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dora/examples/aloha/graphs/eval.yml

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  1. nodes:

  2.   - id: aloha-client

  3.     custom:

  4.       source: cargo

  5.       args: run --release -p aloha-client

  6.       inputs:

  7.         puppet_goal_position: eval/action

  8.         tick: dora/timer/millis/5

  9.       outputs:

  10.         - puppet_position

  11. 

  12.   - id: plot

  13.     custom:

  14.       source: ../nodes/plot_node.py

  15.       inputs:

  16.         image: cam_right_wrist/image

  17.         action: eval/action

  18.         puppet_position: aloha-client/puppet_position

  19.       envs:

  20.         IMAGE_WIDTH: 640

  21.         IMAGE_HEIGHT: 480

  22. 

  23.   - id: cam_left_wrist

  24.     custom:

  25.       source: ../nodes/webcam.py

  26.       inputs:

  27.         tick: dora/timer/millis/33

  28.       outputs:

  29.         - image

  30.       envs:

  31.         CAMERA_ID: 2

  32. 

  33.   - id: cam_right_wrist

  34.     custom:

  35.       source: ../nodes/webcam.py

  36.       inputs:

  37.         tick: dora/timer/millis/33

  38.       outputs:

  39.         - image

  40.       envs:

  41.         CAMERA_ID: 22

  42. 

  43.   - id: cam_low

  44.     custom:

  45.       source: ../nodes/webcam.py

  46.       inputs:

  47.         tick: dora/timer/millis/33

  48.       outputs:

  49.         - image

  50.       envs:

  51.         CAMERA_ID: 14

  52. 

  53.   - id: cam_high

  54.     custom:

  55.       source: ../nodes/webcam.py

  56.       inputs:

  57.         tick: dora/timer/millis/33

  58.       outputs:

  59.         - image

  60.       envs:

  61.         CAMERA_ID: 8

  62. 

  63.   - id: eval

  64.     custom:

  65.       source: python

  66.       args: /home/rcadene/dora_lerobot/dora_lerobot/scripts/eval.py -p cadene/aloha_act_no_state_aloha_v2_static_dora_test_wrist_gripper eval.n_episodes=1 eval.batch_size=1 env.episode_length=20000

  67.       inputs:

  68.         agent_pos: aloha-client/puppet_position

  69.         cam_left_wrist: cam_left_wrist/image

  70.         cam_right_wrist: cam_right_wrist/image

  71.         cam_low: cam_low/image

  72.         cam_high: cam_high/image

  73.       outputs:

  74.         - action

  75. 

  76.   - id: keyboard

  77.     custom:

  78.       source: ../nodes/keyboard_node.py

  79.       inputs:

  80.         heartbeat: dora/timer/millis/20

  81.       outputs:

  82.         - space

  83.         - failed

  84. 

  85.   - id: cam_saver_left_wrist

  86.     custom:

  87.       source: ../nodes/lerobot_webcam_saver.py

  88.       inputs:

  89.         image: cam_left_wrist/image

  90.         record_episode: keyboard/space

  91.       outputs:

  92.         - saved_image

  93.       envs:

  94.         CAMERA_NAME: observation.images.cam_left_wrist

  95. 

  96.   - id: cam_saver_right_wrist

  97.     custom:

  98.       source: ../nodes/lerobot_webcam_saver.py

  99.       inputs:

  100.         image: cam_right_wrist/image

  101.         record_episode: keyboard/space

  102.       outputs:

  103.         - saved_image

  104.       envs:

  105.         CAMERA_NAME: observation.images.cam_right_wrist

  106. 

  107.   - id: cam_saver_low

  108.     custom:

  109.       source: ../nodes/lerobot_webcam_saver.py

  110.       inputs:

  111.         image: cam_low/image

  112.         record_episode: keyboard/space

  113.       outputs:

  114.         - saved_image

  115.       envs:

  116.         CAMERA_NAME: observation.images.cam_low

  117. 

  118.   - id: cam_saver_high

  119.     custom:

  120.       source: ../nodes/lerobot_webcam_saver.py

  121.       inputs:

  122.         image: cam_high/image

  123.         record_episode: keyboard/space

  124.       outputs:

  125.         - saved_image

  126.       envs:

  127.         CAMERA_NAME: observation.images.cam_high

  128. 

  129.   - id: dora-record

  130.     custom:

  131.       build: cargo install --git https://github.com/dora-rs/dora dora-record

  132.       source: dora-record

  133.       inputs:

  134.         action: eval/action

  135.         observation.state: aloha-client/puppet_position

  136.         episode_index: keyboard/space

  137.         failed_episode_index: keyboard/failed

  138.         observation.images.cam_left_wrist: cam_saver_left_wrist/saved_image

  139.         observation.images.cam_right_wrist: cam_saver_right_wrist/saved_image

  140.         observation.images.cam_low: cam_saver_low/saved_image

  141.         observation.images.cam_high: cam_saver_high/saved_image