, pitch, yaw_close]),
+        metadata={"encoding": "xyzrpy"},
+    )
+
+    time.sleep(0.4)
+
+    node.send_output(
+        "action",
+        pa.array([target_x, target_y, top_z, roll, pitch, yaw_close]),
+        metadata={"encoding": "xyzrpy"},
+    )
+
+    time.sleep(0.5)
+
+    node.send_output(
+        "action",
+        pa.array([0.05, 0.04, top_z, roll, pitch, yaw_close]),
+        metadata={"encoding": "xyzrpy"},
+    )
+        
+
+def place(place_x, place_y, place_z, top_z, roll, pitch, yaw_open, yaw_close, last_x, last_y):
+
+
+    node.send_output(
+        "action",
+        pa.array([place_x, place_y, top_z, roll, pitch, yaw_close]),
+        metadata={"encoding": "xyzrpy"},
+    )
+
+    time.sleep(0.6)
+
+    node.send_output(
+        "action",
+        pa.array([place_x, place_y, place_z, roll, pitch, yaw_close]),
+        metadata={"encoding": "xyzrpy"},
+    )
+
+    time.sleep(0.2)
+
+
+    node.send_output(
+        "action",
+        pa.array([place_x, place_y, place_z, roll, pitch, yaw_open]),
+        metadata={"encoding": "xyzrpy"},
+    )    
+    
+    time.sleep(0.3)
+
+
+    node.send_output(
+        "action",
+        pa.array([place_x, place_y, top_z, roll, pitch, yaw_open]),
+        metadata={"encoding": "xyzrpy"},
+    )    
+    
+    time.sleep(0.3)
+
+    node.send_output(
+        "action",
+        pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]),
+        metadata={"encoding": "xyzrpy"},
+    )
+        
+time.sleep(0.6)
+
+
+node.send_output(
+    "action",
+    pa.array([0.05, 0.04, top_z, roll, pitch, yaw_open]),
+    metadata={"encoding": "xyzrpy"},
+)
+
+last_x = 0
+last_y = 0
+last_z = 0
+
+for event in node:
+    if event["type"] == "INPUT":
+        if event["id"] == "pose":
+            values = event["value"]
+            values = values.to_numpy()
+            print(values)
+            if len(values) == 0:
+                continue
+            x = values[0]
+            y = values[1]
+            z = values[2]
+            action = event["metadata"]["action"]
+            
+
+            # Adjust z with the size of the gripper
+            z = z + 0.063
+            match action:
+                case "grab":
+                    grab(
+                        x,
+                        y,
+                        z,
+                        top_z,
+                        roll,
+                        pitch,
+                        yaw_open,
+                        yaw_close,
+                        last_x,
+                        last_y
+                    )
+                case "release":
+                    place(
+                        x,
+                        y,
+                        z,
+                        top_z,
+                        roll,
+                        pitch,
+                        yaw_open,
+                        yaw_close,
+                        last_x,
+                        last_y
+                    )
+            last_x = -0.05
+            last_y = 0.04
+            last_z = z

examples/so100-remote/parse_whisper.py

@@ -0,0 +1,32 @@
+"""TODO: Add docstring."""
+
+import json
+import os
+import time
+
+import numpy as np
+import pyarrow as pa
+from dora import Node
+
+node = Node()
+
+
+last_prompt = ""
+for event in node:
+    if event["type"] == "INPUT":
+        if event["id"] == "text":
+            text = event["value"][0].as_py().lower()
+
+            if "grab " in text:
+                text = f"Given the prompt: {text}. Output the bounding boxes for the given object"
+                node.send_output(
+                    "text", pa.array([text]), {"image_id": "image", "action": "grab"}
+                )
+
+            elif "put " in text:
+                text = f"Given the prompt: {text}. Output the bounding boxes for the place to put the object"
+                node.send_output(
+                    "text",
+                    pa.array([text]),
+                    {"image_id": "image", "action": "release"},
+                )

