Exclude log record in data collection

README.md

@@ -84,6 +84,7 @@ Predefined configs are provided under `config/`:
 - `robot.teach_sensitivity` — teaching sensitivity, valid range 1–5
 - `robot.manual_gripper_speed` — gripper velocity in normalized position per second (default `0.5`)
 - `robot.observe_joint_vel` — record joint velocities in observations (`false` by default)
+- `robot.enable_logs` — enable optional per-cycle timing/diagnostic logs (`false` by default)
 - `robot.cameras.camera` — Intel RealSense camera (`serial_number_or_name`, resolution, fps)
 - `dataset.root` / `dataset.repo_id` / `single_task` / `fps` / `episode_time_s` / `reset_time_s` / `num_episodes` — dataset settings
 
@@ -134,6 +135,7 @@ records the loop period, GELLO read, safety guard, ServoJ, and complete
 ```bash
 uv run uf-robot-teleop \
   --config_path config/gello/xarm7_gello_record_config.yaml \
+  --robot.enable_logs=true \
   --fps 60 \
   --guard_latency_experiment=true \
   --experiment_duration_s 60

README_ZH.md

@@ -84,6 +84,7 @@ ls /dev/serial/by-id/
 - `robot.teach_sensitivity` — 示教灵敏度，有效范围 1–5
 - `robot.manual_gripper_speed` — 夹爪速度（每秒归一化位置变化，默认 `0.5`）
 - `robot.observe_joint_vel` — 是否在观测中记录关节速度（默认 `false`）
+- `robot.enable_logs` — 是否启用每帧耗时和诊断日志（默认 `false`）
 - `robot.cameras.camera` — Intel RealSense 相机配置（`serial_number_or_name`、分辨率、fps）
 - `dataset.root` / `dataset.repo_id` / `single_task` / `fps` / `episode_time_s` / `reset_time_s` / `num_episodes` — 数据集配置
 
@@ -124,6 +125,7 @@ GELLO 读取、安全检测、ServoJ 和完整 `send_action` 耗时：
 ```bash
 uv run uf-robot-teleop \
   --config_path config/gello/xarm7_gello_record_config.yaml \
+  --robot.enable_logs=true \
   --fps 60 \
   --guard_latency_experiment=true \
   --experiment_duration_s 60

config/gello/xarm5_gello_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "joint"
   robot_ip: "192.168.1.245"
   gripper_type: 1
+  enable_logs: false
 
 # make sure to edit with your correct configurations!
 teleop:

config/gello/xarm6_gello_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "joint"
   robot_ip: "192.168.1.245"
   gripper_type: 1
+  enable_logs: false
 
 # make sure to edit with your correct configurations!
 teleop:

config/gello/xarm7_gello_cartesian_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "cartesian"
   robot_ip: "192.168.1.245"
   gripper_type: 1
+  enable_logs: false
   max_linear_velocity: 200
   min_tcp_z_mm: 50
   gripper_error_log_path: "logs/xarm7_gripper_errors.log"

config/gello/xarm7_gello_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "joint"
   robot_ip: "192.168.1.245"
   gripper_type: 1
+  enable_logs: false
   # Up to 60 Hz goal updates; the first command after idle is immediate.
   # Keeping the gripper below its 5000 maximum speed avoids C19 in testing.
   gripper_command_interval_s: 0.0166667

config/manual_mode/xarm7_manual_record_config.yaml

@@ -7,6 +7,7 @@ robot:
   robot_ip: "192.168.1.245"
   # Gripper type: 1 is the xArm gripper.
   gripper_type: 1
+  enable_logs: false
   manual_mode: true
   # Normalized gripper position change per second while holding C/O.
   manual_gripper_speed: 0.5

config/pika/xarm7_pika_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "cartesian"
   robot_ip: "192.168.1.85"
   gripper_type: 10
+  enable_logs: false
   max_linear_velocity: 200
   cameras:
     fisheye:

config/spacemouse/xarm7_spacemouse_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "cartesian"
   robot_ip: "192.168.1.127"
   gripper_type: 0
+  enable_logs: false
 
   cameras:
     overhead:

