dora-dataset-record

Node for recording robot datasets in LeRobot format. You can captures synchronized camera feeds and robot poses to create high-quality datasets for imitation learning and robot training.

Robot pose recording - Capture both state and action data
Multi-camera support - Record from multiple cameras simultaneously
LeRobot dataset format (v2.1) - Direct integration with HuggingFace LeRobot datasets
Episode management - Automatic episode segmentation with reset phases

Quick Start

1. Installation

# Source your venv 
cd dora/node-hub/dora-dataset-record
uv pip install -e .

2. Usage Guide

Create a dataflow file, see examples/lerobot-dataset-record/dataset_record.yml:

nodes:
  # Dataset recorder
  - 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: robot_follower/pose
      robot_action: leader_interface/pose
    outputs:
      - text
    env:
      # Required settings
      REPO_ID: "your_username/your_dataset_name"
      SINGLE_TASK: "Pick up the cube and place it in the box"
      ROBOT_TYPE: "your_robot_type"
      
      # Recording settings
      FPS: "30"
      TOTAL_EPISODES: "50" 
      EPISODE_DURATION_S: "60"
      RESET_DURATION_S: "15"
      
      # Camera configuration
      CAMERA_NAMES: "laptop,front"
      CAMERA_LAPTOP_RESOLUTION: "480,640,3"
      CAMERA_FRONT_RESOLUTION: "480,640,3"
      
      # Robot configuration
      ROBOT_JOINTS: "joint1,joint2,joint3,joint4,joint5,gripper"
      
      # Optional settings
      USE_VIDEOS: "true"
      SAVE_AVIF_FRAMES: "true" # This will additionally save frames
      PUSH_TO_HUB: "false" 
      PRIVATE: "false"
      TAGS: "robotics,manipulation,imitation_learning"

  # Visualization with rerun
  - id: plot
    build: pip install dora-rerun
    path: dora-rerun
    inputs:
      text: dataset_recorder/text

3. Start Recording the dataset

dora build dataset_record.yml
dora run dataset_record.yml

The node will send instructions on dora-rerun, about episode starting, reset time, Saving episodes etc.

Configuration

Required Environment Variables

Variable	Description	Example
`REPO_ID`	HuggingFace dataset repo	`"username/dataset_name"`
`SINGLE_TASK`	Task description	`"Pick and place objects"`
`CAMERA_NAMES`	Comma-separated camera names	`"laptop,front,top"`
`CAMERA_*_RESOLUTION`	Resolution for each camera	`"480,640,3"`
`ROBOT_JOINTS`	Comma-separated joint names	`"joint1,joint2,gripper"`

Optional Settings

Variable	Default	Description
`FPS`	`30`	Recording frame rate (match camera fps)
`TOTAL_EPISODES`	`10`	Number of episodes to record
`EPISODE_DURATION_S`	`60`	Episode length in seconds
`RESET_DURATION_S`	`15`	Break between episodes to reset the environment
`USE_VIDEOS`	`true`	Encode as MP4 videos, else saves images
`PUSH_TO_HUB`	`false`	Upload to HuggingFace Hub
`PRIVATE`	`false`	Make dataset private
`ROOT_PATH`	`~/.cache/huggingface/lerobot/your_repo_id`	Local storage path where you want to save the dataset

License

This project is released under the MIT License.

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