examples/so100-remote/qwenvl-remote.yml

@@ -0,0 +1,185 @@
+nodes:
+  - id: so100
+    path: dora-rustypot
+    _unstable_deploy:
+      machine: local
+    inputs:
+      tick: dora/timer/millis/33
+      pose:
+        source: pytorch-kinematics/action
+        queue_size: 100
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      TORQUE: 2000
+      IDS: 1 2 3 4 5 6
+
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    _unstable_deploy:
+      machine: local
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+      - depth
+
+  - id: pytorch-kinematics
+    build: pip install node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    _unstable_deploy:
+      machine: gpu
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    inputs:
+      pose: so100/pose
+      action:
+        source: parse_pose/action
+        queue_size: 100
+    outputs:
+      - pose
+      - action
+    env:
+      URDF_PATH: so100.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    _unstable_deploy:
+      machine: local
+    inputs:
+      #series_so100: so100/pose
+      # series_pose: pytorch-kinematics/pose
+      jointstate_so100: so100/pose
+      jointstate_so100_inference: pytorch-kinematics/action
+      camera/image: camera/image
+      camera/depth: camera/depth
+      text_whisper: dora-distil-whisper/text
+      text_vlm: dora-qwenvl/text
+      camera/boxes2d: parse_bbox/bbox
+      camera/masks: sam2/masks
+    env:
+      so100_urdf: so100.urdf
+      so100_inference_urdf: so100_inference.urdf
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415
+
+  - id: dora-microphone
+    build: pip install node-hub/dora-microphone
+    path: dora-microphone
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: local
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: parse_whisper
+    path: examples/remote-so100/parse_whisper.py
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      text: dora-distil-whisper/text
+    outputs:
+      - text
+
+  - id: dora-qwenvl
+    build: pip install node-hub/dora-qwen2-5-vl
+    path: dora-qwen2-5-vl
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      image: camera/image
+      text: parse_whisper/text
+    outputs:
+      - text
+    env:
+      DEFAULT_QUESTION: Output the bounding box of the suitcase.
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: parse_bbox
+    path: examples/remote-so100/parse_bbox.py
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      text: dora-qwenvl/text
+    outputs:
+      - bbox
+    env:
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: sam2
+    build: pip install node-hub/dora-sam2
+    path: dora-sam2
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpus
+    inputs:
+      image: camera/image
+      boxes2d: parse_bbox/bbox
+    outputs:
+      - masks
+
+  - id: box_coordinates
+    build: pip install node-hub/dora-object-to-pose
+    path: dora-object-to-pose
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      depth: camera/depth
+      masks: sam2/masks
+    outputs:
+      - pose
+    env:
+      CAMERA_PITCH: -3.1415
+
+  - id: parse_pose
+    path: examples/remote-so100/parse_pose.py
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      pose: box_coordinates/pose
+    outputs:
+      - action
+
+  - id: dora-vad
+    build: pip install node-hub/dora-vad
+    path: dora-vad
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-distil-whisper
+    build: pip install node-hub/dora-distil-whisper
+    path: dora-distil-whisper
+    git: https://github.com/dora-rs/dora.git
+    rev: f4c10569f7c44e04f44f15fe42e2a82eca4b6cb2 # pinned commit, update this when changing the message crate
+    _unstable_deploy:
+      machine: gpu
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english

examples/so100-remote/qwenvl.yml

@@ -0,0 +1,141 @@
+nodes:
+  - id: so100
+    path: dora-rustypot
+    inputs:
+      tick: dora/timer/millis/33
+      pose:
+        source: pytorch-kinematics/action
+        queue_size: 100
+    outputs:
+      - pose
+    env:
+      PORT: /dev/ttyACM0
+      TORQUE: 2000
+      IDS: 1 2 3 4 5 6
+
+  - id: camera
+    build: pip install -e ../../node-hub/dora-pyrealsense
+    path: dora-pyrealsense
+    inputs:
+      tick: dora/timer/millis/33
+    outputs:
+      - image
+      - depth
+
+  - id: pytorch-kinematics
+    build: pip install -e ../../node-hub/dora-pytorch-kinematics
+    path: dora-pytorch-kinematics
+    inputs:
+      pose: so100/pose
+      action:
+        source: parse_pose/action
+        queue_size: 100
+    outputs:
+      - pose
+      - action
+    env:
+      URDF_PATH: so100.urdf
+      END_EFFECTOR_LINK: "Moving Jaw"
+      TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7
+
+  - id: plot
+    build: pip install -e ../../node-hub/dora-rerun
+    path: dora-rerun
+    inputs:
+      #series_so100: so100/pose
+      # series_pose: pytorch-kinematics/pose
+      jointstate_so100: so100/pose
+      jointstate_so100_inference: pytorch-kinematics/action
+      camera/image: camera/image
+      camera/depth: camera/depth
+      text_whisper: dora-distil-whisper/text
+      text_vlm: dora-qwenvl/text
+      camera/boxes2d: parse_bbox/bbox
+      camera/masks: sam2/masks
+    env:
+      so100_urdf: so100.urdf
+      so100_inference_urdf: so100_inference.urdf
+      so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7
+      CAMERA_PITCH: -3.1415
+
+  - id: dora-microphone
+    build: pip install -e ../../node-hub/dora-microphone
+    path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: parse_whisper
+    path: parse_whisper.py
+    inputs:
+      text: dora-distil-whisper/text
+    outputs:
+      - text
+
+  - id: dora-qwenvl
+    build: pip install -e ../../node-hub/dora-qwen2-5-vl
+    path: dora-qwen2-5-vl
+    inputs:
+      image: camera/image
+      text: parse_whisper/text
+    outputs:
+      - text
+    env:
+      DEFAULT_QUESTION: Output the bounding box of the suitcase.
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: parse_bbox
+    path: parse_bbox.py
+    inputs:
+      text: dora-qwenvl/text
+    outputs:
+      - bbox
+    env:
+      IMAGE_RESIZE_RATIO: "1.0"
+
+  - id: sam2
+    build: pip install -e ../../node-hub/dora-sam2
+    path: dora-sam2
+    inputs:
+      image: camera/image
+      boxes2d: parse_bbox/bbox
+    outputs:
+      - masks
+
+  - id: box_coordinates
+    build: pip install -e ../../node-hub/dora-object-to-pose
+    path: dora-object-to-pose
+    inputs:
+      depth: camera/depth
+      masks: sam2/masks
+    outputs:
+      - pose
+    env:
+      CAMERA_PITCH: -3.1415
+
+  - id: parse_pose
+    path: parse_pose.py
+    inputs:
+      pose: box_coordinates/pose
+    outputs:
+      - action
+
+  - id: dora-vad
+    build: pip install -e ../../node-hub/dora-vad
+    path: dora-vad
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-distil-whisper
+    build: pip install -e ../../node-hub/dora-distil-whisper
+    path: dora-distil-whisper
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english