config/umi/dual_xarm6_umi_record_config.yaml

@@ -12,6 +12,7 @@ robot:
       control_space: "cartesian"
       robot_ip: "192.168.1.29"
       gripper_type: 2
+      enable_logs: false
       max_linear_velocity: 200
       cameras:
         fisheye:
@@ -28,6 +29,7 @@ robot:
       control_space: "cartesian"
       robot_ip: "192.168.1.83"
       gripper_type: 2
+      enable_logs: false
       max_linear_velocity: 200
       cameras:
         fisheye:

config/umi/xarm6_umi_record_config.yaml

@@ -5,6 +5,7 @@ robot:
   control_space: "cartesian"
   robot_ip: "192.168.1.83"
   gripper_type: 2
+  enable_logs: false
   max_linear_velocity: 250
   cameras:
     fisheye:

docs/gello_guard_latency_experiment_20260817.md

@@ -55,6 +55,7 @@ GELLO get_action
 ```bash
 uv run uf-robot-teleop \
   --config_path config/gello/xarm7_gello_record_config.yaml \
+  --robot.enable_logs=true \
   --fps 60 \
   --experiment_1_baseline=true \
   --experiment_duration_s 60

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py

@@ -107,6 +107,7 @@ class UFRobot(Robot, Thread):
         self._is_connected = False
         self._is_calibrated =True
 
+        self.enable_logs = bool(getattr(config, "enable_logs", False))
         self.logs = {}
 
         self._cmd_cnt = 0
@@ -539,7 +540,8 @@ class UFRobot(Robot, Thread):
             local = self._local_kinematics.tcp_position(joints)
             error_mm = float(np.linalg.norm(local - reported))
             limit = float(self.config.local_kinematics_max_error_mm)
-            self.logs["local_kinematics_error_mm"] = error_mm
+            if getattr(self, "enable_logs", True):
+                self.logs["local_kinematics_error_mm"] = error_mm
             if math.isfinite(error_mm) and error_mm <= limit:
                 self._local_model_fault_count = 0
                 return True
@@ -820,9 +822,10 @@ class UFRobot(Robot, Thread):
     def get_observation(self) -> dict[str, np.ndarray]:
         obs_dict = {}
         self._log_controller_error_if_changed("get_observation")
+        logs_enabled = bool(getattr(self, "enable_logs", True))
 
-        # Read Stretch state
-        before_read_t = time.perf_counter()
+        # Read robot state
+        before_read_t = time.perf_counter() if logs_enabled else None
         if self._control_space == "joint":
             code, states = self.real_arm.get_joint_states(is_radian=True, num=3)
             pos_list = states[0].copy()
@@ -867,12 +870,13 @@ class UFRobot(Robot, Thread):
                 self.real_arm.robotiq_get_status(number_of_registers=3)
                 grippos = self.real_arm.robotiq_status['gPO']  # 0..255
                 grippos_norm = self._gripper_param.get_gripper_norm(grippos) # 0=open, 1=closed
-            self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+            if logs_enabled:
+                self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
             obs_dict[f"{self.prefix}gripper.pos"] = grippos_norm
 
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
-            before_camread_t = time.perf_counter()
+            before_camread_t = time.perf_counter() if logs_enabled else None
             frame = cam.async_read()
             shape = frame.shape
             if (self.camera_height > 0 and self.camera_height != shape[0]) or (self.camera_width > 0 and self.camera_width != shape[1]):
@@ -881,7 +885,10 @@ class UFRobot(Robot, Thread):
                 import cv2
                 frame = cv2.resize(frame, (camera_height, camera_width), interpolation=cv2.INTER_AREA)
             obs_dict[f"{self.prefix}{cam_key}"] = frame
-            self.logs[f"async_read_camera_{cam_key}_dt_s"] = time.perf_counter() - before_camread_t
+            if logs_enabled:
+                self.logs[f"async_read_camera_{cam_key}_dt_s"] = (
+                    time.perf_counter() - before_camread_t
+                )
 
         return obs_dict
 
@@ -896,6 +903,7 @@ class UFRobot(Robot, Thread):
             return self.get_observation()
         if not self._rt_report_normal:
             raise ConnectionError("RT Report for target robot NOT READY!")
+        logs_enabled = bool(getattr(self, "enable_logs", True))
         with self._update_lock:
             positions = self.rt_actual_joint_pos.copy()
             velocities = self.rt_actual_joint_speed.copy()
@@ -919,9 +927,9 @@ class UFRobot(Robot, Thread):
