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dora/examples/isaacsim-sim/dataflow.yml

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  1. nodes:

  2.   - id: dora-isaacsim

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

  4.     path: ../../node-hub/dora-isaacsim/dora_isaacsim/main.py

  5.     env:

  6.       # substitute to your own "<path of isaacsim>/python.sh"

  7.       ISAAC_PYTHON_PATH: "/home/lv/isaacsim/python.sh"

  8.       CONFIG_NAME: "stack_cube_act"

  9.     inputs:

  10.       request_camera: dora-act/request_camera

  11.       request_joint_pos: dora-act/request_joint_pos

  12.       action: dora-act/action

  13.     outputs:

  14.       - camera

  15.       - joint_pos

  16.   

  17.   - id: dora-act

  18.     build: pip install -e ../../node-hub/dora-act

  19.     path: ../../node-hub/dora-act/dora_act/main.py

  20.     args: 

  21.       --task_name stack_cube

  22.       --ckpt_dir ../../dora-act/dora_act/assets/ckpt/

  23.       --policy_class ACT

  24.       --kl_weight 10

  25.       --chunk_size 20

  26.       --hidden_dim 512

  27.       --batch_size 8

  28.       --dim_feedforward 3200

  29.       --num_epochs 2000

  30.       --lr 1e-5

  31.       --seed 0

  32.       --temporal_agg

  33.       # --eval

  34.     inputs: 

  35.       camera: dora-isaacsim/camera

  36.       joint_pos: dora-isaacsim/joint_pos

  37.     outputs:

  38.       - request_camera

  39.       - request_joint_pos

  40.       - action

  41.     env:

  42.       SCENARIO: sim