hex_dora_node_robot

Dora nodes for controlling HEXFELLOW robot arms. Supports Archer Y6, Firefly Y6, and Hello Y6 robot models with state reading and command sending over the Dora dataflow.

Nodes

Node	Description	Inputs	Outputs
hex-dora-robot-archer-y6	Archer Y6 robot driver (6-DOF arm with optional grip)	tick, arm_cmd, grip_cmd	arm_motor, arm_end, grip_motor
hex-dora-robot-firefly-y6	Firefly Y6 robot driver (6-DOF arm with optional grip)	tick, arm_cmd, grip_cmd	arm_motor, arm_end, grip_motor
hex-dora-robot-hello-y6	Hello Y6 robot driver (6-DOF arm with 7-DOF grip and RGB LED)	tick, grip_led_cmd	arm_motor, grip_ctrl
hex-dora-robot-test-archer-y6	Archer Y6 test node (sends commands and displays state)	tick, arm_motor, arm_end, grip_motor	arm_cmd, grip_cmd
hex-dora-robot-test-firefly-y6	Firefly Y6 test node (sends commands and displays state)	tick, arm_motor, arm_end, grip_motor	arm_cmd, grip_cmd
hex-dora-robot-test-hello-y6	Hello Y6 test node (sends LED commands and displays state)	tick, arm_motor, grip_ctrl	grip_led_cmd

Installation

pip install hex_dora_node_robot

YAML Examples

Archer Y6

nodes:
  - id: archer_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-archer-y6
    inputs:
      tick: dora/timer/millis/2
      arm_cmd: test_archer_y6/arm_cmd
      grip_cmd: test_archer_y6/grip_cmd
    outputs:
      - arm_motor
      - arm_end
      - grip_motor
    env:
      NODE_NAME: archer_y6
      HOST: 192.168.1.100
      PORT: 8439
      CTRL_RATE: 500
      STATE_BUFFER_SIZE: 200
      SEN_TS: True
      GRIP_TYPE: gp80
      POSE_END_IN_FLANGE: 0.187,0.0,0.0,1.0,0.0,0.0,0.0

  - id: test_archer_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-test-archer-y6
    inputs:
      tick: dora/timer/millis/2
      arm_motor: archer_y6/arm_motor
      arm_end: archer_y6/arm_end
      grip_motor: archer_y6/grip_motor
    outputs:
      - arm_cmd
      - grip_cmd
    env:
      NODE_NAME: test_archer_y6
      ARM_CTRL_MODE: pos
      GRIP_CTRL_MODE: pos

Firefly Y6

nodes:
  - id: firefly_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-firefly-y6
    inputs:
      tick: dora/timer/millis/2
      arm_cmd: test_firefly_y6/arm_cmd
      grip_cmd: test_firefly_y6/grip_cmd
    outputs:
      - arm_motor
      - arm_end
      - grip_motor
    env:
      NODE_NAME: firefly_y6
      HOST: 192.168.1.100
      PORT: 8439
      CTRL_RATE: 500
      STATE_BUFFER_SIZE: 200
      SEN_TS: True
      GRIP_TYPE: gp80
      POSE_END_IN_FLANGE: 0.187,0.0,0.0,1.0,0.0,0.0,0.0

  - id: test_firefly_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-test-firefly-y6
    inputs:
      tick: dora/timer/millis/2
      arm_motor: firefly_y6/arm_motor
      arm_end: firefly_y6/arm_end
      grip_motor: firefly_y6/grip_motor
    outputs:
      - arm_cmd
      - grip_cmd
    env:
      NODE_NAME: test_firefly_y6
      ARM_CTRL_MODE: pos
      GRIP_CTRL_MODE: pos

Hello Y6

nodes:
  - id: hello_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-hello-y6
    inputs:
      tick: dora/timer/millis/2
      grip_led_cmd: test_hello_y6/grip_led_cmd
    outputs:
      - arm_motor
      - grip_ctrl
    env:
      NODE_NAME: hello_y6
      HOST: 192.168.1.100
      PORT: 8439
      CTRL_RATE: 500
      STATE_BUFFER_SIZE: 200
      SEN_TS: True
      LED_BUFFER_SIZE: 10

  - id: test_hello_y6
    build: pip install hex_dora_node_robot
    path: hex-dora-robot-test-hello-y6
    inputs:
      tick: dora/timer/millis/2
      arm_motor: hello_y6/arm_motor
      grip_ctrl: hello_y6/grip_ctrl
    outputs:
      - grip_led_cmd
    env:
      NODE_NAME: test_hello_y6

Inputs

Timer

Input	Type	Description
tick	dora/timer/millis/*	Timer tick to trigger state reading

Arm Command (Archer Y6 / Firefly Y6 only)

Unified arm command input with a type field to select the control mode.