             obs_dict[f"{self.prefix}gripper.pos"] = float(gripper)
 
         for camera_key, camera in self.cameras.items():
-            before_camera_t = time.perf_counter()
+            before_camera_t = time.perf_counter() if logs_enabled else None
             frame = camera.async_read()
-            after_camera_t = time.perf_counter()
+            after_camera_t = time.perf_counter() if logs_enabled else None
             shape = frame.shape
             if (
                 self.camera_height > 0
@@ -935,20 +943,23 @@ class UFRobot(Robot, Thread):
                 height = self.camera_height if self.camera_height != 0 else shape[0]
                 frame = cv2.resize(frame, (width, height), interpolation=cv2.INTER_AREA)
             obs_dict[f"{self.prefix}{camera_key}"] = frame
-            self.logs[f"async_read_camera_{camera_key}_dt_s"] = (
-                after_camera_t - before_camera_t
-            )
-            if not hasattr(self, "_last_realtime_camera_timings"):
-                self._last_realtime_camera_timings = {}
-            self._last_realtime_camera_timings[camera_key] = (
-                before_camera_t,
-                after_camera_t,
-            )
-        self._last_realtime_observation_end_monotonic_s = time.perf_counter()
+            if logs_enabled:
+                self.logs[f"async_read_camera_{camera_key}_dt_s"] = (
+                    after_camera_t - before_camera_t
+                )
+                if not hasattr(self, "_last_realtime_camera_timings"):
+                    self._last_realtime_camera_timings = {}
+                self._last_realtime_camera_timings[camera_key] = (
+                    before_camera_t,
+                    after_camera_t,
+                )
+        if logs_enabled:
+            self._last_realtime_observation_end_monotonic_s = time.perf_counter()
         return obs_dict
 
     def _send_gripper_action(self, gripper_norm: float) -> None:
         gripper_norm = min(max(float(gripper_norm), 0.0), 1.0)
+        logs_enabled = bool(getattr(self, "enable_logs", True))
         if (
             self._last_gripper_command is not None
             and abs(gripper_norm - self._last_gripper_command)
@@ -964,7 +975,7 @@ class UFRobot(Robot, Thread):
         if now - self._last_gripper_command_attempt_s < self.config.gripper_command_interval_s:
             return
         self._last_gripper_command_attempt_s = now
-        command_start_s = now
+        command_start_s = now if logs_enabled else None
 
         if self._gripper_type == GripperType.xArmGripper:
             grippos = self._gripper_param.get_grippos(gripper_norm)
@@ -1005,15 +1016,23 @@ class UFRobot(Robot, Thread):
             result = self.real_arm.getset_tgpio_modbus_data(modbus_datas)
 
         code = result[0] if isinstance(result, (tuple, list)) else result
-        command_dt_ms = (time.perf_counter() - command_start_s) * 1000
+        command_dt_ms = (
+            (time.perf_counter() - command_start_s) * 1000
+            if logs_enabled
+            else None
+        )
         if code not in (None, 0):
+            detail = f"target={gripper_norm:.6f}, pulse={grippos}"
+            if command_dt_ms is not None:
+                detail += f", dt_ms={command_dt_ms:.3f}"
             self._log_gripper_error(
                 "send_gripper_action",
                 code,
-                f"target={gripper_norm:.6f}, pulse={grippos}, dt_ms={command_dt_ms:.3f}",
+                detail,
             )
             return
-        self._log_gripper_command(gripper_norm, grippos, command_dt_ms)
+        if logs_enabled:
+            self._log_gripper_command(gripper_norm, grippos, command_dt_ms)
         self._last_gripper_command = gripper_norm
 
     def _log_gripper_command(self, target: float, pulse: int, dt_ms: float) -> None:
@@ -1139,10 +1158,8 @@ class UFRobot(Robot, Thread):
         if self.config.no_action:
             return action
 
-        before_write_t = time.perf_counter()
-        self.logs["safety_guard_dt_s"] = 0.0
-        self.logs["servo_j_dt_s"] = 0.0
-        self.logs["safety_guard_path"] = "not_run"
+        logs_enabled = bool(getattr(self, "enable_logs", True))
+        before_write_t = time.perf_counter() if logs_enabled else None
         safe_action = dict(action)
         if self._control_space == "joint":
