dora-parquet-recorder 0.5.0

A generic, zero-copy data recorder for dora.

dora-dataset-record

Node for recording robot datasets in LeRobot format. You can captures synchronized camera feeds and robot poses to create high-quality datasets for imitation learning and robot training.

• Robot pose recording - Capture both state and action data
• Multi-camera support - Record from multiple cameras simultaneously
• LeRobot dataset format (v2.1) - Direct integration with HuggingFace LeRobot datasets
• Episode management - Automatic episode segmentation with reset phases

Quick Start

1. Installation

# Source your venv
cd dora/node-hub/dora-dataset-record
uv pip install -e .

2. Usage Guide

Create a dataflow file, see examples/lerobot-dataset-record/dataset_record.yml:

nodes:
  # Dataset recorder
  - id: dataset_recorder
    build: pip install -e ../../dora-dataset-record
    path: dora-dataset-record
    inputs:
      laptop: laptop_cam/image
      front: front_cam/image
      robot_state: robot_follower/pose
      robot_action: leader_interface/pose
    outputs:
      - text
    env:
      # Required settings
      REPO_ID: "your_username/your_dataset_name"
      SINGLE_TASK: "Pick up the cube and place it in the box"
      ROBOT_TYPE: "your_robot_type"

      # Recording settings
      FPS: "30"
      TOTAL_EPISODES: "50"
      EPISODE_DURATION_S: "60"
      RESET_DURATION_S: "15"

      # Camera configuration
      CAMERA_NAMES: "laptop,front"
      CAMERA_LAPTOP_RESOLUTION: "480,640,3"
      CAMERA_FRONT_RESOLUTION: "480,640,3"

      # Robot configuration
      ROBOT_JOINTS: "joint1,joint2,joint3,joint4,joint5,gripper"

      # Optional settings
      USE_VIDEOS: "true"
      SAVE_AVIF_FRAMES: "true" # This will additionally save frames
      PUSH_TO_HUB: "false"
      PRIVATE: "false"
      TAGS: "robotics,manipulation,imitation_learning"

  # Visualization with rerun
  - id: plot
    build: pip install dora-rerun
    path: dora-rerun
    inputs:
      text: dataset_recorder/text

3. Start Recording the dataset

dora build dataset_record.yml
dora run dataset_record.yml

The node will send instructions on dora-rerun, about episode starting, reset time, Saving episodes etc.

Configuration

Required Environment Variables

Variable	Description	Example
REPO_ID	HuggingFace dataset repo	"username/dataset_name"
SINGLE_TASK	Task description	"Pick and place objects"
CAMERA_NAMES	Comma-separated camera names	"laptop,front,top"
CAMERA_*_RESOLUTION	Resolution for each camera	"480,640,3"
ROBOT_JOINTS	Comma-separated joint names	"joint1,joint2,gripper"

Optional Settings

Variable	Default	Description
FPS	30	Recording frame rate (match camera fps)
TOTAL_EPISODES	10	Number of episodes to record
EPISODE_DURATION_S	60	Episode length in seconds
RESET_DURATION_S	15	Break between episodes to reset the environment
USE_VIDEOS	true	Encode as MP4 videos, else saves images
PUSH_TO_HUB	false	Upload to HuggingFace Hub
PRIVATE	false	Make dataset private
ROOT_PATH	~/.cache/huggingface/lerobot/your_repo_id	Local storage path where you want to save the dataset

License

This project is released under the MIT License.