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dora/examples/aloha/graphs/gym.yml

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  1. nodes:

  2.   - id: aloha-client

  3.     custom:

  4.       source: cargo

  5.       args: run -p aloha-client --release

  6.       inputs:

  7.         puppet_goal_position: dora-gym/action

  8.         tick: dora/timer/millis/33

  9.       outputs:

  10.         - puppet_position

  11. 

  12.   - id: plot

  13.     custom:

  14.       source: ../nodes/plot_node.py

  15.       inputs:

  16.         image: cam_left_wrist/image

  17.       envs:

  18.         IMAGE_WIDTH: 640

  19.         IMAGE_HEIGHT: 480

  20. 

  21.   - id: cam_left_wrist

  22.     custom:

  23.       source: ../nodes/webcam.py

  24.       inputs:

  25.         tick: dora/timer/millis/33

  26.       outputs:

  27.         - image

  28.       envs:

  29.         CAMERA_ID: 2

  30. 

  31.   - id: dora-gym

  32.     custom:

  33.       source: ../nodes/gym_dora_node.py

  34.       inputs:

  35.         agent_pos: aloha-client/puppet_position

  36.         cam_left_wrist: cam_left_wrist/image

  37.       outputs:

  38.         - action