菜单
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
默认使用会先检查来源的 Prompt；你也可以切换为直接命令，或下载本地副本。
决定是否安装前，请先阅读 SKILL.md，以及 SkillsMP 当前展示的配套文件。
基于 SOC 职业分类
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
直接命令不会经过审查 Prompt；运行前请先检查来源。
npx skills add https://github.com/ZhangHanDong/dora-skills --skill hub-nodes命令会保持在同一行。复制前请横向滚动并检查完整内容。
想先保存到本地？可下载 SkillsMP 当前能够提供的文件。
正在显示 SKILL.md
Use for dora CLI command questions. Triggers on: dora run, dora build, dora start, dora stop, dora new, dora up, dora destroy, dora list, dora ps, dora logs, dora check, dora graph, dora daemon, dora coordinator, CLI命令, 命令行, 运行数据流, 构建, 启动, 停止
Use for data recording and replay questions with dora. Triggers on: recording, replay, lerobot, data collection, dataset, rosbag, record data, play back, training data, HDF5, parquet, 数据记录, 数据回放, 数据收集, 训练数据
Use for dora-rs dataflow YAML configuration questions. Triggers on: dataflow.yml, dataflow.yaml, nodes:, inputs:, outputs:, timer, dora/timer, queue_size, env:, build:, path:, git:, branch:, tag:, restart_policy, send_stdout_as, operator:, operators:, YAML配置, 数据流配置, 节点配置, 输入输出, 定时器
| 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 |
Pre-built nodes for common robotic and AI tasks
| 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"
| 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
| 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
| 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
| 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
| 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
| 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
| 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
| Package | Command | Description |
|---|---|---|
| dora-microphone | pip install dora-microphone | Microphone input |
| dora-pyaudio | pip install dora-pyaudio | Audio playback |
| 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
| 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
| 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"
| 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
| 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.
| 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
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