dora-rs

Skip to main content

🚙🤖💻 Making robotic applications fast and simple!

Paste the following line in a terminal

pip install dora-rs-cli

Paste the following line in a terminal

curl --proto '=https' --tlsv1.2 -LsSf https://github.com/dora-rs/dora/releases/latest/download/dora-cli-installer.sh | sh

Paste the following line in a terminal

curl --proto '=https' --tlsv1.2 -LsSf https://github.com/dora-rs/dora/releases/latest/download/dora-cli-installer.sh | sh

Paste the following lines in a terminal

powershell -ExecutionPolicy ByPass -c "irm https://github.com/dora-rs/dorareleases/latest/download/dora-cli-installer.ps1 | iex"

If you use VSCode, make sure to restart VSCode for the change to happen.

cargo install dora-cli # In case of issues, try: `--locked`

Pull:

docker pull ghcr.io/dora-rs/dora-slim

Run:

docker run ghcr.io/dora-rs/dora-slim dora --help

To make a base dev-shell (Recommended):

{
  description = "A base dev-shell flake";
  inputs = {
    nixpkgs.url = "github:nixos/nixpkgs?ref=nixos-unstable";
    dora-rs = {
      url = "github:dora-rs/dora";
      inputs.nixpkgs.follows = "nixpkgs";
    };
  };
  outputs = {
    self,
    nixpkgs,
    dora-rs,
  }: let
    system = "x86_64-linux";
    #        ↑ Swap it for your system as needed
    pkgs = nixpkgs.legacyPackages.${system};
  in {
    devShells.${system}.default = pkgs.mkShell {
      buildInputs = [
        dora-rs.packages.${system}.dora-cli
      ];
    };
  };
}

To add to a system-config flake:

First, add this to your inputs

    dora-rs = {
      url = "github:dora-rs/dora";
      inputs.nixpkgs.follows = "nixpkgs";
    };

...and add to your packages array. E.g. adding to your home-manager config:

{
  inputs,
  config,
  pkgs,
  ...
}: {
  home.packages = with pkgs; [
    inputs.dora-rs.packages.x86_64-linux.dora-cli
  ];
}

To install (not recommended)

nix-env --install "github:dora-rs/dora"

Clone and build source

## dora binary
git clone https://github.com/dora-rs/dora.git
cd dora
cargo build --release -p dora-cli
PATH=$PATH:$(pwd)/target/release

To develop python library

# pip install maturin

## Python API
maturin develop -m apis/python/node/Cargo.toml

To test dora installation

dora --help

Go on our release page
download the zip file corresponding to your architecture and OS.
Unzip the zip file and place it in your binary folder (e.g.: $HOME/bin).
Verify that dora is well installed by calling dora --help in your terminal.

🔥 Get started

🐍 Python API

In 2024, AI is booming! Robotic framework however hasn't changed much in years... This is why we created dora-rs! dora-rs is a new robotic framework that brings modernity into robotic application.

dora-rs can already show impressive performance! This is the result of using our own shared memory server and Apache Arrow to achieve zero copy!

Those performance improvements make a world of difference for beginners, AI practitioners, and weekend hobbyists who have been limited by the lack of support for Python in this field!

And that's only one example of the many innovative features that we can show for dora-rs!

Dora CPU Latency (Lower is better)

Python API
Rust API
C/C++ API

Chart not supported

info

Source code:dora-benchmark

Dora GPU Latency (Lower is better)

PyTorch CUDA

Chart not supported

tip

Dora now support CUDA zero copy for Pytorch 🔥
See:Documentation

info

Source code:dora-benchmark

Features

⭐ Zero Overhead

Transfer message with zero copy on shared memory! We use Arrow and our own shared memory daemon to make lightspeed communication on a single machine.

🤯 Scalable

Built to scale across machines and robots! We use YAML description to make our software declarative in order to be distributable on multiple machines.

👨‍🏭 Fast Prototyping

Use readily available nodes from your YAML dataflow, so that you don't need to bother copy-pasting boilerplate code. You can also tinker live using Python!

🔭 Observable

Get logs, traces and metrics through our cli and opentelemetry!

💻 Large Support Matrix

dora is available in Python, Rust, C and C++ on most platforms and architecture!

🧑‍🤝‍🧑 Community

We hope to make dora a community-driven project and help other learn about robotics.

Reviews

Talks