{"id":50429909,"url":"https://github.com/enactic/dora-openarm","last_synced_at":"2026-05-31T13:30:29.377Z","repository":{"id":357282224,"uuid":"1179485707","full_name":"enactic/dora-openarm","owner":"enactic","description":"dora-rs node to control OpenArm","archived":false,"fork":false,"pushed_at":"2026-05-12T05:53:29.000Z","size":23,"stargazers_count":0,"open_issues_count":0,"forks_count":2,"subscribers_count":1,"default_branch":"main","last_synced_at":"2026-05-12T06:29:41.834Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/enactic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-03-12T04:26:50.000Z","updated_at":"2026-05-12T05:53:31.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/enactic/dora-openarm","commit_stats":null,"previous_names":["enactic/dora-openarm"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/enactic/dora-openarm","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/enactic","download_url":"https://codeload.github.com/enactic/dora-openarm/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fdora-openarm/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":33733754,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-05-31T02:00:06.040Z","response_time":95,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-05-31T13:30:28.630Z","updated_at":"2026-05-31T13:30:29.370Z","avatar_url":"https://github.com/enactic.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# dora-openarm\n\nA [Dora](https://dora-rs.ai/) node that controls OpenArm.\n\n## Usage\n\nUse this node from a dora-rs dataflow configuration. For a full configuration\nexample, see\n[enactic/dora-openarm-data-collection](https://github.com/enactic/dora-openarm-data-collection).\n\n```yaml\nnodes:\n  # ...\n  - id: follower-right\n    build: pip install dora-openarm\n    path: dora-openarm\n    args: \"--side right --align-trigger gripper\"\n    inputs:\n      # Only the event ID is used. The event value is ignored.\n      request_position: leader/right_follower_position\n      move_position: leader/right_follower_position\n    outputs:\n      - position\n      - status\n\n  - id: follower-left\n    build: pip install dora-openarm\n    path: dora-openarm\n    args: \"--side left --align-trigger gripper\"\n    inputs:\n      # Only the event ID is used. The event value is ignored.\n      request_position: leader/left_follower_position\n      move_position: leader/left_follower_position\n    outputs:\n      - position\n      - status\n  # ...\n```\n\n### Node arguments\n\n| Argument | Description |\n| --- | --- |\n| `--side` | OpenArm side to control. Default: `right`. |\n| `--config` | Path to the OpenArm configuration file. Default: `openarm_cell.yaml`. |\n| `--align-trigger` | Optional trigger for the initial alignment step. Supported value: `gripper`. |\n| `--align-threshold` | Alignment threshold in radians. Default: `0.1`. |\n| `--[no-]stop` | Whether to stop the arm when the node exits. Default: controlled by the `STOP` environment variable, or `true` when it is unset. |\n| `--[no-]refresh-every-request` | Whether to refresh OpenArm state before each request. Default: controlled by the `REFRESH` environment variable, or `true` when it is unset. |\n\n### Inputs\n\n| Input | Description |\n| --- | --- |\n| `request_position` | Requests the current arm position. The event ID is used and the event value is ignored. |\n| `request_state` | Requests the current arm state. The event ID is used and the event value is ignored. |\n| `move_position` | Sends a new target position to the arm. The value may be a position array directly, or a struct containing `new_position`. When the node has not been initialized yet, this input first drives the alignment step. |\n\n### Outputs\n\n| Output | Description |\n| --- | --- |\n| `position` | Current arm position as a float32 array. |\n| `state` | Current arm state as a struct with float32 array fields `qpos`, `qvel`, and `qtorque`. |\n| `status` | A string array containing `ready` once the initial alignment completes. |\n\n## License\n\nLicensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.\n\nCopyright 2026 Enactic, Inc.\n\n## Code of Conduct\n\nAll participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenactic%2Fdora-openarm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fdora-openarm/lists"}