Input	Type Field	Additional Fields	Description
arm_cmd	mit	q_tar(6), dq_tar(6), tau(6), kp(6), kd(6)	MIT torque command for arm
arm_cmd	mit_comp	q_tar(6), dq_tar(6), tau(6), kp(6), kd(6)	MIT command with gravity/friction compensation
arm_cmd	pos	q_tar(6), kp(6), kd(6), err_limit(1)	Joint position command for arm
arm_cmd	pose	pos(3), quat(4), kp(6), kd(6), err_limit(1)	Cartesian pose command for arm

Grip Command (Archer Y6 / Firefly Y6 only)

Unified grip command input with a type field to select the control mode.

Input	Type Field	Additional Fields	Description
grip_cmd	mit	q_tar(dof), dq_tar(dof), tau(dof), kp(dof), kd(dof)	MIT torque command for grip
grip_cmd	mit_comp	q_tar(dof), dq_tar(dof), tau(dof), kp(dof), kd(dof)	MIT command with friction compensation
grip_cmd	pos	q_tar(dof), kp(dof), kd(dof), err_limit(1)	Joint position command for grip

Grip LED Command (Hello Y6 only)

Input	Fields	Description
grip_led_cmd	r(6), g(6), b(6)	RGB LED strip command (0-255 per channel)

Test Nodes (test-archer-y6 / test-firefly-y6)

Input	Type	Description
tick	dora/timer/millis/*	Timer tick to refresh display
arm_motor	Arrow array	Arm motor state from a robot node
arm_end	Arrow array	Arm end-effector state from a robot node
grip_motor	Arrow array	Grip motor state from a robot node

Test Nodes (test-hello-y6)

Input	Type	Description
tick	dora/timer/millis/*	Timer tick to refresh display
arm_motor	Arrow array	Arm motor state from a robot node
grip_ctrl	Arrow array	Grip control state from a robot node

Outputs

arm_motor

Archer Y6 / Firefly Y6: {"pos": float64[6], "vel": float64[6], "eff": float64[6]}

Hello Y6: {"pos": float64[6], "vel": float64[6]}

arm_end

Archer Y6 / Firefly Y6 only: {"pos": float64[3], "quat": float64[4]}

grip_motor

Archer Y6 / Firefly Y6: {"pos": float64[dof], "vel": float64[dof], "eff": float64[dof]}

grip_ctrl

Hello Y6: {"axis": float64[3], "button": float64[4]}

Arrow Dict Encoding

All data is transmitted as dict[str, arr] via flat float64 Arrow arrays. The metadata dict describes the layout using field names as keys mapped to their array lengths:

# Example arm_motor metadata for Archer/Firefly Y6
metadata = {
    "fields": "pos,vel,eff",  # field order in the flat array
    "pos": "6",               # pos occupies 6 elements
    "vel": "6",
    "eff": "6",
}

Use hex_dora_node_robot.util.dict_decode to unpack and dict_encode to pack:

from hex_dora_node_robot.util import dict_decode, dict_encode

# Decode state from a robot node
state = dict_decode(event["value"], event["metadata"])
print(state["pos"], state["vel"])

# Encode a unified arm command (pos mode) to send to the robot node
import numpy as np
cmd = {
    "type": "pos",
    "q_tar": np.zeros(6),
    "kp": np.array([400.0, 400.0, 500.0, 200.0, 100.0, 100.0]),
    "kd": np.array([5.0, 5.0, 5.0, 5.0, 2.0, 2.0]),
    "err_limit": np.array([0.03]),
}
storage, metadata = dict_encode(cmd.keys(), cmd, dict(event["metadata"]))
node.send_output("arm_cmd", storage, metadata)

Environment Variables

Common (all robot nodes)

Variable	Type	Default	Description
NODE_NAME	str	""	Dora node name
HOST	str	192.168.1.100	Robot controller IP address
PORT	int	8439	WebSocket port
CTRL_RATE	float	500	Control loop rate (Hz)
STATE_BUFFER_SIZE	int	200	Size of the state ring buffer
SEN_TS	bool	True	Use sensor timestamps

Test Nodes (common)

Variable	Type	Default	Description
NODE_NAME	str	""	Dora node name

Test Nodes (test-archer-y6 / test-firefly-y6)

Variable	Type	Default	Description
ARM_CTRL_MODE	str	pos	Arm control mode (mit, mit_comp, pos, pose)
GRIP_CTRL_MODE	str	pos	Grip control mode (mit, mit_comp, pos)

Archer Y6 / Firefly Y6

Variable	Type	Default	Description
GRIP_TYPE	str	gp80	Grip model (gp80 or empty for no grip)
POSE_END_IN_FLANGE	str	0.187,0.0,0.0,1.0,0.0,0.0,0.0	End-effector pose in flange frame [x,y,z,qw,qx,qy,qz]

Hello Y6

Variable	Type	Default	Description
LED_BUFFER_SIZE	int	10	Size of the LED command buffer

License

This project is licensed under Apache-2.0.