Add simple manual mode script and uv lock

README_ZH.md

@@ -157,7 +157,17 @@ uf-robot-teleop --config_path path/to/config.yaml --fps 60  # 指定频率
 uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 ```
 
-### 2. 数据采集
+### 2. xArm 人工拖拽模式测试
+
+使用 xArm 的关节示教模式（`mode=2`）进行人工拖拽：
+
+```bash
+uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
+```
+
+配置中的 `manual_mode` 为 `true` 时进入拖拽模式，按回车后恢复为普通模式；设置为 `false` 可直接恢复为普通模式。
+
+### 3. 数据采集
 
 通过遥操作录制数据集。
 
@@ -170,7 +180,7 @@ uf-lerobot-record --config_path path/to/config.yaml --resume true     # 续录
 uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
 ```
 
-### 3. Lerobot训练
+### 4. Lerobot训练
 
 采集数据后，使用 LeRobot 训练管道进行模仿学习训练。
 
@@ -198,7 +208,7 @@ lerobot-train \
   --save_freq=20000 
 ```
 
-### 4. 推理
+### 5. 推理
 
 指定模型进行推理
 
@@ -312,4 +322,3 @@ lerobot_robot_ufactory/
 ## 许可证
 
 本项目基于 Apache License 2.0 发布，详见 [LICENSE](LICENSE) 文件。
-

config/gello/xarm5_gello_record_config.yaml

@@ -3,7 +3,7 @@ robot:
   id: "uf_robot"
   robot_dof: 5
   control_space: "joint"
-  robot_ip: "192.168.1.75"
+  robot_ip: "192.168.1.245"
   gripper_type: 1
   start_joints: [0, 0, -90, 90, 0]
 

config/gello/xarm6_gello_record_config.yaml

@@ -3,7 +3,7 @@ robot:
   id: "uf_robot"
   robot_dof: 6
   control_space: "joint"
-  robot_ip: "192.168.1.68"
+  robot_ip: "192.168.1.245"
   gripper_type: 1
   start_joints: [0, 0, -90, 0, 90, 0]
 

config/gello/xarm7_gello_record_config.yaml

@@ -3,7 +3,7 @@ robot:
   id: "uf_robot"
   robot_dof: 7
   control_space: "joint"
-  robot_ip: "192.168.1.85"
+  robot_ip: "192.168.1.245"
   gripper_type: 1
   start_joints: [0, 0, 0, 90, 0, 90, 0]
 

config/manual_mode/xarm_manual_mode_config.yaml

@@ -0,0 +1,8 @@
+# xArm manual/joint teaching mode test configuration.
+robot_ip: "192.168.1.245"
+
+# true: enter mode 2 and wait for Enter; false: restore mode 0.
+manual_mode: true
+
+# xArm teach sensitivity, valid range: 1-5.
+teach_sensitivity: 3

pyproject.toml

@@ -34,6 +34,7 @@ dependencies = [
 [project.scripts]
 uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
 uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
+uf-xarm-manual-mode = "lerobot_robot_ufactory.scripts.uf_xarm_manual_mode:main"
 uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
 uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
 uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"

src/lerobot_robot_ufactory/scripts/uf_xarm_manual_mode.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+from dataclasses import dataclass
+
+import lerobot_robot_ufactory  # noqa: F401  # register UFACTORY plugins
+from xarm.wrapper import XArmAPI
+from lerobot_robot_ufactory.configs import parser as config_parser
+
+
+@dataclass
+class ManualModeConfig:
+    robot_ip: str = "192.168.1.127"
+    manual_mode: bool = True
+    teach_sensitivity: int | None = 3
+
+
+@config_parser.wrap()
+def get_cfg(cfg: ManualModeConfig) -> ManualModeConfig:
+    return cfg
+
+
+def run(cfg: ManualModeConfig):
+    if cfg.teach_sensitivity is not None and not 1 <= cfg.teach_sensitivity <= 5:
+        raise ValueError("teach_sensitivity must be between 1 and 5")
+
+    arm = XArmAPI(cfg.robot_ip)
+    try:
+        if not arm.connected:
+            raise ConnectionError(f"Failed to connect to xArm at {cfg.robot_ip}")
+
+        arm.motion_enable(enable=True)
+        arm.clean_error()
+        arm.set_mode(0)
+        arm.set_state(0)
+
+        if cfg.manual_mode:
+            if cfg.teach_sensitivity is not None:
+                code = arm.set_teach_sensitivity(cfg.teach_sensitivity)
+                if code != 0:
+                    raise RuntimeError(f"set_teach_sensitivity failed, code={code}")
+
+            code = arm.set_mode(2)
+            if code != 0:
+                raise RuntimeError(f"set_mode(2) failed, code={code}")
+            code = arm.set_state(0)
+            if code != 0:
+                raise RuntimeError(f"set_state(0) failed, code={code}")
+
+            print("Joint teaching mode enabled. Drag the arm manually.")
+            input("Press Enter to disable mode 2... ")
+        else:
+            code = arm.set_mode(0)
+            if code != 0:
+                raise RuntimeError(f"set_mode(0) failed, code={code}")
+            code = arm.set_state(0)
+            if code != 0:
+                raise RuntimeError(f"set_state(0) failed, code={code}")
+            print("Joint teaching mode disabled.")
+    finally:
+        if arm.connected:
+            # Always leave the robot in normal position-control mode.
+            arm.set_mode(0)
+            arm.set_state(0)
+            arm.disconnect()
+
+
+def main():
+    cli_parser = argparse.ArgumentParser(description="Control xArm joint teaching mode from YAML")
+    _, unknown = cli_parser.parse_known_args()
+    sys.argv = [sys.argv[0]] + unknown
+    cfg = get_cfg()
+    run(cfg)
+
+
+if __name__ == "__main__":
+    main()