dora/examples/reachy2/README.md

• Reachy Demo
• • To run
  • To modify the sequence of action
  • Requirements

Reachy Demo

This example uses Reachy in parallel of Qwenvl2.5 in order to grasp object.

To run

• Place Reachy near a table looking at the right. (He's going to turn left)
• Make sure that the height between the table and the torso camera is around 0.32m. You can modify this constraint within the state machine code.

  TABLE_HEIGHT = float(os.getenv("TABLE_HEIGHT", "-0.32"))

• Clone and go to this folder:

git clone https://github.com/dora-rs/dora.git
cd dora/examples/reachy2

• Make sure to change ROBOT_IP within demo-dev.yml with your robot IP address.
• Run the demo with:

# Make sure to not be in a virtual environment
uv venv --seed -p 3.11
uv pip install -e ../../apis/python/node --reinstall
dora build demo-dev.yml --uv
dora run demo-dev.yml --uv

# First run might take a little bit more time as model need to be downloaded

• When you see:

2025-02-18T17:18:57.937123Z  INFO run_inner: dora_daemon: **all nodes are ready**, starting dataflow `01951a11-cfb9-7a70-9198-e12799f812a2` self.machine_id=

• Start speaking and saying something in the likes of: Grab the orange

  The keywords are ACTIVATION_WORDS: grab pick give output take catch grabs picks gives output takes catches have

• The robot should start moving

To modify the sequence of action

Everything that is partially scripted stand within state_machine.py in example/reachy folder.

Feel free to modify it as you want.

Requirements

• This run on both:
  • MacOS with ~ 20G of RAM
  • Linux with ~ 10G of Nvidia VRAM
  • I have not tried Windows.
• Make sure to have rust installed.
• Make sure to have dora installed, with pip install dora-rs-cli

TODO:

• Publish a remote dataflow to run this example without having to clone this repo.