ZhangHanDong Dora Hub Nodes
Pre-built nodes for common robotic and AI tasks
Vision Nodes
Camera Input
| Package | Command | Description |
|---|---|---|
| opencv-video-capture | pip install opencv-video-capture |
Webcam/video capture |
| dora-pyrealsense | pip install dora-pyrealsense |
Intel RealSense |
| dora-pyorbbecksdk | pip install dora-pyorbbecksdk |
Orbbeck cameras |
opencv-video-capture
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/33
outputs:
- image
env:
CAPTURE_PATH: "0" # 0 for webcam, or path to video
IMAGE_WIDTH: "640"
IMAGE_HEIGHT: "480"
Object Detection
| Package | Command | Description |
|---|---|---|
| dora-yolo | pip install dora-yolo |
YOLO v8 detection |
| dora-mediapipe | pip install dora-mediapipe |
MediaPipe detection |
dora-yolo
- id: yolo
build: pip install dora-yolo
path: dora-yolo
inputs:
image: camera/image
outputs:
- bbox
env:
MODEL: yolov8n.pt # yolov8n/s/m/l/x.pt
DEVICE: cuda # cuda or cpu
Segmentation
| Package | Command | Description |
|---|---|---|
| dora-sam2 | pip install dora-sam2 |
Segment Anything 2 |
dora-sam2
- id: sam
build: pip install dora-sam2
path: dora-sam2
inputs:
image: camera/image
bbox: yolo/bbox # Optional: guided segmentation
outputs:
- mask
Depth & 3D
| Package | Command | Description |
|---|---|---|
| dora-vggt | pip install dora-vggt |
Depth estimation |
| dora-cotracker | pip install dora-cotracker |
Point tracking |
dora-vggt
- id: depth
build: pip install dora-vggt
path: dora-vggt
inputs:
image: camera/image
outputs:
- depth
- points3d
Visualization
| Package | Command | Description |
|---|---|---|
| dora-rerun | pip install dora-rerun |
Rerun visualization |
dora-rerun
- id: plot
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
boxes2d: yolo/bbox
# Optional inputs:
# depth: depth/depth
# points3d: depth/points3d
# mask: sam/mask
Audio Nodes
Speech-to-Text
| Package | Command | Description |
|---|---|---|
| dora-distil-whisper | pip install dora-distil-whisper |
Distil-Whisper STT |
| dora-funasr | pip install dora-funasr |
FunASR (Chinese STT) |
dora-distil-whisper
- id: stt
build: pip install dora-distil-whisper
path: dora-distil-whisper
inputs:
audio: microphone/audio
outputs:
- text
env:
MODEL: base # tiny, base, small, medium, large
LANGUAGE: en
Text-to-Speech
| Package | Command | Description |
|---|---|---|
| dora-kokoro-tts | pip install dora-kokoro-tts |
Kokoro TTS |
| dora-outtetts | pip install dora-outtetts |
OuteTTS |
| dora-parler | pip install dora-parler |
Parler TTS |
dora-kokoro-tts
- id: tts
build: pip install dora-kokoro-tts
path: dora-kokoro-tts
inputs:
text: llm/response
outputs:
- audio
env:
VOICE: af_bella
Voice Activity
| Package | Command | Description |
|---|---|---|
| dora-vad | pip install dora-vad |
Voice activity detection |
dora-vad
- id: vad
build: pip install dora-vad
path: dora-vad
inputs:
audio: microphone/audio
outputs:
- speech_audio
- is_speaking
Audio I/O
| Package | Command | Description |
|---|---|---|
| dora-microphone | pip install dora-microphone |
Microphone input |
| dora-pyaudio | pip install dora-pyaudio |
Audio playback |
Language Models
LLMs
| Package | Command | Description |
|---|---|---|
| dora-qwen | pip install dora-qwen |
Qwen text models |
| dora-llama-cpp-python | pip install dora-llama-cpp-python |
