Add reset after manual mode in temp script

2026-08-07 13:15:46 +08:00 · 2026-08-07 13:15:46 +08:00 · 75bbbed689
commit 75bbbed689
parent 4dfed85048
4 changed files with 105 additions and 66 deletions
--- a/README.md
+++ b/README.md
@ -55,12 +55,9 @@ UFACTORY robot arm integration with the LeRobot framework for robot learning, da
 git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
 cd lerobot_robot_ufactory

-# Create conda environment
-conda create -n uf_lerobot python=3.10 -y
-conda activate uf_lerobot
-
-# Install project
-pip install -e .
+# Create a uv virtual environment and sync project dependencies
+uv venv --python 3.10
+uv sync
 ```

 Includes: `lerobot==0.4.3`, `xarm-python-sdk`, `numpy`, `pyyaml`. LeRobot already pulls in torch, opencv, wandb, etc.
@ -77,7 +74,7 @@ Dynamixel-based leader arm, joint-space control.

 ```bash
 # 1. Install GELLO module
-pip install -e ".[gello]"
+uv sync --extra gello

 # 2. Add serial port permissions (re-login required)
 sudo usermod -aG dialout $USER
@ -91,7 +88,7 @@ Pika Sense handheld + Vive Tracker, Cartesian-space control.

 ```bash
 # 1. Install peripheral deps (skip transitive deps)
-pip install pysurvive agx-pypika --no-deps
+uv pip install pysurvive agx-pypika --no-deps

 # 2. Install udev rules (re-plug devices afterwards)
 sudo cp src/rules/*.rules /etc/udev/rules.d/
@ -110,7 +107,7 @@ curl -sL https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/mai
 sudo apt install -y --fix-broken

 # 2. Install peripheral deps
-pip install pysurvive --no-deps
+uv pip install pysurvive --no-deps

 # 3. Install udev rules (re-plug devices afterwards)
 sudo cp src/rules/*.rules /etc/udev/rules.d/
@ -135,7 +132,7 @@ sudo reboot

 ```bash
 # 1. Install SpaceMouse module
-pip install -e ".[spacemouse]"
+uv sync --extra spacemouse

 # 2. Install udev rules (re-plug device afterwards)
 sudo cp src/rules/*.rules /etc/udev/rules.d/
@ -151,36 +148,46 @@ Test teleop-to-robot control loop without recording.

 ```bash
 # Generic usage
-uf-robot-teleop --config_path path/to/config.yaml
-uf-robot-teleop --config_path path/to/config.yaml --fps 60  # specify frequency
+uv run uf-robot-teleop --config_path path/to/config.yaml
+uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60  # specify frequency

 # Example: xArm6 + UMI teleop
-uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
+uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 ```

-### 2. Data Collection
+### 2. xArm Manual Drag Mode
+
+Use xArm joint teaching mode (`mode=2`) for manual dragging:
+
+```bash
+uv run uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
+```
+
+Set `manual_mode` to `true` to enter drag mode. Press Enter to restore normal mode; set it to `false` to restore normal mode directly. With `return_to_initial: true`, the script reads the saved initial point through the xArm Studio API and returns to it when drag mode exits.
+
+### 3. Data Collection

 Record datasets via teleop.

 ```bash
 # Generic usage
-uf-lerobot-record --config_path path/to/record_config.yaml
-uf-lerobot-record --config_path path/to/config.yaml --resume true        # resume recording
+uv run uf-lerobot-record --config_path path/to/record_config.yaml
+uv run uf-lerobot-record --config_path path/to/config.yaml --resume true        # resume recording

 # Example: xArm6 + UMI data collection
-uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
+uv run uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
 ```

-### 3. Policy Training
+### 4. Policy Training

 Train imitation learning policies on collected data.

