Dora Node Hub

This hub contains useful pre-built nodes for Dora.

Packages

Feel free to modify this README with your own nodes so that it benefits the community.

Type	Title	Support	Description	Downloads	License
Camera	PyOrbbeckSDK	📐	Image and depth from Orbbeck Camera
Camera	PyRealsense	Linux🆗 Mac🛠️	Image and depth from Realsense
Camera	OpenCV Video Capture	✅	Image stream from OpenCV Camera
Camera	Kornia V4L Capture	✅	Video stream for Linux Camera (rust)
Camera	Kornia GST Capture	✅	Video Capture using Gstreamer (rust)
Peripheral	Keyboard	✅	Keyboard char listener
Peripheral	Microphone	✅	Audio from microphone
Peripheral	PyAudio(Speaker)	✅	Output audio from speaker
Actuator	Feetech	📐	Feetech Client
Actuator	Dynamixel	📐	Dynamixel Client
Chassis	Agilex - UGV	🆗	Robomaster Client
Chassis	DJI - Robomaster S1	📐	Robomaster Client
Chassis	Dora Kit Car	🆗	Open Source Chassis
Arm	Alex Koch - Low Cost Robot	📐	Alex Koch - Low Cost Robot Client
Arm	Lebai - LM3	📐	Lebai client
Arm	Agilex - Piper	🆗	Agilex arm client
Robot	Pollen - Reachy 1	📐	Reachy 1 Client
Robot	Pollen - Reachy 2	🆗	Reachy 2 client
Robot	Trossen - Aloha	📐	Aloha client
Voice Activity Detection(VAD)	Silero VAD	✅	Silero Voice activity detection
Speech to Text(STT)	Whisper	✅	Transcribe audio to text
Object Detection	Yolov8	✅	Object detection
Segmentation	SAM2	Cuda✅ Metal🛠️	Segment Anything
Large Language Model(LLM)	Qwen2.5	✅	Large Language Model using Qwen
Vision Language Model(VLM)	Qwen2.5-vl	✅	Vision Language Model using Qwen2.5 VL
Vision Language Model(VLM)	InternVL	🆗	InternVL is a vision language model
Vision Language Action(VLA)	RDT-1B	🆗	Infer policy using Robotic Diffusion Transformer
Translation	ArgosTranslate	🆗	Open Source translation engine
Translation	Opus MT	🆗	Translate text between language
Text to Speech(TTS)	Kokoro TTS	✅	Efficient Text to Speech
Recorder	Llama Factory Recorder	🆗	Record data to train LLM and VLM
Recorder	LeRobot Recorder	📐	LeRobot Recorder helper
Visualization	Plot	✅	Simple OpenCV plot visualization
Visualization	Rerun	✅	Visualization tool
Simulator	Mujoco	📐	Mujoco Simulator
Simulator	Carla	📐	Carla Simulator
Simulator	Gymnasium	📐	Experimental OpenAI Gymnasium bridge
Image Processing	Kornia Sobel Operator	✅	Kornia image processing Sobel operator (rust)

Examples

Type	Title	Description	Last Commit
Audio	Speech to Text(STT)	Transform speech to text.
Audio	Translation	Translate audio in real time.
Vision	Vision Language Model(VLM)	Use a VLM to understand images.
Vision	YOLO	Use YOLO to detect object within image.
Vision	Camera	Simple webcam plot example
Vision	Image Processing	Multi camera image processing
Model Training	Piper RDT	Piper RDT Pipeline
Model Training	LeRobot - Alexander Koch	Training Alexander Koch Low Cost Robot with LeRobot
Benchmark	CPU Benchmark	CPU Benchmark of dora-rs

Python

Add a new python node

• To work on a new node, start by:

cd node-hub
dora new your-node-name --lang python --kind node
cd ./your-node-name
uv venv --seed -p 3.11
uv pip install -e . # Install
uv run ruff check . --fix # Format
uv run ruff check . # Lint
uv run pytest . # Test

• To add a python dependency just do:

uv add numpy # for example

The package is then added to your pyproject.toml

• Modify the code within main.py in your liking.