examples/so100-remote/so100.urdf

@@ -0,0 +1,384 @@
+<?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 -->
+
+  </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="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="revolute">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="-0.1 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="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" />
+
+  </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" />
+
+  </joint>
+</robot>

examples/so100-remote/so100_inference.urdf

@@ -0,0 +1,384 @@
+<?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="0.2 0.819607843137255 0.2 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="0.2 0.819607843137255 0.2 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 -->
+
+  </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="0.2 0.819607843137255 0.2 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="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="0.2 0.819607843137255 0.2 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="-0.1 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="0.2 0.819607843137255 0.2 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="0.2 0.819607843137255 0.2 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" />
+
+  </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="0.2 0.819607843137255 0.2 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" />
+
+  </joint>
+</robot>

node-hub/dora-cotracker/dora_cotracker/main.py

@@ -69,45 +69,7 @@ class VideoTrackingNode:
                         visible_tracks.append([int(pt[0]), int(pt[1])])
                 visible_tracks = np.array(visible_tracks, dtype=np.float32)
 
-                frame_viz = frame.copy()
-                num_input_stream = len(self.input_points)
-                # Draw input points in red
-                for i, (pt, vis) in enumerate(
-                    zip(tracks[:num_input_stream], visibility[:num_input_stream])
-                ):
-                    if vis > 0.5:
-                        x, y = int(pt[0]), int(pt[1])
-                        cv2.circle(
-                            frame_viz, (x, y), radius=3, color=(0, 255, 0), thickness=-1
-                        )
-                        cv2.putText(
-                            frame_viz,
-                            f"I{i}",
-                            (x + 5, y - 5),
-                            cv2.FONT_HERSHEY_SIMPLEX,
-                            0.5,
-                            (0, 255, 0),
-                            1,
-                        )
 
-                # Draw clicked points in red
-                for i, (pt, vis) in enumerate(
-                    zip(tracks[num_input_stream:], visibility[num_input_stream:])
-                ):
-                    if vis > 0.5:
-                        x, y = int(pt[0]), int(pt[1])
-                        cv2.circle(
-                            frame_viz, (x, y), radius=3, color=(0, 0, 255), thickness=-1
-                        )
-                        cv2.putText(
-                            frame_viz,
-                            f"C{i}",
-                            (x + 5, y - 5),
-                            cv2.FONT_HERSHEY_SIMPLEX,
-                            0.5,
-                            (0, 0, 255),
-                            1,
-                        )
 
                 # Send tracked points
                 if len(visible_tracks) > 0:
@@ -123,7 +85,7 @@ class VideoTrackingNode:
                         },
                     )
 