 ```bash
 # Generic usage
-lerobot-train --policy act --dataset your_dataset_name
+uv run lerobot-train --policy act --dataset your_dataset_name

 # Example: train ACT on xArm6 UMI dataset
-lerobot-train --policy act --dataset ufactory/xarm6_umi_datas
+uv run lerobot-train --policy act --dataset ufactory/xarm6_umi_datas
 ```

 Important parameters:
@ -189,7 +196,7 @@ Important parameters:
 # Note: repo_id is the same as in the record config
 # Policy type: ACT, training steps: 800k
 # Checkpoints saved every 20k steps, output to lerobot_datas/train (sibling of lerobot directory)
-lerobot-train \
+uv run lerobot-train \
  --dataset.root=../../../../lerobot_datas/record/ufactory/xarm6_umi_datas \
  --dataset.repo_id=ufactory/xarm6_umi_datas \
  --policy.type=act \
@ -202,16 +209,16 @@ lerobot-train \
  --save_freq=20000
 ```

-### 4. Inference & Evaluation
+### 5. Inference & Evaluation

 Run inference with a trained policy.

 ```bash
 # Generic usage
-uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
+uv run uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path

 # Example: run inference with trained ACT policy
-uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
+uv run uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
 ```

 ## Tools
@ -221,11 +228,11 @@ uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.p
 View and stitch multiple camera feeds.

 ```bash
-uf-camera-view -l                           # list all cameras
-uf-camera-view -l -T xvisio                 # list XVisio cameras only
-uf-camera-view -T xvisio                    # view XVisio cameras (default 1280x1280 YU12)
-uf-camera-view -T xvisio -W 640 -H 1920 -F NV12  # specify format
-uf-camera-view -T other                     # view other camera types
+uv run uf-camera-view -l                           # list all cameras
+uv run uf-camera-view -l -T xvisio                 # list XVisio cameras only
+uv run uf-camera-view -T xvisio                    # view XVisio cameras (default 1280x1280 YU12)
+uv run uf-camera-view -T xvisio -W 640 -H 1920 -F NV12  # specify format
+uv run uf-camera-view -T other                     # view other camera types
 ```

 ### 2. LeRobot Dataset Tools
@ -235,7 +242,7 @@ LeRobot provides dataset utilities for inspecting, editing and managing collecte
 #### View an episode:
 e.g. view episode index 17:
 ```bash
-lerobot-dataset-viz \
+uv run lerobot-dataset-viz \
  --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
  --repo-id ufactory/xarm7_record_datas \
  --display-compressed-images true \
@ -245,7 +252,7 @@ lerobot-dataset-viz \
 #### Delete specific episodes:
 e.g. delete episodes 18 and 19:
 ```bash
-lerobot-edit-dataset \
+uv run lerobot-edit-dataset \
  --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
  --repo_id ufactory/xarm7_record_datas \
  --new_repo_id ../xarm7_record_datas_new \
@ -255,7 +262,7 @@ lerobot-edit-dataset \

 #### Merge datasets:
 ```bash
-lerobot-edit-dataset \
+uv run lerobot-edit-dataset \
  --root=../../../../lerobot_datas/record \
  --repo_id ufactory/xarm7_record_datas_merge_1_2 \
  --operation.type merge \
--- a/README_ZH.md
+++ b/README_ZH.md
@ -55,12 +55,9 @@ UFACTORY(深圳市众为创造科技有限公司) 机械臂与 LeRobot 框架集
 git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
 cd lerobot_robot_ufactory

-# 创建 conda 环境
-conda create -n uf_lerobot python=3.10 -y
-conda activate uf_lerobot
-
-# 安装项目
-pip install -e .
+# 创建 uv 虚拟环境并同步项目依赖
+uv venv --python 3.10
+uv sync
 ```

 包含：`lerobot==0.4.3`、`xarm-python-sdk`、`numpy`、`pyyaml`（lerobot 已自动携带 torch、opencv、wandb 等训练相关依赖）。
@ -77,7 +74,7 @@ pip install -e .

 ```bash
 # 1. 安装 GELLO 模块
-pip install -e ".[gello]"
+uv sync --extra gello

 # 2. 添加串口权限（重新登录后生效）
 sudo usermod -aG dialout $USER
@ -91,7 +88,7 @@ sudo usermod -aG dialout $USER

 ```bash
 # 1. 安装外设依赖（不需要它们的间接依赖）
-pip install pysurvive agx-pypika --no-deps
+uv pip install pysurvive agx-pypika --no-deps

