examples

Examples

Example applications built with the dora-moveit library.

Available Examples

Example	Robot	Description
move_group_demo	GEN72 7-DOF	ROS MoveIt-style API demo (named poses, joint goals, Cartesian paths, collision objects)
hunter_with_arm	Hunter SE + GEN72 7-DOF	Mobile robot with arm for multi-view inspection

Creating a New Example

Each example is a self-contained application that imports dora_moveit as a library.

Minimal structure

examples/
  my_robot/
    pyproject.toml              # depends on dora-moveit
    my_robot_demo/
      __init__.py
      config/
        __init__.py
        my_robot.py             # RobotConfig class (joints, limits, geometry)
      nodes/
        __init__.py
        planner.py              # thin wrapper: from dora_moveit.motion_planner... import main; main()
        ik_solver.py            # thin wrapper
        planning_scene.py       # thin wrapper
        trajectory_executor.py  # thin wrapper
        my_app_node.py          # your application logic
    models/                     # URDF, MuJoCo XML, meshes
    dataflows/                  # Dora dataflow YAMLs

Key steps

1. Define your robot config — create a class satisfying the RobotConfig protocol (see dora_moveit/dora_moveit/config.py):

   class MyRobotConfig:
       NUM_JOINTS = 6
       JOINT_LOWER_LIMITS = np.array([...])
       JOINT_UPPER_LIMITS = np.array([...])
       LINK_TRANSFORMS = [...]
       COLLISION_GEOMETRY = [...]
       HOME_CONFIG = np.array([...])
       SAFE_CONFIG = np.array([...])
       NAMED_POSES = {"home": np.array([...])}
       # ... see RobotConfig protocol for full list

2. Create thin wrapper scripts for library operators:

   # my_robot_demo/nodes/planner.py
   from dora_moveit.motion_planner.planner_ompl_with_collision_op import main
   main()

3. Set ROBOT_CONFIG_MODULE in your dataflow YAML:

   - id: planner
     path: ../my_robot_demo/nodes/planner.py
     env:
       ROBOT_CONFIG_MODULE: "my_robot_demo.config.my_robot"

4. Install and run:

   pip install -e dora_moveit/
   pip install -e examples/my_robot/
   cd examples/my_robot
   dora up && dora start dataflows/my_dataflow.yml

See hunter_with_arm for a complete working example.