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dora/examples/piper/play_dummy_inference.yml

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  1. nodes:

  2.   - id: piper

  3.     path: dummy_inference_2.py

  4.     inputs:

  5.       tick: dora/timer/millis/20

  6.     outputs:

  7.       - jointstate_left

  8.       - jointstate_right

  9.       - mobile_base

  10. 

  11.   - id: rerun

  12.     build: |

  13.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/base_link.STL

  14.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link1.STL

  15.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link2.STL

  16.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link3.STL

  17.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link4.STL

  18.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link5.STL

  19.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link6.STL

  20.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link7.STL

  21.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link8.STL

  22.       pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git

  23.       pip install -e ../../node-hub/dora-rerun

  24.     path: dora-rerun

  25.     inputs:

  26.       jointstate_piper_left: piper_left/jointstate

  27.       jointstate_piper_right: piper_right/jointstate

  28.       jointstate_piper_left_pred: piper/jointstate_left

  29.       jointstate_piper_right_pred: piper/jointstate_right

  30.       series_piper_left: piper_left/jointstate

  31.       series_piper_right: piper_right/jointstate

  32.       series_piper_left_pred: piper/jointstate_left

  33.       series_piper_right_pred: piper/jointstate_right

  34.     env:

  35.       piper_left_urdf: piper_left.urdf # Make sure to download meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder

  36.       piper_right_urdf: piper_right.urdf # Make sure to download meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder

  37.       piper_left_transform: 0 0.2 0

  38.       piper_right_transform: 0 -0.2 0

  39.       piper_left_pred_urdf: assets/piper_left_pred.urdf

  40.       piper_right_pred_urdf: assets/piper_right_pred.urdf

  41.       piper_left_pred_transform: 0 0.2 0

  42.       piper_right_pred_transform: 0 -0.2 0

  43. 

  44.   - id: piper_left

  45.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  46.     _unstable_deploy:

  47.       machine: piper

  48.     inputs:

  49.       tick: dora/timer/millis/500

  50.       action: piper/jointstate_left

  51.     outputs:

  52.       - jointstate

  53.     env:

  54.       CAN_BUS: can_left

  55. 

  56.   - id: piper_right

  57.     path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py

  58.     _unstable_deploy:

  59.       machine: piper

  60.     inputs:

  61.       tick: dora/timer/millis/1000

  62.       action: piper/jointstate_right

  63.     outputs:

  64.       - jointstate

  65.     env:

  66.       CAN_BUS: can_right