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dora/examples/so100-remote/test.yml

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  1. nodes:

  2.   - id: so100

  3.     path: dora-rustypot

  4.     inputs:

  5.       tick: dora/timer/millis/33

  6.       pose: pytorch-kinematics/action

  7.     outputs:

  8.       - pose

  9.     env:

  10.       PORT: /dev/ttyACM0

  11.       TORQUE: true

  12.       IDS: 1 2 3 4 5 6

  13. 

  14.   - id: parse_keyboard

  15.     path: parse_keyboard.py

  16.     outputs:

  17.       - action

  18. 

  19.   - id: camera

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

  21.     path: dora-pyrealsense

  22.     inputs:

  23.       tick: dora/timer/millis/33

  24.     outputs:

  25.       - image

  26.       - depth

  27. 

  28.   - id: pytorch-kinematics

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

  30.     path: dora-pytorch-kinematics

  31.     inputs:

  32.       pose: so100/pose

  33.       action: parse_keyboard/action

  34.     outputs:

  35.       - pose

  36.       - action

  37.     env:

  38.       URDF_PATH: so100.urdf

  39.       END_EFFECTOR_LINK: "Moving Jaw"

  40.       TRANSFORM: -0.18 0.02 -0.65 0.7 0 0 0.7

  41. 

  42.   - id: plot

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

  44.     path: dora-rerun

  45.     inputs:

  46.       # series_pose: pytorch-kinematics/pose

  47.       series_so100_inference: pytorch-kinematics/action

  48.       jointstate_so100: so100/pose

  49.       jointstate_so100_inference: pytorch-kinematics/action

  50.       camera/image: camera/image

  51.       camera/depth: camera/depth

  52.     env:

  53.       so100_urdf: so100.urdf

  54.       so100_inference_urdf: so100_inference.urdf

  55.       so100_transform: -0.18 0.02 -0.65 0.7 0 0 0.7

  56.       so100_inference_transform: -0.18 0.02 -0.65 0.7 0 0 0.7

  57.       CAMERA_PITCH: -3.1415