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dora/examples/urdf/vggt/kuka.yml

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  1. nodes:

  2.   - id: plot

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

  4.     path: dora-rerun

  5.     inputs:

  6.       jointstate_iiwa14_primitive_collision: pytorch_kinematics/cmd_vel

  7.       camera/image: dora-vggt/image

  8.       camera/depth: dora-vggt/depth

  9.     env:

  10.       iiwa14_primitive_collision_urdf: "iiwa14_description"

  11.       iiwa14_primitive_collision_transform: .5 -0. -0.1 1. 0. 0. 0.

  12.       CAMERA_PITCH: 1.5708

  13. 

  14.   - id: gamepad

  15.     build: pip install -e ../../node-hub/gamepad

  16.     path: gamepad

  17.     outputs:

  18.       - cmd_vel

  19.       - raw_control

  20.     inputs:

  21.       tick: dora/timer/millis/10

  22.     env:

  23.       MAX_LINEAR_SPEED: 0.02

  24.       MAX_ANGULAR_SPEED: 0.10

  25. 

  26.   - id: pytorch_kinematics

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

  28.     path: dora-pytorch-kinematics

  29.     inputs:

  30.       cmd_vel: gamepad/cmd_vel

  31.     outputs:

  32.       - cmd_vel

  33.     env:

  34.       MODEL_NAME: "iiwa14_description"

  35.       END_EFFECTOR_LINK: "iiwa_link_7"

  36.       TRANSFORM: .5 -0. -0.1 1. 0. 0. 0.

  37. 

  38.   - id: camera

  39.     build: pip install -e ../../../node-hub/opencv-video-capture

  40.     path: opencv-video-capture

  41.     inputs:

  42.       tick: dora/timer/millis/100

  43.     outputs:

  44.       - image

  45.     env:

  46.       CAPTURE_PATH: 4

  47. 

  48.   - id: camera2

  49.     build: pip install -e ../../../node-hub/opencv-video-capture

  50.     path: opencv-video-capture

  51.     inputs:

  52.       tick: dora/timer/millis/100

  53.     outputs:

  54.       - image

  55.     env:

  56.       CAPTURE_PATH: 6

  57. 

  58.   - id: dora-vggt

  59.     build: pip install -e ../../../node-hub/dora-vggt

  60.     path: dora-vggt

  61.     inputs:

  62.       image: camera/image

  63.       image2: camera2/image

  64.     outputs:

  65.       - depth

  66.       - image

  67.     env:

  68.       SCALE_FACTOR: 0.9