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dora/examples/so100-remote/no_torque.yml

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  1. nodes:

  2.   - id: so100

  3.     path: dora-rustypot

  4.     build: pip install -e ../../node-hub/dora-rustypot

  5.     inputs:

  6.       tick: dora/timer/millis/33

  7.       #pose: pytorch-kinematics/action

  8.     outputs:

  9.       - pose

  10.     env:

  11.       PORT: /dev/ttyACM0

  12.       IDS: 1 2 3 4 5 6

  13. 

  14.   - id: camera

  15.     build: pip install -e ../../node-hub/dora-pyrealsense

  16.     path: dora-pyrealsense

  17.     inputs:

  18.       tick: dora/timer/millis/33

  19.     outputs:

  20.       - image

  21.       - depth

  22. 

  23.   - id: pytorch-kinematics

  24.     build: pip install -e ../../node-hub/dora-pytorch-kinematics

  25.     path: dora-pytorch-kinematics

  26.     inputs:

  27.       pose: so100/pose

  28.     outputs:

  29.       - pose

  30.       - action

  31.     env:

  32.       # Link to your installation of so100-urdf.

  33.       # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip

  34.       URDF_PATH: $HOME/Downloads/so100_urdf/so100.urdf

  35.       END_EFFECTOR_LINK: "Moving Jaw"

  36.       TRANSFORM: -0.2 -0.01 -0.57 0.7 0 0 0.7

  37. 

  38.   - id: plot

  39.     build: pip install -e ../../node-hub/dora-rerun

  40.     path: dora-rerun

  41.     inputs:

  42.       jointstate_so100: so100/pose

  43.       camera/image: camera/image

  44.       camera/depth: camera/depth

  45.     env:

  46.       # Link to your installation of so100-urdf.

  47.       # https://huggingface.co/datasets/haixuantao/urdfs/resolve/main/so100/so100_urdf.zip

  48.       so100_urdf: $HOME/Downloads/so100_urdf/so100.urdf

  49.       so100_transform: -0.2 -0.01 -0.57 0.7 0 0 0.7

  50.       CAMERA_PITCH: -3.1415