haixuanTao

import h5py

import os

from dora import Node
import numpy as np

## Make data dir if it does not exist
if not os.path.exists("data"):
    os.makedirs("data")

haixuanTao

from piper_sdk import *

piper_left = C_PiperInterface("can_left")
piper_left.ConnectPort()


piper_right = C_PiperInterface("can_right")
piper_right.ConnectPort()

joint_left = piper_left.GetArmJointMsgs()

haixuanTao

apt-get update
apt-get install wget unzip curl build-essential tmux -y 

wget https://repo.anaconda.com/miniconda/Miniconda3-py311_23.5.2-0-Linux-x86_64.sh
chmod +x  ./Miniconda3-py311_23.5.2-0-Linux-x86_64.sh
./Miniconda3-py311_23.5.2-0-Linux-x86_64.sh -bu
export PATH=$PATH:$HOME/miniconda3/bin
conda init bash
source ~/.bashrc
conda activate

haixuanTao

nodes:
  - id: camera
    build: pip install opencv-video-capture
    path: opencv-video-capture
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - image
    env:
      CAPTURE_PATH: 0

haixuanTao

nodes:
  - id: webcam
    custom:
      source: https://huggingface.co/datasets/dora-rs/dora-idefics2/raw/main/operators/opencv_stream.py
      outputs:
        - image
  - id: idefics2
    operator:
      python:  https://huggingface.co/datasets/dora-rs/dora-idefics2/raw/main/operators/idefics2_op.py
      inputs:

haixuanTao

## Use `mdbook init --theme` first
## Modify the generated `theme/index.hbs
## Go to <div id="content"> and add below {{ content }
## The script that is generated here: https://giscus.app/

                <div id="content" class="content">
                    <main>
                        {{{ content }}}
                        
                        <script src="https://giscus.app/client.js"