dora-openarm-mujoco/dataflow-dummy.yaml at main · enactic/dora-openarm-mujoco · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
# Copyright 2026 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

nodes:
  - id: ui
    build: pip install git+https://github.com/enactic/dora-openarm-data-collection-ui
    # build: pip install dora-openarm-data-collection-ui
    path: dora-openarm-data-collection-ui
    env:
      METADATA_FILE: "metadata.yaml"
    inputs:
      # We need at least one input to keep this node alive.
      tick: dora/timer/secs/1
    outputs:
      - command

  - id: quittable-tick-leader
    build: pip install git+https://github.com/enactic/dora-openarm-quitter
    # build: pip install dora-openarm-quitter
    path: dora-openarm-quitter
    inputs:
      command: ui/command
      # 250Hz
      tick: dora/timer/millis/4
    outputs:
      - tick

  - id: leader
    build: pip install git+https://github.com/enactic/dora-openarm-dummy-ker
    path: dora-openarm-dummy-ker
    inputs:
      tick: quittable-tick-leader/tick
    outputs:
      - position_right
      - position_left
      - follower_position_right
      - follower_position_left
      - joystick_x
      - joystick_y
      - joystick_button

  # ── MuJoCo (replaces follower-right, follower-left, and all cameras) ──────────
  - id: openarm-mujoco
    build: pip install -e .
    path: dora-openarm-mujoco
    args: "--keyframe home --render --viewer"
    inputs:
      position_right: leader/follower_position_right
      position_left:  leader/follower_position_left
    outputs:
      - status
      - arm_right_observation
      - arm_left_observation
      - camera_wrist_right
      - camera_wrist_left
      - camera_head_left
      - camera_head_right
      - camera_ceiling

  - id: recorder
    build: pip install git+https://github.com/enactic/dora-openarm-dataset-recorder
    # build: pip install dora-openarm-dataset-recorder
    path: dora-openarm-dataset-recorder
    env:
      METADATA_FILE: "metadata.yaml"
    inputs:
      command:               ui/command
      arm_right_action:      leader/follower_position_right
      arm_right_observation: openarm-mujoco/arm_right_observation
      camera_wrist_right:    openarm-mujoco/camera_wrist_right
      arm_left_action:       leader/follower_position_left
      arm_left_observation:  openarm-mujoco/arm_left_observation
      camera_wrist_left:     openarm-mujoco/camera_wrist_left
      camera_head_left:      openarm-mujoco/camera_head_left
      camera_head_right:     openarm-mujoco/camera_head_right
      camera_ceiling:        openarm-mujoco/camera_ceiling