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dora/examples/reachy1/graphs/eval.yml

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  1. nodes:

  2.   - id: reachy-client

  3.     custom:

  4.       source: ../nodes/reachy_client.py

  5.       inputs:

  6.         action: eval/action

  7.         tick: dora/timer/millis/33

  8.       outputs:

  9.         - agent_pos

  10. 

  11.   - id: reachy-vision-client

  12.     custom:

  13.       source: ../nodes/reachy_vision_client.py

  14.       args: ../nodes/reachy_vision_client.py

  15.       inputs:

  16.         tick: dora/timer/millis/33

  17.       outputs:

  18.         - cam_trunk

  19. 

  20.   - id: eval

  21.     custom:

  22.       source: /home/antoine/Pollen/dora_lerobot/dora_lerobot/scripts/eval.py

  23.       args: -p cadene/2024_06_06_act_reachy2_mobile_base_3_060000 eval.n_episodes=1 eval.batch_size=1 env.episode_length=20000 policy.n_action_steps=100

  24.       # source: ../nodes/gym_dora_node.py

  25.       inputs:

  26.         agent_pos: reachy-client/agent_pos

  27.         cam_trunk: reachy-vision-client/cam_trunk

  28.       outputs:

  29.         - action

  30. 

  31.   - id: plot

  32.     custom:

  33.       source: ../nodes/plot_node.py

  34.       inputs:

  35.         image: reachy-vision-client/cam_trunk

  36.         position: reachy-client/agent_pos

  37.         text_action: eval/action

  38.       envs:

  39.         IMAGE_WIDTH: 1280

  40.         IMAGE_HEIGHT: 800

  41. 

  42.   - id: lerobot-record

  43.     custom:

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

  45.       source: dora-record

  46.       inputs:

  47.         observation.state: reachy-client/agent_pos

  48.         action: eval/action

  49.         observation.images.cam_trunk: cam_saver_trunk/saved_image

  50.         episode_index: keyboard/space

  51. 

  52.   - id: cam_saver_trunk

  53.     custom:

  54.       source: ../nodes/lerobot_webcam_saver.py

  55.       inputs:

  56.         image: reachy-vision-client/cam_trunk

  57.         record_episode: keyboard/space

  58.       outputs:

  59.         - saved_image

  60.       envs:

  61.         CAMERA_NAME: observation.images.cam_trunk

  62. 

  63.   - id: keyboard

  64.     custom:

  65.       source: ../nodes/keyboard_node.py

  66.       inputs:

  67.         heartbeat: dora/timer/millis/20

  68.       outputs:

  69.         - space

  70.         - failed

  71. 

  72. 

  73. 

  74. --- 

  75. 

  76. - [ ] Add support for EoF action space recording and action

  77. - [ ] Add support for tokenized action

  78. - [ ] Add support for multiple images, videos, ...

  79. - [ ] Add support for multiple actions

  80. - [ ] Add support for multiple observations