From 6288ac7d7d64adc2e68bfc1a757dadce3b460c84 Mon Sep 17 00:00:00 2001 From: ChenYuhan <2514158309@qq.com> Date: Tue, 11 Aug 2026 17:16:40 +0800 Subject: [PATCH] Reduce GELLO latency and use relative dataset paths --- config/gello/xarm5_gello_record_config.yaml | 4 ++-- config/gello/xarm6_gello_record_config.yaml | 4 ++-- config/gello/xarm7_gello_record_config.yaml | 9 ++++++--- config/manual_mode/xarm7_manual_record_config.yaml | 5 ++--- config/pika/pika_record_config.yaml | 4 ++-- config/pika/xarm7_pika_record_config.yaml | 4 ++-- config/spacemouse/xarm7_spacemouse_record_config.yaml | 4 ++-- config/umi/dual_umi_record_config.yaml | 6 ++---- config/umi/dual_xarm6_umi_record_config.yaml | 5 ++--- config/umi/umi_record_config.yaml | 6 +++--- config/umi/xarm6_umi_record_config.yaml | 4 ++-- 11 files changed, 27 insertions(+), 28 deletions(-) diff --git a/config/gello/xarm5_gello_record_config.yaml b/config/gello/xarm5_gello_record_config.yaml index f1672b8..d5e17ed 100644 --- a/config/gello/xarm5_gello_record_config.yaml +++ b/config/gello/xarm5_gello_record_config.yaml @@ -16,8 +16,8 @@ teleop: gripper_id: 8 dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm5_gello_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm5_gello_datas" repo_id: "ufactory/xarm5_gello_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 30 diff --git a/config/gello/xarm6_gello_record_config.yaml b/config/gello/xarm6_gello_record_config.yaml index 5be9ddf..17dfc8c 100644 --- a/config/gello/xarm6_gello_record_config.yaml +++ b/config/gello/xarm6_gello_record_config.yaml @@ -16,8 +16,8 @@ teleop: gripper_id: 8 dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm6_gello_datas" repo_id: "ufactory/xarm6_gello_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 30 diff --git a/config/gello/xarm7_gello_record_config.yaml b/config/gello/xarm7_gello_record_config.yaml index 8feb30c..51458af 100644 --- a/config/gello/xarm7_gello_record_config.yaml +++ b/config/gello/xarm7_gello_record_config.yaml @@ -5,6 +5,9 @@ robot: control_space: "joint" robot_ip: "192.168.1.245" gripper_type: 1 + # Use the high-frequency servo interface for lower-latency GELLO tracking. + joint_command_mode: 1 + max_joint_velocity: 120 # Append gripper initialization/read/write failures here. gripper_error_log_path: "logs/xarm7_gripper_errors.log" # Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333 @@ -22,11 +25,11 @@ teleop: gripper_close_deg: 155.75 dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/user/projects/lerobot_xarm7/datasets" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm7_gello_datas" repo_id: "ufactory/xarm6_gello_datas" single_task: "Pick up the purple grape and drop into the box on the left." - fps: 30 + fps: 60 episode_time_s: 60 # max duration for one episode reset_time_s: 20 # time for resetting env between episodes push_to_hub: False diff --git a/config/manual_mode/xarm7_manual_record_config.yaml b/config/manual_mode/xarm7_manual_record_config.yaml index b3e3f05..a14f396 100644 --- a/config/manual_mode/xarm7_manual_record_config.yaml +++ b/config/manual_mode/xarm7_manual_record_config.yaml @@ -24,7 +24,8 @@ robot: fps: 30 dataset: - root: "/home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay_pick_bottle" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm7_manual_replay_pick_bottle" repo_id: "zjuscl/xarm7_manual_replay_pick_bottle" # Task description stored with each recorded frame. single_task: "Pick up the black bottle and place it on the blue bag" @@ -37,5 +38,3 @@ dataset: # Store camera observations as videos. video: true push_to_hub: false - - diff --git a/config/pika/pika_record_config.yaml b/config/pika/pika_record_config.yaml index de417b1..5df1e7a 100644 --- a/config/pika/pika_record_config.yaml +++ b/config/pika/pika_record_config.yaml @@ -24,8 +24,8 @@ teleop: robot_base_pose: [400, 0, 400, 180, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/pika_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/pika_datas" repo_id: "ufactory/pika_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 30 diff --git a/config/pika/xarm7_pika_record_config.yaml b/config/pika/xarm7_pika_record_config.yaml index 26eac37..380ae29 100644 --- a/config/pika/xarm7_pika_record_config.yaml +++ b/config/pika/xarm7_pika_record_config.yaml @@ -24,8 +24,8 @@ teleop: robot_base_pose: [400, 0, 400, 180, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pika_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm7_pika_datas" repo_id: "ufactory/xarm7_pika_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 30 diff --git a/config/spacemouse/xarm7_spacemouse_record_config.yaml b/config/spacemouse/xarm7_spacemouse_record_config.yaml index db2b2a8..0519ac9 100644 --- a/config/spacemouse/xarm7_spacemouse_record_config.yaml +++ b/config/spacemouse/xarm7_spacemouse_record_config.yaml @@ -27,8 +27,8 @@ teleop: use_gripper: False dataset: - # root: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pushT" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm7_pushT" repo_id: "ufactory/xarm7_pushT" single_task: "Push the T-block into the specified zone then go to reset position." fps: 10 diff --git a/config/umi/dual_umi_record_config.yaml b/config/umi/dual_umi_record_config.yaml index a43a9f4..792e05f 100644 --- a/config/umi/dual_umi_record_config.yaml +++ b/config/umi/dual_umi_record_config.yaml @@ -56,8 +56,8 @@ teleop: robot_base_pose: [400, 0, 150, 90, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_umi_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/dual_umi_datas" repo_id: "ufactory/dual_umi_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 60 @@ -65,5 +65,3 @@ dataset: reset_time_s: 20 # time for resetting env between episodes num_episodes: 100 push_to_hub: False - - diff --git a/config/umi/dual_xarm6_umi_record_config.yaml b/config/umi/dual_xarm6_umi_record_config.yaml index e21b87e..26987ac 100644 --- a/config/umi/dual_xarm6_umi_record_config.yaml +++ b/config/umi/dual_xarm6_umi_record_config.yaml @@ -61,8 +61,8 @@ teleop: robot_base_pose: [400, 0, 150, 90, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_xarm6_umi_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/dual_xarm6_umi_datas" repo_id: "ufactory/dual_xarm6_umi_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 60 @@ -70,4 +70,3 @@ dataset: reset_time_s: 20 # time for resetting env between episodes num_episodes: 100 push_to_hub: False - diff --git a/config/umi/umi_record_config.yaml b/config/umi/umi_record_config.yaml index 3b202ee..9ebce81 100644 --- a/config/umi/umi_record_config.yaml +++ b/config/umi/umi_record_config.yaml @@ -24,12 +24,12 @@ teleop: robot_base_pose: [400, 0, 400, 180, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/umi_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/umi_datas" repo_id: "ufactory/umi_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 60 episode_time_s: 60 # max duration for one episode reset_time_s: 20 # time for resetting env between episodes num_episodes: 100 - push_to_hub: False \ No newline at end of file + push_to_hub: False diff --git a/config/umi/xarm6_umi_record_config.yaml b/config/umi/xarm6_umi_record_config.yaml index 427ad52..68796d5 100644 --- a/config/umi/xarm6_umi_record_config.yaml +++ b/config/umi/xarm6_umi_record_config.yaml @@ -25,8 +25,8 @@ teleop: robot_base_pose: [400, 0, 400, 180, 0, 0] dataset: - # root of local repo: /home//.cache/huggingface/lerobot (default) - root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_umi_datas" + # Dataset path relative to the directory where the command is started. + root: "datasets/xarm6_umi_datas" repo_id: "ufactory/xarm6_umi_datas" single_task: "Pick up the purple grape and drop into the box on the left." fps: 60