-                return frame, frame_viz
+                return frame, None
 
         return None, None
 

node-hub/dora-kokoro-tts/dora_kokoro_tts/main.py

@@ -7,7 +7,7 @@ from dora import Node
 from kokoro import KPipeline
 
 LANGUAGE = os.getenv("LANGUAGE", "en")
-
+VOICE = os.getenv("VOICE", "af_heart")
 def main():
     """TODO: Add docstring."""
     if LANGUAGE in ["en", "english"]:
@@ -31,7 +31,7 @@ def main():
 
                 generator = pipeline(
                     text,
-                    voice="af_heart",  # <= change voice here
+                    voice=VOICE,  # <= change voice here
                     speed=1.2,
                     split_pattern=r"\n+",
                 )

node-hub/dora-object-to-pose/src/lib.rs

@@ -14,17 +14,17 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec<f32> {
     let (
         _sum_x,
         _sum_y,
-        _sum_z,
-        sum_xy,
-        sum_x2,
-        sum_y2,
+        sum_z,
+        _sum_xy,
+        _sum_x2,
+        _sum_y2,
         n,
         x_min,
         x_max,
         y_min,
         y_max,
-        z_min,
-        z_max,
+        _z_min,
+        _z_max,
     ) = points.iter().fold(
         (
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0,
@@ -62,11 +62,65 @@ fn points_to_pose(points: &[(f32, f32, f32)]) -> Vec<f32> {
             )
         },
     );
-    let (mean_x, mean_y, mean_z) = (
-        (x_max + x_min) / 2.,
-        (y_max + y_min) / 2.,
-        (z_max + z_min) / 2.,
-    );
+
+    let (_mean_x, _mean_y, mean_z) = ((x_max + x_min) / 2., (y_max + y_min) / 2., sum_z / n);
+
+    // Second processing based on mean
+    let (
+        _sum_x,
+        _sum_y,
+        sum_z,
+        sum_xy,
+        sum_x2,
+        sum_y2,
+        n,
+        x_min,
+        x_max,
+        y_min,
+        y_max,
+        _z_min,
+        _z_max,
+    ) = points
+        .iter()
+        .filter(|(_x, _y, z)| (z - mean_z).abs() < 0.05)
+        .fold(
+            (
+                0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, -10.0, 10.0, -10.0, 10., -10.0,
+            ),
+            |(
+                acc_x,
+                acc_y,
+                acc_z,
+                acc_xy,
+                acc_x2,
+                acc_y2,
+                acc_n,
+                acc_x_min,
+                acc_x_max,
+                acc_y_min,
+                acc_y_max,
+                acc_z_min,
+                acc_z_max,
+            ),
+             (x, y, z)| {
+                (
+                    acc_x + x,
+                    acc_y + y,
+                    acc_z + z,
+                    acc_xy + x * y,
+                    acc_x2 + x * x,
+                    acc_y2 + y * y,
+                    acc_n + 1.,
+                    f32::min(acc_x_min, *x),
+                    f32::max(acc_x_max, *x),
+                    f32::min(acc_y_min, *y),
+                    f32::max(acc_y_max, *y),
+                    f32::min(acc_z_min, *z),
+                    f32::max(acc_z_max, *z),
+                )
+            },
+        );
+    let (mean_x, mean_y, mean_z) = ((x_max + x_min) / 2., (y_max + y_min) / 2., sum_z / n);
 
     // Compute covariance and standard deviations
     let cov = sum_xy / n - mean_x * mean_y;

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 +1,299 @@
+"""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
+
+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: "pk.transforms.Transform3d", convention: str = "XYZ",
+) -> torch.Tensor:
+    """XYZ-RPY conversion.
+    
+    Extract 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:
+    """wrapper for pytorch_kinematics FK and IK operations."""
+
+    def __init__(
+        self,
+        urdf_path: str,
+        end_effector_link: str,
+        device: Union[str, torch.device] = "cpu",
+    ):
+        """Initialize 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:
+        """Validate 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:
+        """Compute 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
+
+        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]:
+        """Compute 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=1_000,
+            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,
+            rot_tolerance=1e-4,
+            pos_tolerance=1e-3,
+        )
+        solution_angles = ik_solver.solve(target_pose)
+        if solution_angles.err_rot > 1e-3 or solution_angles.err_pos > 1e-2:
+            print(
+                f"IK did not converge: pos_err={solution_angles.err_pos}, rot_err={solution_angles.err_rot} for target {target_pose}",
+            )
+            return None
+        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 "xyzquat":
+                    # 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=torch.tensor(target[3:7]),
+                        )
+                        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)
+                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",
+                            ),
+                        )
+                        rob_target = ROB_TF.inverse().compose(target)
+                        solution = robot.compute_ik(rob_target, last_known_state)
+                        if solution is None:
+                            print(
+                                "No IK Solution for :", target, "skipping this frame.",
+                            )
+                            continue
+
+                        solution = solution.numpy().ravel()
+                        delta_angles = solution - last_known_state
+
+                        valid = np.all(
+                            (delta_angles >= -np.pi) & (delta_angles <= np.pi),
+                        )
+                        if not valid:
+                            print(
+                                "IK solution is not valid, as the rotation are too wide. skipping.",
+                            )
+                            continue
+                        metadata["encoding"] = "jointstate"
+                        last_known_state = solution
+                        solution = pa.array(last_known_state)
+                        node.send_output(event["id"], solution, metadata=metadata)
+                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(), type=pa.float32())
+                    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-reachy2/dora_reachy2/camera.py

