move gello control frequecy args to teleop

README.md

@@ -72,6 +72,7 @@ Predefined configs are provided under `config/`:
 - `teleop.joint_ids` / `teleop.joint_signs` — per-arm servo mapping and direction
 - `teleop.start_joints` — GELLO calibration reference, should match the xArm SDK initial point (degrees)
 - `teleop.gripper_id` — GELLO gripper servo ID (`8`; `-1` disables it)
+- `teleop.realtime_control_fps` — independent GELLO-to-xArm command loop rate; it is separate from `dataset.fps`
 - `dataset.root` / `dataset.repo_id` — where the dataset is stored
 - `dataset.single_task` — task description saved with each frame
 - `dataset.fps` / `episode_time_s` / `reset_time_s` — recording timing

README_ZH.md

@@ -72,6 +72,7 @@ ls /dev/serial/by-id/
 - `teleop.joint_ids` / `teleop.joint_signs` — 各型号机械臂的舵机映射与方向
 - `teleop.start_joints` — GELLO 校准参考值（角度），应与 xArm SDK 初始点一致
 - `teleop.gripper_id` — GELLO 夹爪舵机 ID（`8`；`-1` 表示无夹爪）
+- `teleop.realtime_control_fps` — GELLO 到 xArm 的独立实时控制频率，与 `dataset.fps` 分开
 - `dataset.root` / `dataset.repo_id` — 数据集保存位置
 - `dataset.single_task` — 随每一帧保存的任务描述
 - `dataset.fps` / `episode_time_s` / `reset_time_s` — 录制时序参数

config/gello/xarm5_gello_record_config.yaml

@@ -10,6 +10,7 @@ robot:
 # make sure to edit with your correct configurations!
 teleop:
   type: uf::gello_teleop
+  realtime_control_fps: 60
   port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
   joint_ids: [1, 2, 4, 6, 7]
   joint_signs: [1, 1, -1, 1, 1]

config/gello/xarm6_gello_record_config.yaml

@@ -10,6 +10,7 @@ robot:
 # make sure to edit with your correct configurations!
 teleop:
   type: uf::gello_teleop
+  realtime_control_fps: 60
   port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
   joint_ids: [1, 2, 4, 5, 6, 7]
   joint_signs: [1, 1, -1, 1, 1, 1]

config/gello/xarm7_gello_cartesian_record_config.yaml

@@ -0,0 +1,42 @@
+robot:
+  type: uf::robot
+  id: "uf_robot_cartesian"
+  robot_dof: 7
+  control_space: "cartesian"
+  robot_ip: "192.168.1.245"
+  gripper_type: 1
+  max_linear_velocity: 200
+  min_tcp_z_mm: -2.0
+  gripper_error_log_path: "logs/xarm7_gripper_errors.log"
+  cameras:
+    camera:
+      type: intelrealsense
+      serial_number_or_name: "242622070583"
+      width: 640
+      height: 480
+      fps: 30
+    camera2:
+      type: intelrealsense
+      serial_number_or_name: "148522072685"
+      width: 640
+      height: 480
+      fps: 30
+
+teleop:
+  type: uf::gello_teleop
+  id: "gello_teleop"
+  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
+  joint_ids: [1, 2, 3, 4, 5, 6, 7]
+  joint_signs: [1, 1, 1, 1, 1, 1, 1]
+  gripper_id: 8
+  gripper_open_deg: 198.28125
+  gripper_close_deg: 155.75
+
+dataset:
+  root: "datasets/xarm7_gello_cartesian_datas"
+  repo_id: "ufactory/xarm7_gello_cartesian_datas"
+  single_task: "Pick up the purple grape and drop into the box on the left."
+  fps: 60
+  episode_time_s: 60
+  reset_time_s: 20
+  push_to_hub: False

config/gello/xarm7_gello_record_config.yaml

@@ -13,10 +13,9 @@ robot:
   gripper_speed: 1500
   # Use the high-frequency servo interface for lower-latency GELLO tracking.
   joint_command_mode: 1
-  realtime_control_fps: 60
   max_joint_velocity: 120
   # TCP z floor in the xArm base coordinate system (mm).
-  min_tcp_z_mm: 70.0
+  min_tcp_z_mm: -2.0
   # CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
   tcp_z_guard_backend: "local_projection"
   tcp_z_soft_margin_mm: 5.0
@@ -43,6 +42,8 @@ robot:
 teleop:
   type: uf::gello_teleop
   id: "gello_teleop"
+  # Independent GELLO -> xArm command loop; dataset.fps remains the recording rate.
+  realtime_control_fps: 60
   port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
   joint_ids: [1, 2, 3, 4, 5, 6, 7]
   joint_signs: [1, 1, 1, 1, 1, 1, 1]

docs/gello_xarm7_smooth_safe_recording_zh.md

@@ -20,7 +20,6 @@
 robot:
   control_space: "joint"
   joint_command_mode: 1
-  realtime_control_fps: 60
 
   min_tcp_z_mm: 70.0
   tcp_z_guard_backend: "local_projection"
@@ -31,6 +30,9 @@ robot:
   gripper_command_threshold: 0.01
   gripper_speed: 1500
 
