hub-nodes

name	hub-nodes
description	Use for pre-built dora hub node questions. Triggers on: dora-yolo, dora-rerun, dora-distil-whisper, dora-kokoro-tts, opencv-video-capture, dora-lerobot, dora-sam2, dora-qwen, hub, pre-built, package, 预构建节点, 节点包, dora hub
globs	["**/dataflow.yml"]
source	https://github.com/dora-rs/dora-hub

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