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- nodes:
- - id: laptop_cam
- build: pip install opencv-video-capture
- path: opencv-video-capture
- inputs:
- tick: dora/timer/millis/33
- outputs:
- - image
- env:
- CAPTURE_PATH: "0"
- ENCODING: "rgb8"
- IMAGE_WIDTH: "640"
- IMAGE_HEIGHT: "480"
-
- - id: front_cam
- build: pip install opencv-video-capture
- path: opencv-video-capture
- inputs:
- tick: dora/timer/millis/33
- outputs:
- - image
- env:
- CAPTURE_PATH: "1"
- ENCODING: "rgb8"
- IMAGE_WIDTH: "640"
- IMAGE_HEIGHT: "480"
-
- - id: so101
- build: pip install -e ../../node-hub/dora-rustypot
- path: dora-rustypot
- inputs:
- tick: dora/timer/millis/10
- pose: leader_interface/pose
- outputs:
- - pose
- env:
- PORT: "/dev/ttyACM1"
- IDS: "1,2,3,4,5,6"
-
- - id: leader_interface
- path: dora-rustypot
- build: pip install -e ../../node-hub/dora-rustypot
- inputs:
- tick: dora/timer/millis/10
- outputs:
- - pose
- env:
- PORT: "/dev/ttyACM0"
- IDS: "1,2,3,4,5,6"
-
- - id: dataset_recorder
- build: pip install -e ../../node-hub/dora-dataset-record
- path: dora-dataset-record
- inputs:
- laptop: laptop_cam/image
- front: front_cam/image
- robot_state: so101/pose
- robot_action: leader_interface/pose
- outputs:
- - text
- env:
- REPO_ID: "HF_username/Name_your_dataset"
- SINGLE_TASK: "Pick up the cube and place it in the box"
- ROBOT_TYPE: "so101_follower" # e.g., "koch", "franka", "ur5e" etc
-
- FPS: "30"
- TOTAL_EPISODES: "50"
- EPISODE_DURATION_S: "60"
- RESET_DURATION_S: "15"
-
- CAMERA_NAMES: "laptop, front"
- CAMERA_LAPTOP_RESOLUTION: "480,640,3"
- CAMERA_FRONT_RESOLUTION: "480,640,3"
- ROBOT_JOINTS: "shoulder_pan.pos,shoulder_lift.pos,elbow_flex.pos,wrist_flex.pos,wrist_roll.pos,gripper.pos"
-
- # ROOT_PATH: "path where you want to save the dataset" # if not set, will save to ~.cache/huggingface/lerobot
- USE_VIDEOS: "true"
- PUSH_TO_HUB: "false"
- PRIVATE: "false"
- TAGS: "robotics, manipulation"
-
- - id: plot
- build: pip install dora-rerun
- path: dora-rerun
- inputs:
- image_laptop: laptop_cam/image
- image_front: front_cam/image
- text: dataset_recorder/text
- jointstate_so101_new_calib: so101/pose
- env:
- so101_new_calib_urdf: "so_arm101_description"
- so101_new_calib_transform: "0. 0. 0. 1. 0. 0. 0."
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