Dora integration

Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>

Author: francocipollone

dora/lekiwi_sim/graphs/mujoco_sim.yml

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+nodes:
+  - id: dora_lekiwi_client
+    build: uv pip install -e ../../node_hub/dora_lekiwi_client
+    path: dora_lekiwi_client
+    inputs:
+      tick: dora/timer/millis/50
+      actions: dora_lekiwi_action_publisher/actions
+    outputs:
+      # ["arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel"]
+      - observation_state
+      - image_front
+      - image_wrist
+    # env:
+    #   TIMESTEP: 0.001 # [s]
+
+  - id: dora_lekiwi_action_publisher
+    build: uv pip install -e ../../node_hub/dora_lekiwi_action_publisher
+    path: dora_lekiwi_action_publisher
+    inputs:
+      tick: dora/timer/millis/50
+    outputs:
+      - actions
+    env:
+      LEKIWI_ACTION: "[0.0, -90, 90, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0]"
+
+  - id: rerun-viz
+    # TODO: Use tag once there is a new release
+    build: cargo install --git https://github.com/dora-rs/dora-hub dora-rerun
+    path: dora-rerun
+    inputs:
+      front_camera:
+        source: dora_lekiwi_client/image_front
+      wrist_camera:
+        source: dora_lekiwi_client/image_wrist
+      observation_state:
+      # ["arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel"]
+        source: dora_lekiwi_client/observation_state
+      actions:
+        source: dora_lekiwi_action_publisher/actions
+    env:
+      OPERATING_MODE: SPAWN
+
+  - id: dora-record
+    # TODO: Use tag once there is a new release
+    build: cargo install --git https://github.com/dora-rs/dora-hub/ dora-record
+    path: dora-record
+    inputs:
+      observation_state: dora_lekiwi_client/observation_state
+      image_front: dora_lekiwi_client/image_front
+      image_wrist: dora_lekiwi_client/image_wrist

dora/node_hub/dora_lekiwi_action_publisher/README.md

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+# dora_lekiwi_action_publisher
+
+## Getting started
+
+- Install it with uv:
+
+```bash
+uv venv -p 3.11 --seed
+uv pip install -e .
+```
+
+## Contribution Guide
+
+- Format with [ruff](https://docs.astral.sh/ruff/):
+
+```bash
+uv pip install ruff
+uv run ruff check . --fix
+```
+
+- Lint with ruff:
+
+```bash
+uv run ruff check .
+```
+
+- Test with [pytest](https://github.com/pytest-dev/pytest)
+
+```bash
+uv pip install pytest
+uv run pytest . # Test
+```
+
+## YAML Specification
+
+## Examples
+
+## License
+
+dora_lekiwi_action_publisher's code are released under the MIT License

dora/node_hub/dora_lekiwi_action_publisher/dora_lekiwi_action_publisher/__init__.py

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+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

dora/node_hub/dora_lekiwi_action_publisher/dora_lekiwi_action_publisher/__main__.py

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+"""TODO: Add docstring."""
+
+from .main import main
+
+if __name__ == "__main__":
+    main()

dora/node_hub/dora_lekiwi_action_publisher/dora_lekiwi_action_publisher/main.py

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+"""TODO: Add docstring."""
+
+import os
+
+import pyarrow as pa
+
+from dora import Node  # type: ignore
+
+
+def main() -> None:
+    """TODO: Add docstring."""
+    node = Node()
+
+    # Process environment variables
+    LEKIWI_ACTION = os.getenv(
+        "LEKIWI_ACTION", "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"
+    )
+    if not LEKIWI_ACTION:
+        raise ValueError("LEKIWI_ACTION environment variable is not set.")
+    # Convert to a list of floats
+    action_to_send = [float(x) for x in LEKIWI_ACTION.strip("[]").strip(" ").split(",")]
+    print(f"Action to send: {action_to_send}")
+
+    for event in node:
+        if event["type"] == "INPUT":
+            if event["id"] == "tick":
+                metadata = event["metadata"]
+                metadata["primitive"] = "series"
+                node.send_output(
+                    output_id="actions",
+                    data=pa.array(action_to_send),
+                    metadata=metadata,
+                )
+
+
+if __name__ == "__main__":
+    main()

dora/node_hub/dora_lekiwi_action_publisher/pyproject.toml

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+[project]
+name = "dora_lekiwi_action_publisher"
+version = "0.1.0"
+authors = [{ name = "Franco Cipollone", email = "franco.c@ekumenlabs.com" }]
+description = "dora_lekiwi_action_publisher"
+license = { text = "MIT" }
+readme = "README.md"
+requires-python = ">=3.8"
+
+dependencies = ["dora-rs >= 0.3.13"]
+
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[dependency-groups]
+dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+
+[project.scripts]
+dora_lekiwi_action_publisher = "dora_lekiwi_action_publisher.main:main"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

dora/node_hub/dora_lekiwi_action_publisher/tests/test_dora_lekiwi_action_publisher.py

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+"""Test module for dora_lekiwi_action_publisher package."""
+
+import pytest
+
+
+def test_import_main() -> None:
+    """Test importing and running the main function."""
+    from dora_lekiwi_action_publisher.main import main
+
+    # Check that everything is working, and catch Dora RuntimeError
+    # as we're not running in a Dora dataflow.
+    with pytest.raises(RuntimeError):
+        main()

dora/node_hub/dora_lekiwi_client/README.md

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+# dora_lekiwi_client
+
+## Getting started
+
+- Install it with uv:
+
+```bash
+uv venv -p 3.11 --seed
+uv pip install -e .
+```
+
+## Contribution Guide
+
+- Format with [ruff](https://docs.astral.sh/ruff/):
+
+```bash
+uv pip install ruff
+uv run ruff check . --fix
+```
+
+- Lint with ruff:
+
+```bash
+uv run ruff check .
+```
+
+- Test with [pytest](https://github.com/pytest-dev/pytest)
+
+```bash
+uv pip install pytest
+uv run pytest . # Test
+```
+
+## YAML Specification
+
+## Examples
+
+## License
+
+dora_lekiwi_client's code are released under the MIT License

dora/node_hub/dora_lekiwi_client/dora_lekiwi_client/__init__.py

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+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

dora/node_hub/dora_lekiwi_client/dora_lekiwi_client/__main__.py

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+"""TODO: Add docstring."""
+
+from .main import main
+
+if __name__ == "__main__":
+    main()