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dora/examples/piper/record.yml

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  1. nodes:

  2.   - id: piper_left

  3.     build: pip install -e ../../node-hub/dora-piper

  4.     path: dora-piper

  5.     inputs:

  6.       tick: dora/timer/millis/40

  7.     outputs:

  8.       - jointstate

  9.       - pose

  10.       - gripper

  11.     env:

  12.       CAN_BUS: can_left

  13.       TEACH_MODE: True

  14. 

  15.   - id: piper_right

  16.     build: pip install -e ../../node-hub/dora-piper

  17.     path: dora-piper

  18.     inputs:

  19.       tick: dora/timer/millis/40

  20.     outputs:

  21.       - jointstate

  22.       - pose

  23.       - gripper

  24.     env:

  25.       CAN_BUS: can_right

  26.       TEACH_MODE: True

  27. 

  28.   - id: camera_left

  29.     build: pip install -e ../../node-hub/dora-pyorbbecksdk

  30.     path: dora-pyorbbecksdk

  31.     inputs:

  32.       tick: dora/timer/millis/40

  33.     outputs:

  34.       - image

  35.     env:

  36.       DEVICE_INDEX: 0

  37.       ENCODING: jpeg

  38. 

  39.   - id: camera_center

  40.     build: pip install -e ../../node-hub/dora-pyorbbecksdk

  41.     path: dora-pyorbbecksdk

  42.     inputs:

  43.       tick: dora/timer/millis/40

  44.     outputs:

  45.       - image

  46.     env:

  47.       DEVICE_INDEX: 1

  48.       ENCODING: jpeg

  49. 

  50.   - id: camera_right

  51.     build: pip install -e ../../node-hub/dora-pyorbbecksdk

  52.     path: dora-pyorbbecksdk

  53.     inputs:

  54.       tick: dora/timer/millis/40

  55.     outputs:

  56.       - image

  57.     env:

  58.       DEVICE_INDEX: 2

  59.       ENCODING: jpeg

  60. 

  61.   - id: rerun

  62.     path: dora-rerun

  63.     build: |

  64.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/base_link.STL

  65.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link1.STL

  66.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link2.STL

  67.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link3.STL

  68.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link4.STL

  69.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link5.STL

  70.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link6.STL

  71.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link7.STL

  72.       proxychains wget -nc https://raw.githubusercontent.com/agilexrobotics/Piper_ros/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes/link8.STL

  73.       pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git

  74.       pip install dora-rerun

  75.     inputs:

  76.       jointstate_piper_left: piper_left/jointstate

  77.       jointstate_piper_right: piper_right/jointstate

  78.       image_left: camera_left/image

  79.       image_center: camera_center/image

  80.       image_right: camera_right/image

  81.     env:

  82.       piper_left_urdf: piper_left.urdf

  83.       piper_right_urdf: piper_right.urdf

  84.       piper_left_transform: 0 0.2 0

  85.       piper_right_transform: 0 -0.2 0

  86. 

  87.   - id: keyboard

  88.     build: pip install dora-keyboard

  89.     path: dora-keyboard

  90.     inputs:

  91.       tick: dora/timer/millis/1000

  92.     outputs:

  93.       - char

  94.     env:

  95.       DISPLAY: :0

  96. 

  97.   - id: recorder

  98.     path: record.py

  99.     inputs:

  100.       /observations/qpos_left:

  101.         source: piper_left/jointstate

  102.       /observations/qpos_right:

  103.         source: piper_right/jointstate

  104.       /observations/pose_left:

  105.         source: piper_left/pose

  106.       /observations/pose_right:

  107.         source: piper_right/pose

  108.       /observations/images/cam_left_wrist:

  109.         source: camera_left/image

  110.       /observations/images/cam_high:

  111.         source: camera_center/image

  112.       /observations/images/cam_right_wrist:

  113.         source: camera_right/image

  114.       save: keyboard/char