             # first sync with gello or other control device SLOWLY!
@@ -1152,10 +1169,11 @@ class UFRobot(Robot, Thread):
             cmd_list = [0]*(self._dof)
             for i in range(self._dof):
                 cmd_list[i] = action[f"{self.prefix}J{i+1}.pos"]
-            guard_start_t = time.perf_counter()
+            guard_start_t = time.perf_counter() if logs_enabled else None
             safe_cmd = self._guard_joint_target(cmd_list)
-            self.logs["safety_guard_dt_s"] = time.perf_counter() - guard_start_t
-            self.logs["safety_guard_path"] = self._last_guard_path
+            if logs_enabled:
+                self.logs["safety_guard_dt_s"] = time.perf_counter() - guard_start_t
+                self.logs["safety_guard_path"] = self._last_guard_path
             if safe_cmd is None:
                 # Do not send an unverified arm target. Gripper handling below
                 # remains independent and can continue safely.
@@ -1174,11 +1192,12 @@ class UFRobot(Robot, Thread):
                     code = self.real_arm.set_state(0)
                     self._check_motion_code("set_state(0)", code)
                     time.sleep(0.1)
-                servo_j_start_t = time.perf_counter()
+                servo_j_start_t = time.perf_counter() if logs_enabled else None
                 code = self.real_arm.set_servo_angle_j(
                     safe_cmd[:self._dof].tolist(), speed=jnt_spd, is_radian=True
                 )
-                self.logs["servo_j_dt_s"] = time.perf_counter() - servo_j_start_t
+                if logs_enabled:
+                    self.logs["servo_j_dt_s"] = time.perf_counter() - servo_j_start_t
                 self._check_motion_code("set_servo_angle_j", code)
             elif safe_cmd is not None:
                 # The legacy mode-6 path uses the absolute move_joint API.
@@ -1222,7 +1241,8 @@ class UFRobot(Robot, Thread):
         if self._gripper_type > GripperType.NoGripper:
             self._send_gripper_action(safe_action[f"{self.prefix}gripper.pos"])
 
-        self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
+        if logs_enabled:
+            self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
         return safe_action
 
     def print_logs(self) -> None:

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot_config.py

@@ -20,6 +20,7 @@ class UFRobotConfig(RobotConfig):
     gripper_command_threshold: float = 0.01  # normalized change required before sending a new command
     gripper_command_interval_s: float = 0.1  # minimum interval between tool RS485 goals
     gripper_error_log_path: str | None = "logs/xarm_gripper_errors.log"
+    enable_logs: bool = False  # optional per-cycle timing and diagnostic logs
     observe_joint_vel: bool = False # only effective in joint control mode
     manual_mode: bool = False  # xArm joint teaching mode; records state and optional gripper actions
     manual_gripper_speed: float = 0.5  # normalized gripper position per second in manual mode

src/lerobot_robot_ufactory/scripts/uf_lerobot_record.py

@@ -102,6 +102,18 @@ def _manual_gripper_action_key(action_features):
     return next((key for key in action_features if key.endswith("gripper.pos")), None)
 
 
+def _diagnostic_logs_enabled(robot) -> bool:
+    """Return whether optional per-cycle diagnostics are enabled for a robot."""
+    config = getattr(robot, "config", None)
+    if config is not None and hasattr(config, "enable_logs"):
+        return bool(config.enable_logs)
+
+    child_robots = getattr(robot, "robots", None)
+    if child_robots:
+        return any(_diagnostic_logs_enabled(child) for child in child_robots.values())
+    return False
+
+
 def _manual_action_from_observation(observation, action_features, gripper_target=None):
     """Keep only robot action fields when mirroring manual-mode state."""
     action = {key: value for key, value in observation.items() if key in action_features}
@@ -353,6 +365,7 @@ def record_loop(
     manual_gripper_action_key = _manual_gripper_action_key(robot.action_features)
 
     realtime_controller = None
+    diagnostic_logs_enabled = _diagnostic_logs_enabled(robot)
     sync_log_file = None
     sync_log_writer = None
     sync_frame_index = 0
@@ -371,27 +384,29 @@ def record_loop(
             initial_observation=last_robot_cmd,
         )
         realtime_controller.start()
-        sync_log_dir = Path("logs")
