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dora/examples/so100-remote/test.yml

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  1. nodes:

  2.   - id: so100

  3.     build: pip install -e ../../node-hub/feetech-client

  4.     path: feetech-client

  5.     inputs:

  6.       pull_position: dora/timer/millis/33

  7.     outputs:

  8.       - position

  9.     env:

  10.       PORT: /dev/tty.usbmodem585A0080971

  11.       CONFIG: follower.right.json

  12. 

  13.   - id: pytorch-kinematics

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

  15.     path: dora-pytorch-kinematics

  16.     inputs:

  17.       pose: so100/position

  18.     outputs:

  19.       - pose

  20.     env:

  21.       URDF_PATH: so100_2.urdf

  22.       END_EFFECTOR_LINK: "Moving Jaw"

  23.       so100_transform: 0 -0.3 0

  24. 

  25.   - id: plot

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

  27.     path: dora-rerun

  28.     inputs:

  29.       # series_so100: so100/position

  30.       series_pose: pytorch-kinematics/pose

  31.       #jointstate_so100: so100/position

  32.     env:

  33.       so100_urdf: so100_2.urdf

  34.       so100_transform: 0 -0.3 0