@@ -11,31 +11,16 @@ from reachy2_sdk.media.camera import CameraView
 
 def main():
     """TODO: Add docstring."""
-    robot_ip = os.getenv("ROBOT_IP", "10.42.0.80")
-
-    for _ in range(10):
-        reachy = ReachySDK(robot_ip)
-        try:
-            reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
-            params = reachy.cameras.depth.get_parameters(view=CameraView.DEPTH)
-            if params is not None:
-                break
-        except Exception as e:
-            print(e)
-        import time
-
-        time.sleep(1)
-
-    reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
-    params = reachy.cameras.depth.get_parameters(view=CameraView.DEPTH)
-    height, width, _distortion_model, _d, k, _r, _p = params
+    robot_ip = os.getenv("ROBOT_IP", "127.0.0.1")
 
+    reachy = ReachySDK(robot_ip)
+    params = None
     node = Node()
 
     for event in node:
         if event["type"] == "INPUT":
-            if event["id"] == "tick":
-                (image_left, _) = reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
+            if event["id"] == "image_left":
+                (image_left, _) = reachy.cameras.teleop.get_frame()
 
                 if image_left is int:
                     continue
@@ -49,7 +34,7 @@ def main():
                         "height": image_left.shape[0],
                     },
                 )
-
+            elif event["id"] == "image_right":
                 (image_right, _) = reachy.cameras.teleop.get_frame(
                     view=CameraView.RIGHT,
                 )
@@ -66,8 +51,9 @@ def main():
                         "height": image_right.shape[0],
                     },
                 )
-
-                (depth_image, _) = reachy.cameras.depth.get_frame()
+                
+            elif event["id"] == "depth":
+                (depth_image, ts) = reachy.cameras.depth.get_frame()            
 
                 node.send_output(
                     "image_depth",
@@ -78,12 +64,11 @@ def main():
                         "height": depth_image.shape[0],
                     },
                 )
-
-                (depth_frame, _) = reachy.cameras.depth.get_depth_frame()
-
+                    
+                (depth_frame, ts_depth) = reachy.cameras.depth.get_depth_frame()
+                
                 if params is not None and depth_frame is not None:
-                    depth_frame = depth_frame.ravel().astype(np.float64) / 1_000.0
-
+                    depth_frame = depth_frame.ravel()
                     node.send_output(
                         "depth",
                         pa.array(depth_frame),
@@ -92,8 +77,13 @@ def main():
                             "height": height,
                             "focal": [int(k[0, 0]), int(k[1, 1])],
                             "resolution": [int(k[0, 2]), int(k[1, 2])],
+                            "encoding": "mono16"
                         },
                     )
+                else:
+                    
+                    params = reachy.cameras.depth.get_parameters(view=CameraView.DEPTH)
+                    height, width, _distortion_model, _d, k, _r, _p = params
 
 
 if __name__ == "__main__":

node-hub/dora-reachy2/dora_reachy2/head.py

@@ -50,8 +50,9 @@ def main():
                 [roll, _pitch, yaw] = reachy.head.get_current_positions()
             if "look" in event["id"]:
                 [x, y, z] = event["value"].to_numpy()
+                duration = event["metadata"].get("duration", 0.5)
                 reachy.head.cancel_all_goto()
-                reachy.head.look_at(x, y, z, duration=0.5)
+                reachy.head.look_at(x, y, z, duration=float(duration))
 
     if reachy.head is not None:
         reachy.head.turn_off()

node-hub/dora-reachy2/dora_reachy2/left_arm.py

@@ -9,62 +9,49 @@ from dora import Node
 from reachy2_sdk import ReachySDK
 from scipy.spatial.transform import Rotation
 
-ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
+ROBOT_IP = os.getenv("ROBOT_IP", "127.0.0.1")
 
 
-l_default_pose = [
-    42.212611297240635,
-    -16.95827541661092,
-    15.241872783848812,
-    -131.11770715700908,
-    0.1682905250638251,
-    -1.6613469324618695,
-    2.1666679127563904,
-]
-
-
-def l_arm_go_to_mixed_angles(reachy, x, y, z):
+def l_arm_go_to_mixed_angles(reachy, x, y, z, roll):
     """TODO: Add docstring."""
-    for theta in range(-80, -60, 10):
+    for theta in range(-46, -46, 10):
+        
+        theta = -60
         r = Rotation.from_euler("zyx", [0, theta, 0], degrees=True)
         transform = np.eye(4)
         transform[:3, :3] = r.as_matrix()
         transform[:3, 3] = [x, y, z]
 
         try:
-            return reachy.l_arm.inverse_kinematics(transform)
-
+            joint=reachy.l_arm.inverse_kinematics(transform)
+            if roll:
+                joint[-1] = joint[-1] - 180
+            return joint
         except ValueError:
             continue
 