 # 2. 安装 udev 规则（重新插拔设备后生效）
 sudo cp rules/*.rules /etc/udev/rules.d/
@ -110,7 +107,7 @@ curl -sL https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/mai
 sudo apt install -y --fix-broken

 # 2. 安装外设依赖
-pip install pysurvive --no-deps
+uv pip install pysurvive --no-deps

 # 3. 安装 udev 规则（重新插拔设备后生效）
 sudo cp rules/*.rules /etc/udev/rules.d/
@ -135,7 +132,7 @@ sudo reboot

 ```bash
 # 1. 安装 SpaceMouse 模块
-pip install -e ".[spacemouse]"
+uv sync --extra spacemouse

 # 2. 安装 udev 规则（重新插拔设备后生效）
 sudo cp rules/*.rules /etc/udev/rules.d/
@ -150,11 +147,11 @@ sudo udevadm control --reload-rules && sudo udevadm trigger

 ```bash
 # 通用格式
-uf-robot-teleop --config_path path/to/config.yaml
-uf-robot-teleop --config_path path/to/config.yaml --fps 60  # 指定频率
+uv run uf-robot-teleop --config_path path/to/config.yaml
+uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60  # 指定频率

 # 示例: xArm6 + UMI 遥操作
-uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
+uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 ```

 ### 2. xArm 人工拖拽模式测试
@ -162,10 +159,10 @@ uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 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
+uv run 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。
+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。`return_to_initial: true` 会通过 xArm Studio 接口读取保存的初始位置，并在退出拖拽后自动回位。

 ### 3. 数据采集

@ -173,11 +170,11 @@ uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yam

 ```bash
 # 通用格式
-uf-lerobot-record --config_path path/to/record_config.yaml
-uf-lerobot-record --config_path path/to/config.yaml --resume true     # 续录
+uv run uf-lerobot-record --config_path path/to/record_config.yaml
+uv run uf-lerobot-record --config_path path/to/config.yaml --resume true     # 续录

 # 示例: xArm6 + UMI 数据采集
-uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
+uv run uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
 ```

 ### 4. Lerobot训练
@ -186,7 +183,7 @@ uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml

 ```bash
 # 通用格式
-lerobot-train --policy act --dataset your_dataset_name
+uv run lerobot-train --policy act --dataset your_dataset_name
 ```

 参数示例：
@ -195,7 +192,7 @@ lerobot-train --policy act --dataset your_dataset_name
 # 注意: repo_id就是采集时配置文件里面的repo_id
 # 这里训练策略policy.type选用act，训练steps为80w次
 # 训练过程每2w次保存一次结果，结果输出到和lerobot同级目录下的lerobot_datas/train里面
-lerobot-train \
+uv run lerobot-train \
  --dataset.root=../../../../lerobot_datas/record/ufactory/xarm6_umi_datas \
  --dataset.repo_id=ufactory/xarm6_umi_datas \
  --policy.type=act \
@ -214,10 +211,10 @@ lerobot-train \

 ```bash
 # 通用格式
-uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
+uv run uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path

 # 示例：使用训练好的 ACT 策略进行推理
-uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
+uv run uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
 ```

 ## 工具集
@ -227,11 +224,11 @@ uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.p
 查看和拼接多路摄像头画面。

 ```bash
-uf-camera-view -l                           # 列出所有摄像头
-uf-camera-view -l -T xvisio                 # 仅列出 XVisio 摄像头
-uf-camera-view -T xvisio                    # 查看 XVisio 摄像头（默认 1280x1280 YU12）
-uf-camera-view -T xvisio -W 640 -H 1920 -F NV12  # 指定格式
-uf-camera-view -T other                     # 查看其他类型摄像头
+uv run uf-camera-view -l                           # 列出所有摄像头
+uv run uf-camera-view -l -T xvisio                 # 仅列出 XVisio 摄像头
+uv run uf-camera-view -T xvisio                    # 查看 XVisio 摄像头（默认 1280x1280 YU12）
+uv run uf-camera-view -T xvisio -W 640 -H 1920 -F NV12  # 指定格式
+uv run uf-camera-view -T other                     # 查看其他类型摄像头
 ```

