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• 图像
• python
• rust
• 控制
• 深度
• 音频
• 文本

Actuator

• 

  Dynamixel by Enzo Levan

  

  Dynamixel Client

  python
• 

  Feetech by Enzo Levan

  

  Feetech Client

  python

Arm

• 

  Agilex - Piper by dora

  

  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

  
  python
• 

  Alex Koch - Low Cost Robot by dora

  

  Alex Koch - Low Cost Robot Client

  python
• 

  Lebai - LM3 by dora

  

  Lebai client

  python

Camera

• 

  Kornia GST Capture by kornia

  

  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}'

  
  图像
  rust
• 

  Kornia V4L Capture by kornia

  

  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'

  
  图像
  rust
• 

  OpenCV Video Capture by dora

  

  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

  
  图像
  python
• 

  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

  
  图像
  python
  深度
• 

  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

  
  图像
  python
  深度

Chassis

• 

  Agilex - UGV by dora

  

  Robomaster Client

  
  python
• 

  DJI - Robomaster S1 by dora

  

  Robomaster Client

  python
• 

  Dora Kit Car by dora

  

  Open Source Chassis

  
  python

Image Processing

• 

  Kornia Sobel Operator by kornia

  

  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

  
  图像
  rust

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

  
  python
  文本

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

  
  图像
  python

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

  
  python
  文本
• 

  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

  
  python
  音频
• 

  PyAudio(Speaker) by dora

  

  Output audio from speaker

  Try it with...

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

  
  python
  音频

Recorder

• 

  LeRobot Recorder by dora

  

  LeRobot Recorder helper

  python
• 

  Llama Factory Recorder by dora

  

  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

  
  图像
  python
  文本

Robot

• 

  Pollen - Reachy 1 by dora

  

  Reachy 1 Client

  Try it with...

  - id: dora-reachy1
    build: pip install dora-reachy1
    path: dora-reachy1

  python
• 

  Pollen - Reachy 2 by dora

  

  Reachy 2 client

  
  python
• 

  Trossen - Aloha by dora

  

  Aloha client

  python

Segmentation

• 

  SAM2 by dora

  

  Segment Anything

  
  图像
  python
  文本

Simulator

• 

  Carla by dora

  

  Carla Simulator

  python
• 

  Gymnasium by dora

  

  Experimental OpenAI Gymnasium bridge

  python
• 

  Mujoco by Enzo Levan

  

  Mujoco Simulator

  python

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

  
  python
  音频

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

  
  python
  音频
  文本

Translation

• 

  ArgosTranslate by dora

  

  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

  
  python
• 

  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

  
  python
  文本

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

  
  图像
  python
  文本

Vision Language Model(VLM)

• 

  InternVL by dora

  

  InternVL is a vision language model

  
  python
• 

  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

  
  图像
  python
  文本

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

  
  图像
  python
  文本
• 

  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

  
  图像
  rust
  深度
  文本

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

  
  python
  音频