-    for yaw in range(0, 90, 30):
+    for yaw in range(0, 30, 10):
 
         ## First try turning left
-        pitch = -90
+        pitch = -60
+
         r = Rotation.from_euler("ZYX", (-yaw, 0, 0), degrees=True) * Rotation.from_euler(
             "ZYX",
             (0, pitch, 0),
             degrees=True,
-        )
+        ) 
         transform = np.eye(4)
         transform[:3, :3] = r.as_matrix()
         transform[:3, 3] = [x, y, z]
 
         try:
-            return reachy.l_arm.inverse_kinematics(transform)
+            joint=reachy.l_arm.inverse_kinematics(transform)
+            if roll:
+                joint[-1] = joint[-1] - 180
+            return joint
         except ValueError:
             pass
 
-        try:
-            return reachy.l_arm.inverse_kinematics(transform)
-
-        except ValueError:
-            continue
-
-    # Fallback to default pose if we need the arm to be within x and z limits.
-    if x < 0.3 and z > -0.2:
-        return l_default_pose
-
     print("Left arm: No solution found for x, y, z: ", x, y, z)
     return []
 
@@ -118,11 +105,11 @@ def main():
                         x = value[0]
                         y = value[1]
                         z = value[2]
-                        _r = value[3]
+                        r = value[3]
                         _p = value[4]
                         _y = value[5]
                         gripper = value[6]
-                        joints = l_arm_go_to_mixed_angles(reachy, x, y, z)
+                        joints = l_arm_go_to_mixed_angles(reachy, x, y, z, np.rad2deg(r))
                         response_ik = len(joints) > 0
                         if response_ik:
                             joint_values.append((joints, gripper))

node-hub/dora-reachy2/dora_reachy2/mobile_base.py

@@ -11,23 +11,35 @@ from reachy2_sdk import ReachySDK
 
 def main():
     """TODO: Add docstring."""
-    robot_ip = os.getenv("ROBOT_IP", "10.42.0.80")
+    robot_ip = os.getenv("ROBOT_IP", "127.0.0.1")
 
     reachy = ReachySDK(robot_ip)
 
     if reachy.mobile_base is not None:
         reachy.mobile_base.turn_on()
     reachy.mobile_base.reset_odometry()
-
     node = Node()
     for event in node:
         if event["type"] == "INPUT":
             if event["id"] == "action_base":
                 [x, y, _z, _rx, _ry, rz] = event["value"].to_numpy()
-                reachy.mobile_base.rotate_by(np.rad2deg(rz))
-                reachy.mobile_base.translate_by(x, y)
-                time.sleep(0.5)
+                reachy.mobile_base.set_goal_speed(vx=x, vy=y, vtheta=np.rad2deg(rz) * 1.5)
+                reachy.mobile_base.send_speed_command()
+            elif event["id"] == "translate_base":
+                [x, y, _z, _rx, _ry, rz] = event["value"].to_numpy()
+                duration = float(event["metadata"].get("duration", 1))
+
+                if abs(y) <1:
+                    reachy.mobile_base.translate_by(x, y, wait=True, )
+
                 node.send_output("response_base", pa.array([True]))
+            elif event["id"] == "action_whisper":
+                [x, y, _z, _rx, _ry, rz] = event["value"].to_numpy()
+                if x == 0. and y == 0.:
+                    reachy.mobile_base.rotate_by(np.rad2deg(rz), wait=True)
+                else:
+                    reachy.mobile_base.translate_by(x, y, wait=True)
+
     if reachy.mobile_base is not None:
         reachy.mobile_base.turn_off()
 

node-hub/dora-reachy2/dora_reachy2/right_arm.py

@@ -9,60 +9,48 @@ from dora import Node
 from reachy2_sdk import ReachySDK
 from scipy.spatial.transform import Rotation
 
-ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
+ROBOT_IP = os.getenv("ROBOT_IP", "127.0.0.1")
 
-r_default_pose = [
-    38.058172640242475,
-    0.07798708660299236,
-    2.0084781702579564,
-    -129.76629958820868,
-    4.428130313456095,
-    -9.272674208719419,
-    354.280491569214,
-]
 
