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dora/examples/piper/rdt_1b.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/100

  7.       joint_action: post_process_rdt_1b/jointstate_left

  8.     outputs:

  9.       - jointstate

  10.       - pose

  11.       - gripper

  12.     env:

  13.       CAN_BUS: can_left

  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/100

  20.       joint_action: post_process_rdt_1b/jointstate_right

  21.     outputs:

  22.       - jointstate

  23.       - pose

  24.       - gripper

  25.     env:

  26.       CAN_BUS: can_right

  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/100

  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/100

  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/100

  55.     outputs:

  56.       - image

  57.     env:

  58.       DEVICE_INDEX: 2

  59.       ENCODING: jpeg

  60.       # import opencv as cv

  61.       # [cv2.VideoCapture(i) for i in range(12)]

  62. 

  63.   - id: rerun

  64.     path: dora-rerun

  65.     inputs:

  66.       jointstate_piper_left: piper_left/jointstate

  67.       jointstate_piper_right: piper_right/jointstate

  68.       jointstate_piper_left_pred: post_process_rdt_1b/jointstate_left

  69.       jointstate_piper_right_pred: post_process_rdt_1b/jointstate_right

  70.       series_piper_left: piper_left/jointstate

  71.       series_piper_right: piper_right/jointstate

  72.       series_piper_left_pred: post_process_rdt_1b/jointstate_left

  73.       series_piper_right_pred: post_process_rdt_1b/jointstate_right

  74.       image_left: camera_left/image

  75.       image_center: camera_center/image

  76.       image_right: camera_right/image

  77.     env:

  78.       piper_left_urdf: piper_left.urdf

  79.       piper_right_urdf: piper_right.urdf

  80.       piper_left_transform: 0 0.2 0

  81.       piper_right_transform: 0 -0.2 0

  82.       piper_left_pred_urdf: piper_left_pred.urdf

  83.       piper_right_pred_urdf: piper_right_pred.urdf

  84.       piper_left_pred_transform: 0 0.2 0

  85.       piper_right_pred_transform: 0 -0.2 0

  86. 

  87.   - id: rdt_1b

  88.     path: dora-rdt-1b

  89.     inputs:

  90.       jointstate_left:

  91.         source: piper_left/jointstate

  92.         queue_size: 1

  93.       jointstate_right:

  94.         source: piper_right/jointstate

  95.         queue_size: 1

  96.       image_left:

  97.         source: camera_left/image

  98.         queue_size: 1

  99.       image_center:

  100.         source: camera_center/image

  101.         queue_size: 1

  102.       image_right:

  103.         source: camera_right/image

  104.         queue_size: 1

  105.       tick:

  106.         source: dora/timer/secs/2

  107.         queue_size: 1

  108.     outputs:

  109.       - action

  110.     env:

  111.       ROBOTIC_MODEL_NAME_OR_PATH: checkpoints/checkpoint-4400

  112.       LANGUAGE_EMBEDDING_PATH: lang_embed.pt

  113. 

  114.   - id: post_process_rdt_1b

  115.     path: post_process_action.py

  116.     inputs:

  117.       action: rdt_1b/action

  118.     outputs:

  119.       - jointstate_left

  120.       - jointstate_right