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dora/examples/piper/arms_camera.yml

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  1. nodes:

  2.   - id: piper_left

  3.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  4.     _unstable_deploy:

  5.       machine: piper

  6.     inputs:

  7.       tick: dora/timer/millis/20

  8.     outputs:

  9.       - jointstate

  10.     env:

  11.       CAN_BUS: can_left

  12. 

  13.   - id: camera_left

  14.     path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py

  15.     _unstable_deploy:

  16.       machine: piper

  17.     inputs:

  18.       tick: dora/timer/millis/50

  19.     outputs:

  20.       - image

  21.     env:

  22.       DEVICE_INDEX: 0

  23.       ENCODING: jpeg

  24. 

  25.   - id: camera_center

  26.     path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py

  27.     _unstable_deploy:

  28.       machine: piper

  29.     inputs:

  30.       tick: dora/timer/millis/50

  31.     outputs:

  32.       - image

  33.     env:

  34.       DEVICE_INDEX: 1

  35.       ENCODING: jpeg

  36. 

  37.   - id: camera_right

  38.     path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py

  39.     _unstable_deploy:

  40.       machine: piper

  41.     inputs:

  42.       tick: dora/timer/millis/50

  43.     outputs:

  44.       - image

  45.     env:

  46.       DEVICE_INDEX: 2

  47.       ENCODING: jpeg

  48.       # import opencv as cv

  49.       # [cv2.VideoCapture(i) for i in range(12)]

  50. 

  51.   - id: piper_right

  52.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  53.     _unstable_deploy:

  54.       machine: piper

  55.     inputs:

  56.       tick: dora/timer/millis/20

  57.     outputs:

  58.       - jointstate

  59.     env:

  60.       CAN_BUS: can_right

  61. 

  62.   - id: rerun

  63.     path: dora-rerun1

  64.     inputs:

  65.       jointstate_piper_left: piper_left/jointstate

  66.       jointstate_piper_right: piper_right/jointstate

  67.       image_camera_left: camera_left/image

  68.       image_camera_center: camera_center/image

  69.       image_camera_right: camera_right/image

  70.     env:

  71.       piper_left_urdf: assets/piper_left.urdf

  72.       piper_right_urdf: assets/piper_right.urdf

  73.       piper_left_transform: 0 0.2 0

  74.       piper_right_transform: 0 -0.2 0