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dora/examples/lerobot-dataset-record/dataflow.yml

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  1. nodes:

  2.   - id: laptop_cam

  3.     build: pip install opencv-video-capture

  4.     path: opencv-video-capture

  5.     inputs:

  6.       tick: dora/timer/millis/33

  7.     outputs:

  8.       - image

  9.     env:

  10.       CAPTURE_PATH: "0"

  11.       ENCODING: "rgb8"

  12.       IMAGE_WIDTH: "640"

  13.       IMAGE_HEIGHT: "480"

  14. 

  15.   - id: front_cam

  16.     build: pip install opencv-video-capture

  17.     path: opencv-video-capture

  18.     inputs:

  19.       tick: dora/timer/millis/33

  20.     outputs:

  21.       - image

  22.     env:

  23.       CAPTURE_PATH: "2"

  24.       ENCODING: "rgb8"

  25.       IMAGE_WIDTH: "640"

  26.       IMAGE_HEIGHT: "480"

  27. 

  28.   - id: so101

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

  30.     path: dora-rustypot

  31.     inputs:

  32.       tick: dora/timer/millis/10

  33.       pose: leader_interface/pose

  34.     outputs:

  35.       - pose

  36.     env:

  37.       PORT: "/dev/ttyACM1"

  38.       IDS: "1,2,3,4,5,6"

  39. 

  40.   - id: leader_interface

  41.     path: dora-rustypot

  42.     build: pip install -e ../../node-hub/dora-rustypot

  43.     inputs:

  44.       tick: dora/timer/millis/10

  45.     outputs:

  46.       - pose

  47.     env:

  48.       PORT: "/dev/ttyACM0"

  49.       IDS: "1,2,3,4,5,6"

  50. 

  51.   - id: lerobot_recorder

  52.     build: pip install -e ../../node-hub/dora-dataset-record

  53.     path: dora-dataset-record

  54.     inputs:

  55.       laptop: laptop_cam/image

  56.       front: front_cam/image

  57.       robot_state: so101/pose

  58.       robot_action: leader_interface/pose

  59.     outputs:

  60.       - text

  61.     env:

  62.       REPO_ID: "HF_username/name_of_dataset"

  63.       SINGLE_TASK: "Pick up the cube and place it in the box"

  64.       ROBOT_TYPE: "your robot type" # e.g., "so101_follower", "ur5e" etc

  65. 

  66.       FPS: "30"

  67.       TOTAL_EPISODES: "5"

  68.       EPISODE_DURATION_S: "60"

  69.       RESET_DURATION_S: "15"

  70.       

  71.       CAMERA_NAMES: "laptop, front"

  72.       CAMERA_LAPTOP_RESOLUTION: "480,640,3"

  73.       CAMERA_FRONT_RESOLUTION: "480,640,3"

  74.       ROBOT_JOINTS: "shoulder_pan.pos,shoulder_lift.pos,elbow_flex.pos,wrist_flex.pos,wrist_roll.pos,gripper.pos"

  75. 

  76.       # ROOT_PATH: "path where you want to save the dataset" # if not set, will save to ~.cache/huggingface/lerobot

  77.       USE_VIDEOS: "true"

  78.       PUSH_TO_HUB: "false"

  79.       PRIVATE: "false"

  80.       TAGS: "robotics, manipulation"

  81. 

  82.   - id: plot

  83.     build: pip install dora-rerun

  84.     path: dora-rerun

  85.     inputs:

  86.       image_laptop: laptop_cam/image

  87.       image_front: front_cam/image

  88.       text: lerobot_recorder/text