Reduce GELLO latency and use relative dataset paths

config/gello/xarm5_gello_record_config.yaml

@@ -16,8 +16,8 @@ teleop:
   gripper_id: 8
 
 dataset:
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm5_gello_datas"
+  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

config/gello/xarm6_gello_record_config.yaml

@@ -16,8 +16,8 @@ teleop:
   gripper_id: 8
 
 dataset:
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas"
+  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

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/user/projects/lerobot_xarm7/datasets"
+  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

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
-
-

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/pika_datas"
+  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

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pika_datas"
+  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

config/spacemouse/xarm7_spacemouse_record_config.yaml

@@ -27,8 +27,8 @@ teleop:
   use_gripper: False
 
 dataset:
-  # root: /home/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pushT"
+  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

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_umi_datas"
+  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
-
-

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
+  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
-

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/umi_datas"
+  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
+  push_to_hub: False

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/<user_name>/.cache/huggingface/lerobot (default)
+  # Dataset path relative to the directory where the command is started.
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_umi_datas"
+  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