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dora/examples/urdf/piper.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_piper_description: pytorch_kinematics/cmd_vel

  7.     env:

  8.       piper_description_urdf: "piper_description"

  9.       piper_description_transform: "0. 0. 0. 1. 0. 0. 0."

  10. 

  11.   - id: gamepad

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

  13.     path: gamepad

  14.     outputs:

  15.       - cmd_vel

  16.       - raw_control

  17.     inputs:

  18.       tick: dora/timer/millis/10

  19.     env:

  20.       MAX_LINEAR_SPEED: 0.01

  21.       MAX_ANGULAR_SPEED: 0.05

  22. 

  23.   - id: pytorch_kinematics

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

  25.     path: dora-pytorch-kinematics

  26.     inputs:

  27.       cmd_vel: gamepad/cmd_vel

  28.     outputs:

  29.       - cmd_vel

  30.     env:

  31.       MODEL_NAME: "piper_description"

  32.       END_EFFECTOR_LINK: "link6"

  33.       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

  34.       POSITION_TOLERANCE: 0.001

  35.       ROTATION_TOLERANCE: 0.001