-        sync_log_dir.mkdir(parents=True, exist_ok=True)
-        sync_log_path = sync_log_dir / (
-            f"gello_record_sync_{time.strftime('%Y%m%d_%H%M%S')}_{time.time_ns() % 1_000_000:06d}.csv"
-        )
-        sync_log_file = sync_log_path.open("w", newline="", buffering=1)
-        sync_log_writer = csv.DictWriter(
-            sync_log_file,
-            fieldnames=[
-                "frame",
-                "state_sample_s",
-                "action_sent_s",
-                "action_age_ms",
-                "observation_end_s",
-                "state_to_observation_end_ms",
-                "camera_timings",
-                "frame_loop_ms",
-            ],
-        )
-        sync_log_writer.writeheader()
-        logging.info("Realtime dataset synchronization log: %s", sync_log_path)
+        if diagnostic_logs_enabled:
+            sync_log_dir = Path("logs")
+            sync_log_dir.mkdir(parents=True, exist_ok=True)
+            sync_log_path = sync_log_dir / (
+                f"gello_record_sync_{time.strftime('%Y%m%d_%H%M%S')}_"
+                f"{time.time_ns() % 1_000_000:06d}.csv"
+            )
+            sync_log_file = sync_log_path.open("w", newline="", buffering=1)
+            sync_log_writer = csv.DictWriter(
+                sync_log_file,
+                fieldnames=[
+                    "frame",
+                    "state_sample_s",
+                    "action_sent_s",
+                    "action_age_ms",
+                    "observation_end_s",
+                    "state_to_observation_end_ms",
+                    "camera_timings",
+                    "frame_loop_ms",
+                ],
+            )
+            sync_log_writer.writeheader()
+            logging.info("Realtime dataset synchronization log: %s", sync_log_path)
 
     timestamp = 0
     start_episode_t = time.perf_counter()
@@ -405,13 +420,16 @@ def record_loop(
         # Get robot observation
         if realtime_controller is not None:
             obs = robot.get_realtime_observation()
-            observation_monotonic_s = getattr(
-                robot, "_last_realtime_observation_monotonic_s", time.perf_counter()
-            )
+            observation_monotonic_s = getattr(robot, "_last_realtime_observation_monotonic_s", None)
+            if observation_monotonic_s is None:
+                observation_monotonic_s = time.perf_counter()
             realtime_controller.update_observation(obs)
-            matched_action, matched_action_sent_s = realtime_controller.action_sample_at(
-                observation_monotonic_s
-            )
+            if diagnostic_logs_enabled:
+                matched_action, matched_action_sent_s = realtime_controller.action_sample_at(
+                    observation_monotonic_s
+                )
+            else:
+                matched_action = realtime_controller.action_at(observation_monotonic_s)
         else:
             obs = robot.get_observation()
 

src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py

@@ -162,6 +162,10 @@ def teleop_loop(cfg: TeleopConfig):
 
     if cfg.guard_latency_experiment:
         _validate_guard_latency_config(cfg)
+        if hasattr(cfg.robot, "enable_logs") and not cfg.robot.enable_logs:
+            raise ValueError(
+                "Guard latency experiment requires robot.enable_logs=true"
+            )
         logging.warning(
             "Guard latency experiment enabled: measuring GELLO, safety guard, ServoJ, "
             "and total send latency for %.1f active seconds",

src/lerobot_robot_ufactory/teleoperators/gello_teleop/gello_teleop.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python
 import logging
-import time
 import numpy as np
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from ..base_teleop import UFBaseTeleop
@@ -170,11 +169,8 @@ class GelloTeleop(UFBaseTeleop):
     def get_action(self) -> dict[str, np.ndarray]:
         if not self._teleop_enabled:
             raise RuntimeError("Gello teleop is disabled")
-        start = time.perf_counter()
         fake_obs = dict({"joint_state": np.array([0.0]*(self.dof+1))}) # for agent.act() argument, actually no use
         action_array = self.gello_agent.act(fake_obs) # current gello joint pos as np.ndarray
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
 
         action = {}
         for i in range(self.dof):