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Actuator

  • Dynamixel by Enzo Levan

    Dynamixel Client

  • Feetech by Enzo Levan

    Feetech Client

Arm

  • Agilex arm client

    Try it with...
    - id: dora-piper
    build: pip install dora-piper
    path: dora-piper
    inputs:
    tick: dora/timer/millis/20
    joint_action: <NODE>/jointstate
    outputs:
    - jointstate
  • Alex Koch - Low Cost Robot Client

  • Lebai - LM3 by dora

    Lebai client

Camera

  • Video Capture using Gstreamer

    Try it with...
    - id: gst-camera
    git: https://github.com/kornia/dora-nodes-hub.git
    rev: 5b309b6c6f95074f8d38f2a236142e2e0751ee19
    build: cargo build -p kornia-gst-capture --release
    path: target/release/kornia-gst-capture
    inputs:
    tick: dora/timer/millis/30
    outputs:
    - frame
    env:
    SOURCE_TYPE: 'rtsp'
    SOURCE_URI: 'rtsp://{username}:{password}@{ip}:{port}/{stream}'
  • Video stream for Linux Cameras

    Try it with...
    - id: v4l-camera
    git: https://github.com/kornia/dora-nodes-hub.git
    rev: 5b309b6c6f95074f8d38f2a236142e2e0751ee19
    build: cargo build -p kornia-v4l-capture --release
    path: target/release/kornia-v4l-capture
    inputs:
    tick: dora/timer/millis/30
    env:
    outputs:
    - frame
    SOURCE_DEVICE: '/dev/video0'
    SOURCE_FPS: 30
    IMAGE_COLS: 320
    IMAGE_ROWS: 180
    PIXEL_FORMAT: 'YUYV'
  • Image stream from OpenCV Camera

    Try it with...
    - id: opencv-video-capture
    build: pip install opencv-video-capture
    path: opencv-video-capture
    inputs:
    tick: dora/timer/millis/50
    outputs:
    - image
  • PyOrbbeckSDK by dora

    Image and depth from Orbbeck Camera

    Try it with...
    - id: dora-pyorbbecksdk
    build: pip install dora-pyorbbecksdk
    path: dora-pyorbbecksdk
    inputs:
    tick: dora/timer/millis/50
    outputs:
    - image
    - depth
    - image_depth
  • PyRealsense by dora

    Image and depth from Realsense

    Try it with...
    - id: dora-pyrealsense
    build: pip install dora-pyrealsense
    path: dora-pyrealsense
    inputs:
    tick: dora/timer/millis/50
    outputs:
    - image
    - depth

Chassis

Image Processing

  • Kornia image processing Sobel operator

    Try it with...
    - id: sobel
    git: https://github.com/kornia/dora-nodes-hub.git
    rev: 5b309b6c6f95074f8d38f2a236142e2e0751ee19
    build: cargo build -p kornia-imgproc-sobel --release
    path: target/release/kornia-imgproc-sobel
    inputs:
    frame: v4l-camera/frame
    outputs:
    - output

Large Language Model(LLM)

  • Qwen2.5 by dora

    Large Language Model using Qwen

    Try it with...
    - id: dora-qwenvl
    build: pip install dora-qwenvl
    path: dora-qwenvl
    inputs:
    text: <NODE>/text
    outputs:
    - text

Object Detection

  • Yolov8 by dora

    Object detection

    Try it with...
    - id: dora-yolo
    build: pip install dora-yolo
    path: dora-yolo
    inputs:
    image: <NODE>/image
    outputs:
    - bbox

Peripheral

  • Keyboard by dora

    Keyboard char listener

    Try it with...
    - id: dora-keyboard
    build: pip install dora-keyboard
    path: dora-keyboard
    inputs:
    tick: dora/timer/millis/1000
    outputs:
    - char
  • Microphone by dora

    Audio from microphone

    Try it with...
    - id: dora-microphone
    build: pip install dora-microphone
    path: dora-microphone
    inputs:
    tick: dora/timer/millis/50
    outputs:
    - audio
  • Output audio from speaker

    Try it with...
    - id: dora-pyaudio
    build: pip install dora-pyaudio
    path: dora-pyaudio
    inputs:
    tick: <NODE>/audio

Recorder

  • LeRobot Recorder helper

  • Record data to train LLM and VLM

    Try it with...
    - id: llama-factory-recorder
    build: pip install llama-factory-recorder
    path: llama-factory-recorder
    inputs:
    image: <NODE>/image
    text: <NODE>/text
    ground_truth: <NODE>/text
    outputs:
    - text

Robot

Segmentation

  • SAM2 by dora

    Segment Anything

Simulator

  • Carla by dora

    Carla Simulator

  • Gymnasium by dora

    Experimental OpenAI Gymnasium bridge

  • Mujoco by Enzo Levan

    Mujoco Simulator

Speech to Text(STT)

  • Whisper by dora

    Transcribe audio to text

    Try it with...
    - id: dora-distil-whisper
    build: pip install dora-distil-whisper
    path: dora-distil-whisper
    inputs:
    tick: <NODE>/audio
    outputs:
    - text

Text to Speech(TTS)

  • Kokoro TTS by dora

    Efficient Text to Speech

    Try it with...
    - id: dora-kokoro-tts
    build: pip install dora-kokoro-tts
    path: dora-kokoro-tts
    inputs:
    text: <NODE>/text
    outputs:
    - audio

Translation

  • Open Source translation engine

    Try it with...
    - id: dora-argotranslate
    build: pip install dora-argotranslate
    path: dora-argotranslate
    inputs:
    text: <NODE>/text
    outputs:
    - text
    env:
    SOURCE_LANGUAGE: en
    TARGET_LANGUAGE: fr
  • Opus MT by dora

    Translate text between language

    Try it with...
    - id: dora-opus
    build: pip install dora-opus
    path: dora-opus
    inputs:
    text: <NODE>/text
    outputs:
    - text
    env:
    SOURCE_LANGUAGE: en
    TARGET_LANGUAGE: fr

Vision Language Action(VLA)

  • RDT-1B by dora

    Infer policy using Robotic Diffusion Transformer

    Try it with...
    - id: dora-rdt-1b
    build: pip install dora-rdt-1b
    path: dora-rdt-1b
    inputs:
    image: <NODE>/image
    jointstate: <NODE>/jointstate
    outputs:
    - action

Vision Language Model(VLM)

  • InternVL by dora

    InternVL is a vision language model

  • Qwen2.5-vl by dora

    Vision Language Model using Qwen2.5 VL

    Try it with...
    - id: dora-qwenvl
    build: pip install dora-qwenvl
    path: dora-qwenvl
    inputs:
    text: <NODE>/text
    image: <NODE>/image
    outputs:
    - text

Visualization

  • Plot by dora

    Simple OpenCV plot visualization

    Try it with...
    - id: opencv-plot
    build: pip install opencv-plot
    path: opencv-plot
    inputs:
    image: <NODE>/image
    text: <NODE>/text
  • Rerun by dora

    Visualization tool

    Try it with...
    - id: dora-rerun
    build: pip install dora-rerun
    path: dora-rerun
    inputs:
    image: <NODE>/image
    text: <NODE>/text

Voice Activity Detection(VAD)

  • Silero VAD by dora

    Silero Voice activity detection

    Try it with...
    - id: dora-vad
    build: pip install dora-vad
    path: dora-vad
    inputs:
    tick: <NODE>/audio
    outputs:
    - audio