From a187221e458681e3bc707b558e5829b524624df7 Mon Sep 17 00:00:00 2001
From: Vinman <vinman.cub@gmail.com>
Date: Wed, 22 Jul 2026 10:00:32 +0800
Subject: [PATCH] =?UTF-8?q?feat(umi):=20=E6=B7=BB=E5=8A=A0=E5=B7=A6?=
 =?UTF-8?q?=E5=8F=B3=20xArm6=20=E5=8F=8C=E8=87=82=20UMI=20=E5=BD=95?=
 =?UTF-8?q?=E5=88=B6=E9=85=8D=E7=BD=AE?=
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新增左右双臂 xArm6 的 UMI 遥操作录制配置文件，包含机器人 IP、
相机、遥操作参数及数据集设置；utils 新增 version_ge 版本比较函数。
---
 config/umi/left_xarm6_umi_record_config.yaml  | 43 +++++++++++++++++++
 config/umi/right_xarm6_umi_record_config.yaml | 43 +++++++++++++++++++
 src/lerobot_robot_ufactory/utils/utils.py     |  6 +++
 3 files changed, 92 insertions(+)
 create mode 100644 config/umi/left_xarm6_umi_record_config.yaml
 create mode 100644 config/umi/right_xarm6_umi_record_config.yaml

diff --git a/config/umi/left_xarm6_umi_record_config.yaml b/config/umi/left_xarm6_umi_record_config.yaml
new file mode 100644
index 0000000..d504d0d
--- /dev/null
+++ b/config/umi/left_xarm6_umi_record_config.yaml
@@ -0,0 +1,43 @@
+robot:
+  type: uf::robot
+  id: "uf_robot"
+  robot_ip: "192.168.1.29"
+  robot_dof: 6
+  control_space: "cartesian"
+  gripper_type: 0
+  max_linear_velocity: 250
+  start_joints: [-14.7, 25.6, -49.6, -282.5, 95.9, -65.9]
+  start_tcp_pose: [400, 0, 150, -90, 0, 0]
+  cameras:
+    fisheye:
+      # type: uf::umi_camera
+      # serial_number: "250801DR48FB26001379"
+      # width: 1280
+      # height: 1280
+      # fps: 30
+      type: opencv
+      index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001379-video-index0"
+      width: 1280
+      height: 1280
+      fps: 100
+      fourcc: "YUYV"
+
+teleop:
+  type: uf::umi_teleop
+  serial_number: "250801DR48FP26001318"
+  use_vive_tracker: False
+  vive_tracker_id: "LHR-555DC7BF"
+  use_gripper: True
+  tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
+  robot_base_pose: [400, 0, 150, -90, 0, 0]
+
+dataset:
+  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  root: "/home/uf/Data/lerobot_datas/record/ufactory/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
+  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
diff --git a/config/umi/right_xarm6_umi_record_config.yaml b/config/umi/right_xarm6_umi_record_config.yaml
new file mode 100644
index 0000000..b79b0a1
--- /dev/null
+++ b/config/umi/right_xarm6_umi_record_config.yaml
@@ -0,0 +1,43 @@
+robot:
+  type: uf::robot
+  id: "uf_robot"
+  robot_ip: "192.168.1.83"
+  robot_dof: 6
+  control_space: "cartesian"
+  gripper_type: 2
+  max_linear_velocity: 250
+  start_joints: [14.5, 25.5, -49.6, -76.8, 95.9, 66.6]
+  start_tcp_pose: [400, 0, 150, 90, 0, 0]
+  cameras:
+    fisheye:
+      # type: uf::umi_camera
+      # serial_number: "250801DR48FB26001396"
+      # width: 1280
+      # height: 1280
+      # fps: 30
+      type: opencv
+      index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
+      width: 1280
+      height: 1280
+      fps: 100
+      fourcc: "YUYV"
+
+teleop:
+  type: uf::umi_teleop
+  serial_number: "250801DR48FP26001295"
+  use_vive_tracker: False
+  vive_tracker_id: "LHR-2425BAD3"
+  use_gripper: True
+  tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
+  robot_base_pose: [400, 0, 150, 90, 0, 0]
+
+dataset:
+  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  root: "/home/uf/Data/lerobot_datas/record/ufactory/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
+  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
diff --git a/src/lerobot_robot_ufactory/utils/utils.py b/src/lerobot_robot_ufactory/utils/utils.py
index 7b6de5b..41cbdd3 100644
--- a/src/lerobot_robot_ufactory/utils/utils.py
+++ b/src/lerobot_robot_ufactory/utils/utils.py
@@ -72,3 +72,9 @@ def init_keyboard_listener(events: dict = None, on_press: callable = None, on_re
     listener.start()
 
     return listener, events
+
+def version_ge(ver_str: str, target: str) -> bool:
+    try:
+        return tuple(int(x) for x in ver_str.split(".")) >= tuple(int(x) for x in target.split("."))
+    except:
+        return False