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dora/examples/reachy1-human-shadowing/realsense-dev.yml

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  1. nodes:

  2.   - id: camera

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

  4.     path: dora-pyrealsense

  5.     inputs:

  6.       tick: dora/timer/millis/100

  7.     outputs:

  8.       - image

  9.       - depth

  10. 

  11.   - id: dora-mediapipe

  12.     build: pip install -e ../../node-hub/dora-mediapipe

  13.     path: dora-mediapipe

  14.     inputs:

  15.       image: camera/image

  16.       depth: camera/depth

  17.     outputs:

  18.       - points3d

  19. 

  20.   - id: human-shadowing

  21.     build: pip install scipy

  22.     path: human_shadowing.py

  23.     inputs:

  24.       human_pose: dora-mediapipe/points3d

  25.     outputs:

  26.       - pose

  27. 

  28.   - id: plot

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

  30.     path: dora-rerun

  31.     inputs:

  32.       realsense/image: camera/image

  33.       realsense/depth: camera/depth

  34.       realsense/points3d: dora-mediapipe/points3d

  35.       jointstate_reachy: human-shadowing/pose

  36.     env:

  37.       # git clone chttps://github.com/haixuanTao/reachy_description

  38.       reachy_urdf: reachy_description/reachy.urdf