hub-nodes

# 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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** ```yaml - 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](https://github.com/dora-rs/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](https://github.com/dora-rs/dora/tree/main/examples/ros2-bridge). ## Data Pipeline ### LeRobot | Package | Install | Description | |---------|---------|-------------| | dora-lerobot | From [dora-lerobot](https://github.com/dora-rs/dora-lerobot) repo | LeRobot dataset tools | > **Note:** dora-lerobot is from a separate repository: > ```bash > git clone https://github.com/dora-rs/dora-lerobot > cd dora-lerobot && pip install -e dora_lerobot > ``` **Recording** ```yaml # 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** ```yaml # 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 ```yaml 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