• Create a PR and let the CI/CD run test on it 🙋

Structure

The structure of the node hub is as follows (please use the same structure if you need to add a new node):

node-hub/
└── your-node/
    ├── README.md
    ├── your-node
    │   ├── __init__.py
    │   ├── __main__.py
    │   └── main.py
    ├── pyproject.toml
    └── tests
        └── test_<your-node>.py

The idea is to make a pyproject.toml file that will install the required dependencies for the node and attach main function of the node inside a callable script in your environment.

To do so, you will need to add a main function inside the main.py file.

def main():
    pass

And then you will need to adapt the following pyproject.toml file:

[project]
name = "[name of the node e.g. video-encoder, with '-' to replace spaces]"
version = "0.1"
authors = [{ name = "[Pseudo/Name]", email = "[email]" }]
description = "Dora Node for []"
readme = "README.md"
license = { text = "MIT" }

dependencies = [
    "dora-rs >= 0.3.8",
]

[project.scripts]
[name of the node with '-' to replace spaces] = "[name of the node with '_' to replace spaces].main:main"

[tool.ruff.lint]
extend-select = [
  "D",    # pydocstyle
  "UP",   # Ruff's UP rule
  "PERF", # Ruff's PERF rule
  "RET",  # Ruff's RET rule
  "RSE",  # Ruff's RSE rule
  "NPY",  # Ruff's NPY rule
  "N",    # Ruff's N rule
  "I",    # Ruff's I rule
]

Finally, the README.md file should explicit all inputs/outputs of the node and how to configure it in the YAML file.

Example

[project]
name = "opencv-plot"
version = "0.1"
authors = [
    "Haixuan Xavier Tao <tao.xavier@outlook.com>",
    "Enzo Le Van <dev@enzo-le-van.fr>"
]
description = "Dora Node for plotting data with OpenCV"
readme = "README.md"
license = { text = "MIT" }
requires-python = ">=3.7"

dependencies = [
    "dora-rs >= 0.3.8",
]
[dependency-groups]
dev = ["pytest >=8.1.1", "ruff >=0.9.1"]

[project.scripts]
opencv-plot = "opencv_plot.main:main"

[tool.ruff.lint]
extend-select = [
  "D",    # pydocstyle
  "UP",   # Ruff's UP rule
  "PERF", # Ruff's PERF rule
  "RET",  # Ruff's RET rule
  "RSE",  # Ruff's RSE rule
  "NPY",  # Ruff's NPY rule
  "N",    # Ruff's N rule
  "I",    # Ruff's I rule
]

Adding git dependency

• If a git repository is added as submodule. Proper path should be added in pyproject.toml inorder to make sure that linting and testing are exempted for that dependency.
• A very good example of how this can be done is as follows

Correct approach:

[tool.ruff]
exclude = ["dora_magma/Magma"]

[tool.black]
extend.exclude = "dora_magma/Magma"

Incorrect Approach:

[tool.ruff]
exclude = ["dora-magma/dora_magma/Magma"]

[tool.black]
extend.exclude = "dora_magma/Magma"

Note:

• dora-magma is root folder of the node.

Rust

Add a new rust node

cd node-hub
dora new your-node-name --lang rust --kind node
cd ./your-node-name

Steps Before Building

• Before building the node, make sure to add your node to the workspace members list in the root Cargo.toml file:

[workspace]
members = [
...
"node-hub/your-node-name"
]

• Also change the Cargo.toml file in your node to use the workspace version of dora-node-api:

[dependencies]
dora-node-api = { workspace = true }

Structure

The structure of the node hub for Rust is as follows (please use the same structure if you need to add a new node):

node-hub/
└── your-node/
    ├── Cargo.toml
    ├── README.md
    └── src/
           └── main.rs

The README.md file should explicit all inputs/outputs of the node and how to configure it in the YAML file.

License

This project is licensed under Apache-2.0. Check out NOTICE.md for more information.