 ### 2. Lerobot数据集工具
@ -240,7 +237,7 @@ Lerobot提供一些数据集工具，方便对采集的数据集进行增删查
 ### 查看某个索引的episode:
 例如查看索引号为17的episode:
 ```bash
-lerobot-dataset-viz \
+uv run lerobot-dataset-viz \
  --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
  --repo-id ufactory/xarm7_record_datas \
  --display-compressed-images true \
@ -250,7 +247,7 @@ lerobot-dataset-viz \
 ### 删除某些索引的episodes:
 例如删除索引号为18和19的episode:
 ```bash
-lerobot-edit-dataset \
+uv run lerobot-edit-dataset \
  --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
  --repo_id ufactory/xarm7_record_datas \
  --new_repo_id ../xarm7_record_datas_new \
@ -260,7 +257,7 @@ lerobot-edit-dataset \

 ### 合并数据集
 ```bash
-lerobot-edit-dataset \
+uv run lerobot-edit-dataset \
  --root=../../../../lerobot_datas/record \
  --repo_id ufactory/xarm7_record_datas_merge_1_2 \
  --operation.type merge \
--- a/config/manual_mode/xarm_manual_mode_config.yaml
+++ b/config/manual_mode/xarm_manual_mode_config.yaml
@ -6,3 +6,9 @@ manual_mode: true

 # xArm teach sensitivity, valid range: 1-5.
 teach_sensitivity: 3
+
+# Read the initial point saved in xArm Studio and return to it after pressing Enter.
+return_to_initial: true
+
+# Return speed in degrees per second.
+reset_speed: 30
--- a/src/lerobot_robot_ufactory/scripts/uf_xarm_manual_mode.py
+++ b/src/lerobot_robot_ufactory/scripts/uf_xarm_manual_mode.py
@ -14,6 +14,8 @@ class ManualModeConfig:
    robot_ip: str = "192.168.1.127"
    manual_mode: bool = True
    teach_sensitivity: int | None = 3
+    return_to_initial: bool = True
+    reset_speed: float = 30.0


@config_parser.wrap()
@ -24,8 +26,11 @@ def get_cfg(cfg: ManualModeConfig) -> ManualModeConfig:
 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")
+    if cfg.reset_speed <= 0:
+        raise ValueError("reset_speed must be greater than 0")

    arm = XArmAPI(cfg.robot_ip)
+    initial_point = None
    try:
        if not arm.connected:
            raise ConnectionError(f"Failed to connect to xArm at {cfg.robot_ip}")
@ -35,6 +40,16 @@ def run(cfg: ManualModeConfig):
        arm.set_mode(0)
        arm.set_state(0)

+        code, initial_point = arm.get_initial_point()
+        if code != 0:
+            raise RuntimeError(f"get_initial_point failed, code={code}")
+        if not initial_point or len(initial_point) < arm.axis:
+            raise RuntimeError(
+                f"Invalid initial point returned by xArm: {initial_point}"
+            )
+        initial_point = list(initial_point[:arm.axis])
+        print(f"Initial point loaded from xArm Studio: {initial_point}")
+
        if cfg.manual_mode:
            if cfg.teach_sensitivity is not None:
                code = arm.set_teach_sensitivity(cfg.teach_sensitivity)
@ -60,12 +75,26 @@ def run(cfg: ManualModeConfig):
            print("Joint teaching mode disabled.")
    finally:
        if arm.connected:
-            # Always leave the robot in normal position-control mode.
+            try:
                arm.set_mode(0)
                arm.set_state(0)
+                if cfg.return_to_initial and initial_point is not None:
+                    _move_to_initial(arm, initial_point, cfg.reset_speed)
+            finally:
                arm.disconnect()


+def _move_to_initial(arm: XArmAPI, initial_point: list[float], speed: float):
+    code = arm.set_servo_angle(
+        angle=initial_point,
+        speed=speed,
+        is_radian=False,
+        wait=True,
+    )
+    if code != 0:
+        raise RuntimeError(f"Failed to move to xArm initial point, code={code}")
+
+
 def main():
    cli_parser = argparse.ArgumentParser(description="Control xArm joint teaching mode from YAML")
    _, unknown = cli_parser.parse_known_args()