+teleop:
+  realtime_control_fps: 60
+
 dataset:
   fps: 30
 ```

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot_config.py

@@ -26,7 +26,6 @@ class UFRobotConfig(RobotConfig):
     manual_gripper_speed: float = 0.5  # normalized gripper position per second in manual mode
     teach_sensitivity: int | None = None  # xArm teaching sensitivity, valid range: 1-5
     joint_command_mode: int = 6  # 1: servo-angle-j, 6: online trajectory planning
-    realtime_control_fps: int = 60  # independent of camera/dataset sampling fps
     # start_joints and start_tcp_pose are intentionally disabled.
     # Reset uses the xArm SDK initial_point instead of configuration poses.
     max_joint_velocity: int = 90   # °/s, only effective in joint control mode
@@ -62,8 +61,6 @@ class UFRobotConfig(RobotConfig):
             raise ValueError("gripper_command_interval_s must be finite and non-negative")
         if self.control_space == "joint" and self.joint_command_mode not in (1, 6):
             raise ValueError("joint_command_mode must be 1 or 6 for joint control")
-        if self.realtime_control_fps <= 0:
-            raise ValueError("realtime_control_fps must be positive")
         if self.min_tcp_z_mm is not None and not math.isfinite(self.min_tcp_z_mm):
             raise ValueError("min_tcp_z_mm must be finite when provided")
         if (

src/lerobot_robot_ufactory/scripts/uf_lerobot_record.py

@@ -380,7 +380,7 @@ def record_loop(
             teleop=teleop,
             teleop_action_processor=teleop_action_processor,
             robot_action_processor=robot_action_processor,
-            fps=getattr(robot.config, "realtime_control_fps", fps),
+            fps=int(teleop.config.realtime_control_fps),
             initial_observation=last_robot_cmd,
         )
         realtime_controller.start()

src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py

@@ -288,6 +288,7 @@ def teleop_loop(cfg: TeleopConfig):
     experiment_start_t = None
     previous_command_t = None
     realtime_controller = None
+    realtime_control_fps = int(teleop.config.realtime_control_fps)
 
     def start_realtime_controller():
         nonlocal realtime_controller
@@ -303,7 +304,7 @@ def teleop_loop(cfg: TeleopConfig):
             teleop,
             teleop_action_processor,
             robot_action_processor,
-            cfg.fps,
+            realtime_control_fps,
             obs,
         )
         realtime_controller.start()
@@ -410,7 +411,9 @@ def teleop_loop(cfg: TeleopConfig):
     print("\n********** Teleop Control Loop Exit **********")
     stop_realtime_controller()
     if latency_samples:
-        output_path = _write_guard_latency_timings(latency_samples, cfg.timing_log_dir, cfg.fps)
+        output_path = _write_guard_latency_timings(
+            latency_samples, cfg.timing_log_dir, realtime_control_fps
+        )
         print(f"Guard latency timing log: {output_path}")
     cleanup_connections()
     atexit.unregister(cleanup_connections)

src/lerobot_robot_ufactory/teleoperators/gello_teleop/gello_teleop_config.py

@@ -8,6 +8,8 @@ from lerobot.teleoperators import TeleoperatorConfig
 @TeleoperatorConfig.register_subclass("uf::gello_teleop")
 @dataclass
 class GelloTeleopConfig(TeleoperatorConfig):
+    # Frequency of the independent GELLO -> xArm realtime control loop.
+    realtime_control_fps: int = 60
     # Port to connect to the gello dummy arm
     port: str = "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
 
@@ -27,6 +29,8 @@ class GelloTeleopConfig(TeleoperatorConfig):
 
     def __post_init__(self):
         self.id = 'gello_teleop' if self.id is None else self.id
+        if self.realtime_control_fps <= 0:
+            raise ValueError("realtime_control_fps must be positive")
         if len(self.joint_ids) != len(self.joint_signs):
             raise ValueError("joint_ids and joint_signs must have the same length")
         if len(self.joint_ids) != len(self.start_joints):

tests/test_realtime_teleop.py

@@ -2,6 +2,9 @@ import time
 
 import pytest
 
+from lerobot_robot_ufactory.teleoperators.gello_teleop.gello_teleop_config import (
+    GelloTeleopConfig,
+)
 from lerobot_robot_ufactory.utils.realtime_teleop import RealtimeTeleopController
 
 
@@ -27,6 +30,15 @@ def identity_action_processor(value):
     return value[0]
 
 
+def test_gello_realtime_control_fps_defaults_to_60():
+    assert GelloTeleopConfig().realtime_control_fps == 60
+
+
+def test_gello_realtime_control_fps_must_be_positive():
+    with pytest.raises(ValueError, match="realtime_control_fps"):
+        GelloTeleopConfig(realtime_control_fps=0)
+
+
 def test_realtime_controller_sends_without_waiting_for_observation_owner():
     robot = FakeRobot()
     controller = RealtimeTeleopController(