dora-rs | dora-rs

跳过主要内容

🚙🤖💻 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.

🐍 Python API

2024 年，AI 发展风风火火！但是机器人框架多年来并没有太大变化...... 这就是我们创建 dora-rs 的原因！dora-rs 是一种新的机器人框架，它将现代化引入机器人应用。

dora-rs 已经可以显示出令人印象深刻的性能！这是使用我们自己的共享内存服务器和Apache Arrow 实现零复制(zero-copy)的结果！

这些性能改进对于初学者、AI 从业者和业余爱好者来说意义重大，他们因该领域缺乏对 Python 的支持而受到限制！

而这只是我们可以为 dora-rs 展示的众多创新功能中的一个例子！

Dora CPU Latency (Lower is better)

Python API
Rust API
C/C++ API

Chart not supported

信息

Source code:dora-benchmark

Dora GPU Latency (Lower is better)

PyTorch CUDA

Chart not supported

提示

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

信息

Source code:dora-benchmark

Features

⭐ 零开销

在共享内存上传输零拷贝的消息！我们使用 Arrow 和我们自己的共享内存守护程序在一台机器上进行光速通信。

🤯 可伸缩

专为跨机器和机器人扩展而构建！我们使用 YAML 描述来使我们的软件具有声明性，以便可在多台机器上分发。

👨‍🏭 快速原型化

通过您的 YAML 数据流使用现成节点，这样您就不需要复制粘贴样板代码。您还可以使用 Python 实时调补！

🔭 观察能力

通过我们的cli工具和opentelemetry获得日志、跟踪和指标！

💻 支持大型矩阵

在最多的平台和架构上，dora 支持 Python、Rust、C 和 C++ ！

🧑‍🤝‍🧑 社区

我们希望 dora 做成一个社区驱动项目并且帮助更多人学习机器人。

Reviews

Talks