-
-def r_arm_go_to_mixed_angles(reachy, x, y, z):
+def r_arm_go_to_mixed_angles(reachy, x, y, z, roll):
     """TODO: Add docstring."""
-    for theta in range(-80, -60, 10):
+    for theta in range(-46, -46, 10):
+        theta = -60
+
         r = Rotation.from_euler("zyx", [0, theta, 0], degrees=True)
         transform = np.eye(4)
         transform[:3, :3] = r.as_matrix()
         transform[:3, 3] = [x, y, z]
 
         try:
-            return reachy.r_arm.inverse_kinematics(transform)
-
+            joint=reachy.r_arm.inverse_kinematics(transform)
+            if roll:
+                joint[-1] = joint[-1] + 180
+            return joint
         except ValueError:
             continue
 
-    for yaw in range(0, 90, 30):
+    for yaw in range(0, 30, 10):
 
         ## First try turning left
-        pitch = -90
+        pitch = -60
         r = Rotation.from_euler("ZYX", (yaw, 0, 0), degrees=True) * Rotation.from_euler(
             "ZYX",
             (0, pitch, 0),
             degrees=True,
-        )
+        ) 
         transform = np.eye(4)
         transform[:3, :3] = r.as_matrix()
         transform[:3, 3] = [x, y, z]
 
         try:
-            return reachy.r_arm.inverse_kinematics(transform)
-        except ValueError:
-            pass
-
-        try:
-            return reachy.r_arm.inverse_kinematics(transform)
+            joint=reachy.r_arm.inverse_kinematics(transform)
+            if roll:
+                joint[-1] = joint[-1] + 180
+            return joint
 
         except ValueError:
-            continue
-
-    # Fallback to default pose if we need the arm to be within x and z limits.
-    if x < 0.3 and z > -0.2:
-        return r_default_pose
+            pass
 
     print("Right arm: No solution found for x, y, z: ", x, y, z)
     return []
@@ -117,11 +105,11 @@ def main():
                         x = value[0]
                         y = value[1]
                         z = value[2]
-                        _r = value[3]
+                        r = value[3]
                         _p = value[4]
                         _y = value[5]
                         gripper = value[6]
-                        joints = r_arm_go_to_mixed_angles(reachy, x, y, z)
+                        joints = r_arm_go_to_mixed_angles(reachy, x, y, z, np.rad2deg(r))
                         response_ik = len(joints) > 0
                         if response_ik:
                             joint_values.append((joints, gripper))

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

@@ -3,17 +3,19 @@
 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,
     external::{log::warn, re_types::ArrowBuffer},
-    ImageFormat, Points3D, SpawnOptions,
+    ImageFormat, Points2D, Points3D, SpawnOptions,
 };
 pub mod boxes2d;
 pub mod series;
@@ -98,7 +100,7 @@ pub fn lib_main() -> Result<()> {
         .unwrap_or("0.0".to_string())
         .parse::<f32>()
         .unwrap();
-
+    let mut color_cache: HashMap<DataId, rerun::Color> = HashMap::new();
     while let Some(event) = events.recv() {
         if let Event::Input { id, data, metadata } = event {
             if id.as_str().contains("image") {
@@ -315,12 +317,21 @@ pub fn lib_main() -> Result<()> {
                     continue;
                 };
                 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();
+            } else if id.as_str().contains("jointstate") || id.as_str().contains("pose") {
+                let encoding = if let Some(Parameter::String(encoding)) =
+                    metadata.parameters.get("encoding")
+                {
+                    encoding
+                } else {
+                    "jointstate"
+                };
+                if encoding != "jointstate" {
+                    warn!("Got unexpected encoding: {} on position pose", encoding);
+                    continue;
+                }
+                // Convert to Vec<f32>
+                let mut positions: Vec<f32> =
+                    into_vec(&data).context("Could not parse jointstate as vec32")?;
 
                 // Match file name
                 let mut id = id.as_str().replace("jointstate_", "");
@@ -344,6 +355,32 @@ pub fn lib_main() -> Result<()> {
                 }
             } else if id.as_str().contains("series") {
                 update_series(&rec, id, data).context("could not plot series")?;
+            } else if id.as_str().contains("points2d") {
+                // 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(200, 80, 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(2).for_each(|chunk| {
+                        points.push((chunk[0], chunk[1]));
+                        colors.push(color);
+                    });
+                    let points = Points2D::new(points);
+
+                    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

