dora-openarm-webxr/example/dataflow_mujoco_camera_stereo.yaml at main · enactic/dora-openarm-webxr · GitHub

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# 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 dora-openarm-data-collection-ui
    path: dora-openarm-data-collection-ui
    env:
      METADATA_FILE: "metadata_mujoco.yaml"
    inputs:
      tick: dora/timer/secs/1
      button_a:
        source: quittable-webxr/button_a
        queue_size: 100
      button_b:
        source: quittable-webxr/button_b
        queue_size: 100
      vr_receive_times:
        source: quittable-webxr/vr_receive_times
        queue_size: 100
    outputs:
      - command

  - id: webxr
    build: pip install -e ..
    path: dora-openarm-webxr
    env:
      TLS_CERTIFICATE_FILE: "server.crt"
      TLS_KEY_FILE: "server.key"
      # Locks one image per eye to the head.
      VIEW_CONFIGURATION_FILE: "view_camera_stereo.yaml"
    inputs:
      # Keeps the view on the newest frame. Without it, frames the VR
      # device cannot keep up with queue and latency grows.
      camera_head_right:
        source: mujoco/camera_head_right
        queue_size: 1
      # Only used by the stereo view. Swap the two sources if your
      # openarm_mujoco build still has the head cameras flipped.
      camera_head_left:
        source: mujoco/camera_head_left
        queue_size: 1
    outputs:
      - pose_right
      - trigger_right
      - pose_left
      - trigger_left
      - grip_right
      - grip_left
      - joystick_x_right
      - joystick_y_right
      - joystick_x_left
      - joystick_y_left
      - button_a
      - button_b
      - button_x
      - button_y
      - status
      - vr_receive_times
      - pose_reference

  - id: quittable-webxr
    build: pip install dora-openarm-quitter
    path: dora-openarm-quitter
    inputs:
      command: ui/command
      pose_right: webxr/pose_right
      trigger_right: webxr/trigger_right
      pose_left: webxr/pose_left
      trigger_left: webxr/trigger_left
      grip_right: webxr/grip_right
      grip_left: webxr/grip_left
      joystick_x_right: webxr/joystick_x_right
      joystick_y_right: webxr/joystick_y_right
      joystick_x_left: webxr/joystick_x_left
      joystick_y_left: webxr/joystick_y_left
      button_a: webxr/button_a
      button_b: webxr/button_b
      button_x: webxr/button_x
      button_y: webxr/button_y
      status: webxr/status
      vr_receive_times: webxr/vr_receive_times
      pose_reference: webxr/pose_reference
    outputs:
      - pose_right
      - trigger_right
      - pose_left
      - trigger_left
      - grip_right
      - grip_left
      - joystick_x_right
      - joystick_y_right
      - joystick_x_left
      - joystick_y_left
      - button_a
      - button_b
      - button_x
      - button_y
      - status
      - vr_receive_times
      - pose_reference

  - id: ik
    build: pip install dora-openarm-kinematics
    path: dora-openarm-ik
    args: "--mode bimanual --max-iters 10 --dt 0.1 --damping 0.1 --posture-cost 0.01 --lm-damping 0.01"
    inputs:
      target_right: quittable-webxr/pose_right
      target_left: quittable-webxr/pose_left
      trigger_right: quittable-webxr/trigger_right
      trigger_left: quittable-webxr/trigger_left
    outputs:
      - position_left
      - position_right
      - status

  - id: mujoco
    build: pip install dora-openarm-mujoco
    path: dora-openarm-mujoco
    args: "--scene demo --keyframe home --enable-collision --ctrl --viewer --render --debug-frames"
    # env:
    #   DISPLAY: ":1" # needed when running headless with Xvfb
    inputs:
      position_right: ik/position_right
      position_left: ik/position_left
      pose_right: quittable-webxr/pose_right
      pose_left: quittable-webxr/pose_left
      joystick_y: quittable-webxr/joystick_y_left
      button_x: quittable-webxr/button_x
    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 dora-openarm-dataset-recorder
    path: dora-openarm-dataset-recorder
    env:
      METADATA_FILE: "metadata_mujoco.yaml"
      DIRECTORY: "dataset_mujoco"
    inputs:
      command: ui/command
      arm_right_action: ik/position_right
      arm_right_observation: mujoco/arm_right_observation
      arm_left_action: ik/position_left
      arm_left_observation: mujoco/arm_left_observation
      camera_wrist_right: mujoco/camera_wrist_right
      camera_wrist_left: mujoco/camera_wrist_left
      camera_head_left: mujoco/camera_head_left
      camera_head_right: mujoco/camera_head_right
      camera_ceiling: mujoco/camera_ceiling