Llama.cpp models |
| dora-mistral-rs | pip install dora-mistral-rs |
Mistral models |
dora-qwen
- id: llm
build: pip install dora-qwen
path: dora-qwen
inputs:
text: stt/text
outputs:
- response
env:
MODEL: Qwen/Qwen2.5-7B
Vision-Language Models
| Package | Command | Description |
|---|---|---|
| dora-qwen2-5-vl | pip install dora-qwen2-5-vl |
Qwen2.5-VL |
| dora-internvl | pip install dora-internvl |
InternVL |
dora-qwen2-5-vl
- id: vlm
build: pip install dora-qwen2-5-vl
path: dora-qwen2-5-vl
inputs:
image: camera/image
prompt: user/question
outputs:
- response
env:
MODEL: Qwen/Qwen2.5-VL-7B
Robot Control
Servo/Motor Control
| Package | Command | Description |
|---|---|---|
| dora-rustypot | pip install dora-rustypot |
Dynamixel servos |
dora-rustypot
- id: arm
build: pip install dora-rustypot
path: dora-rustypot
inputs:
command: planner/joints
outputs:
- state
env:
SERIAL_PORT: /dev/ttyUSB0
BAUD_RATE: "1000000"
Kinematics
| Package | Command | Description |
|---|---|---|
| dora-pytorch-kinematics | pip install dora-pytorch-kinematics |
FK/IK |
dora-pytorch-kinematics
- id: kinematics
build: pip install dora-pytorch-kinematics
path: dora-pytorch-kinematics
inputs:
target_pose: planner/target
outputs:
- joint_targets
env:
URDF_PATH: robot.urdf
ROS2 Bridge
| Package | Install | Description |
|---|---|---|
| dora-ros2-bridge | Rust crate (build from dora repo) | ROS2 integration |
Note: dora-ros2-bridge is a Rust library in the main dora repository, not a pip package. See the ROS2 bridge examples.
Data Pipeline
LeRobot
| Package | Install | Description |
|---|---|---|
| dora-lerobot | From dora-lerobot repo | LeRobot dataset tools |
Note: dora-lerobot is from a separate repository:
git clone https://github.com/dora-rs/dora-lerobot cd dora-lerobot && pip install -e dora_lerobot
Recording
# Install from dora-lerobot repo first
- id: recorder
path: dora-lerobot-recorder
inputs:
image: camera/image
state: arm/state
action: teleop/command
env:
DATASET_NAME: my_dataset
Replay
# Install from dora-lerobot repo first
- id: replay
path: dora-lerobot-replay
inputs:
tick: dora/timer/millis/33
outputs:
- image
- state
- action
env:
DATASET_NAME: my_dataset
Complete Example: Vision + LLM + Audio
nodes:
# Camera
- id: camera
build: pip install opencv-video-capture
path: opencv-video-capture
inputs:
tick: dora/timer/millis/100
outputs:
- image
# VLM for image understanding
- id: vlm
build: pip install dora-qwen2-5-vl
path: dora-qwen2-5-vl
inputs:
image: camera/image
prompt: stt/text
outputs:
- response
# Microphone
- id: microphone
build: pip install dora-microphone
path: dora-microphone
inputs:
tick: dora/timer/millis/100
outputs:
- audio
# Speech to text
- id: stt
build: pip install dora-distil-whisper
path: dora-distil-whisper
inputs:
audio: microphone/audio
outputs:
- text
# Text to speech
- id: tts
build: pip install dora-kokoro-tts
path: dora-kokoro-tts
inputs:
text: vlm/response
outputs:
- audio
# Speaker
- id: speaker
build: pip install dora-pyaudio
path: dora-pyaudio
inputs:
audio: tts/audio
# Visualization
- id: plot
build: pip install dora-rerun
path: dora-rerun
inputs:
image: camera/image
Related Skills
- domain-vision - Vision pipelines
- domain-audio - Audio pipelines
- domain-robot - Robot control
- data-pipeline - Data recording