@@ -1,8 +1,8 @@
-use std::collections::HashMap;
+use std::{collections::HashMap, path::PathBuf};
 
 use eyre::{Context, ContextCompat, Result};
-use k::Chain;
-use rerun::{components::RotationAxisAngle, Angle, RecordingStream, Rotation3D, Vec3D};
+use k::{nalgebra::Quaternion, Chain, Translation3, UnitQuaternion};
+use rerun::{RecordingStream, Vec3D};
 pub struct MyIntersperse<T, I> {
     iterator: I,
     sep: T,
@@ -56,14 +56,20 @@ fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
 pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
     // Get all env variable that end with urdf
     let urdfs = std::env::vars()
-        .filter(|(key, _)| key.ends_with("_urdf"))
+        .filter(|(key, _)| key.ends_with("_urdf") || key.ends_with("_URDF"))
         .collect::<Vec<_>>();
     let mut chains = HashMap::new();
     for (key, urdf_path) in urdfs {
-        let path = key.replace("_urdf", ".urdf");
+        let path = key.replace("_urdf", ".urdf").replace("_URDF", ".urdf");
         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:");
@@ -71,23 +77,29 @@ 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
                 .split(' ')
                 .map(|x| x.parse::<f32>().unwrap())
                 .collect::<Vec<f32>>();
-            rec.log(
-                path.clone(),
-                &rerun::Transform3D::from_translation_rotation(
-                    [transform[0], transform[1], transform[2]],
-                    Rotation3D::AxisAngle(RotationAxisAngle::new(
-                        [0., 0., 0.],
-                        Angle::from_degrees(0.0),
-                    )),
-                ),
-            )
-            .unwrap();
+
+            let mut pose = chain.origin();
+
+            if transform.len() == 7 {
+                let quaternion =
+                    Quaternion::new(transform[3], transform[4], transform[5], transform[6])
+                        .normalize(); // Example quaternion
+                let rot = UnitQuaternion::from_quaternion(quaternion);
+                pose.append_rotation_mut(&rot);
+            }
+            pose.append_translation_mut(&Translation3::new(
+                transform[0],
+                transform[1],
+                transform[2],
+            ));
+            chain.set_origin(pose);
             chains.insert(path, chain);
         }
     }
@@ -126,14 +138,13 @@ pub fn update_visualization(
         let trans = link_to_parent_mat.column(3);
         let trans = trans.as_slice();
         let quat = link_to_parent.rotation.quaternion();
-        rec.log(
-            entity_path,
-            &rerun::Transform3D::from_translation_rotation(
-                Vec3D::new(trans[0], trans[1], trans[2]),
-                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
-            ),
-        )
-        .context("Could not log transform")?;
+        let point_transform = rerun::Transform3D::from_translation_rotation(
+            Vec3D::new(trans[0], trans[1], trans[2]),
+            rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
+        );
+        rec.log(entity_path.clone(), &point_transform)
+            .context("Could not log transform")?;
     }
+
     Ok(())
 }

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 = { workspace = true }
+eyre = "0.6.12"
+rustypot = { git = "https://github.com/pollen-robotics/rustypot", branch = "next-release-1.0" }
+serialport = { version = "4.7.1", default-features = false }

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

@@ -0,0 +1,79 @@
+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 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 let Ok(torque) = std::env::var("TORQUE") {
+        let truthies = vec![true; ids.len()];
+
+        c.write_torque_enable(&ids, &truthies)
+            .expect("could not enable torque");
+
+        if let Ok(torque_limit) = torque.parse::<u16>() {
+            let limits = vec![torque_limit; ids.len()];
+            c.write_torque_limit(&ids, &limits)
+                .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/README.md

@@ -1,5 +1,9 @@
 ## FeetechClient for SCS/STS motors
 
+> [!WARNING]  
+> As of 02.05.2025, this node is no more supported and is replaced in favor of dora-rustypot for higher performance
+> with the possibility of being able to handle more servomotors.
+
 This node is a client for the Feetech motors. It is based on the Dynamixel SDK and is used to control the motors. It
 is a Python node that communicates with the motors via the USB port.
 
@@ -97,4 +101,4 @@ the goal current for the motor at the beginning, null if you don't want to set i
 
 ## License
 
-This library is licensed under the [Apache License 2.0](../../LICENSE).
+This library is licensed under the [Apache License 2.0](../../LICENSE).

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"
-version = "2.0.0"
+version = "1.26.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/05/35/fb1ada118002df3fe91b5c3b28bc0d90f879b881a5d8f68b1f9b79c44bfe/numpy-2.0.0.tar.gz", hash = "sha256:cf5d1c9e6837f8af9f92b6bd3e86d513cdc11f60fd62185cc49ec7d1aba34864", size = 18326228 }
+sdist = { url = "https://files.pythonhosted.org/packages/65/6e/09db70a523a96d25e115e71cc56a6f9031e7b8cd166c1ac8438307c14058/numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010", size = 15786129 }
 wheels = [
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