Overview
These are the Dora nodes that make up the OpenArm ecosystem. Each node is an independent Python process; they communicate by passing Arrow arrays over Dora topics. A dataflow YAML wires them together.
Nodes are installed per-dataflow inside a build: step in
the YAML. Mock nodes (prefix dummy) let you run a dataflow without physical
hardware.
Below is a list of nodes we currently use.
Robot Control
| Node | Description |
|---|---|
| dora-openarm | Controls the OpenArm |
| dora-openarm-ker | Reads the KER leader device |
| dora-openarm-cell-lifter | Drives the cell lifter from joystick or command |
| dora-openarm-kinematics | Computes kinematics based on OpenArm 2.0 |
Data Collection
| Node | Description |
|---|---|
| dora-openarm-data-collection | Configures dataflows to collect teleoperation data with OpenArm |
| dora-openarm-data-collection-ui | Episode UI (web); operator starts/stops recording |
| dora-openarm-dataset-recorder | Writes one episode file per recording |
| dora-opencv-image-splitter | Splits an image into sub-images (vertical/horizontal/bbox) |
Bridging Nodes
| Node | Description |
|---|---|
| dora-openarm-mujoco | Simulates the OpenArm bimanual in MuJoCo |
Inference / Policy
| Node | Description |
|---|---|
| dora-openarm-observer | Buffers the latest observations and bundles them on each tick |
| dora-openarm-inference-controller | Waits for arms to be ready, starts episodes, detects success/timeout, retries |
| dora-openarm-actions-executor | Unpacks action chunk; optionally upsamples and low-pass filters |
| dora-openarm-local-policy-server | Bridges dora to an external model process over a UNIX socket ($SOCKET) |
| dora-openarm-docker-policy-server | Launches and bridges to a policy server Docker container ($IMAGE) |
Utilities
| Node | Description |
|---|---|
| dora-openarm-quitter | Passes through any data topic; stops the dataflow when command is quit |
Testing / Mock Nodes
Drop-in replacements that emit plausible data without physical hardware. Useful for CI and dataflow development.
| Node | Description |
|---|---|
| dora-openarm-dummy | Mimics OpenArm |
| dora-openarm-dummy-ker | Mimics OpenArm KER |
| dora-openarm-dummy-cell-lifter | Mimics the Cell Lifter |
| dora-openarm-dummy-camera | Mimics a camera |
| dora-openarm-dummy-policy-server | Mimics a policy server |