Add data replay

.gitignore

@@ -89,4 +89,4 @@ models/
 *.xvcd
 ufactory_usage/
 .history/
-xarm7_manual_datas
+datasets/

README_ZH.md

@@ -178,6 +178,22 @@ uv run uf-lerobot-record --config_path path/to/config.yaml --resume true     #
 uv run uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
 ```
 
+### 4. 数据重放
+
+`datasets/xarm7_manual_replay` 是人工拖拽录制的 LeRobot 数据集。回放脚本使用其中的
+`observation.state`，将 7 个关节弧度值和归一化夹爪位置作为**绝对目标值**发送给 xArm7，
+不会将相邻帧相减，也不会累加成相对动作。脚本默认按数据集的 30 FPS 播放一个 episode。
+
+启动前会要求确认，连接后会先自动移动到 xArm SDK 初始点；播放结束后保持最后一帧姿态并断开连接：
+
+```bash
+uv run uf-lerobot-replay \
+  --dataset-root /home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay \
+  --robot-ip 192.168.1.245
+```
+
+无人值守运行时可以使用 `--yes` 跳过确认。执行前请确认机械臂工作空间无障碍物，且数据中的初始姿态与当前设备匹配。
+
 ### 5. Lerobot训练
 
 采集数据后，使用 LeRobot 训练管道进行模仿学习训练。

config/manual_mode/xarm7_manual_record_config.yaml

@@ -24,7 +24,7 @@ robot:
       fps: 30
 
 dataset:
-  root: "/home/wsx/code/lerobot_robot_ufactory/xarm7_manual_datas"
+  root: "/home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay_pick_pen"
   repo_id: "ufactory/xarm7_manual_datas"
   # Task description stored with each recorded frame.
   single_task: "Describe the task being demonstrated."
@@ -37,3 +37,5 @@ dataset:
   # Store camera observations as videos.
   video: true
   push_to_hub: false
+
+

config/manual_mode/xarm_manual_mode_config.yaml

@@ -1,14 +0,0 @@
-# xArm manual/joint teaching mode test configuration.
-robot_ip: "192.168.1.245"
-
-# true: enter mode 2 and wait for Enter; false: restore mode 0.
-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

pyproject.toml

@@ -25,6 +25,7 @@ classifiers = [
 ]
 dependencies = [
     "numpy>=1.24",
+    "pyarrow>=14.0",
     "pyyaml",
     "lerobot[intelrealsense]==0.4.3",
     "xarm-python-sdk",
@@ -35,6 +36,7 @@ dependencies = [
 uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
 uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
 uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
+uf-lerobot-replay = "lerobot_robot_ufactory.scripts.uf_lerobot_replay:main"
 uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
 uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"
 uf-camera-test = "lerobot_robot_ufactory.scripts.uf_camera_test:main"

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py

@@ -223,8 +223,16 @@ class UFRobot(Robot, Thread):
         if self._initial_point is None:
             raise RuntimeError("xArm initial point has not been loaded")
 
-        self.real_arm.set_mode(0)
+        # The controller requires motion to be enabled again after an
-        self.real_arm.set_state(0)
+        # emergency stop has been released, before any reset motion command.
+        code = self.real_arm.motion_enable(enable=True)
+        self._check_motion_code("motion_enable", code)
+        code = self.real_arm.clean_error()
+        self._check_motion_code("clean_error", code)
+        code = self.real_arm.set_mode(0)
+        self._check_motion_code("set_mode(0)", code)
+        code = self.real_arm.set_state(0)
+        self._check_motion_code("set_state(0)", code)
         code = self.real_arm.set_servo_angle(
             angle=self._initial_point,
             speed=ROBOT_RESET_SPEED_DEG,
@@ -271,7 +279,9 @@ class UFRobot(Robot, Thread):
             return
 
         if self._control_space == "joint":
-            self.real_arm.set_mode(6)
+            code = self.real_arm.set_mode(self.config.joint_command_mode)
+            if code != 0:
+                raise RuntimeError(f"set_mode({self.config.joint_command_mode}) failed, code={code}")
         elif self._control_space == "cartesian":
             self.real_arm.set_mode(7)
         else:
@@ -430,6 +440,20 @@ class UFRobot(Robot, Thread):
             modbus_datas = [0x09, 0x10, 0x03, 0xE8, 0x00, 0x03, 0x06, 0x09, 0x00, 0x00, grippos, self._gripper_param.speed, self._gripper_param.force]
             self.real_arm.getset_tgpio_modbus_data(modbus_datas)
 
+    def _motion_status(self) -> str:
+        """Return controller state details for a failed motion command."""
+        arm = self.real_arm
+        mode = getattr(arm, "mode", "unknown")
+        state = getattr(arm, "state", "unknown")
+        error_code = getattr(arm, "error_code", "unknown")
+        warn_code = getattr(arm, "warn_code", "unknown")
+        return f"mode={mode}, state={state}, error_code={error_code}, warn_code={warn_code}"
+
+    def _check_motion_code(self, command: str, code: int) -> None:
+        """Fail loudly when the SDK rejects a joint command."""
+        if code != 0:
+            raise RuntimeError(f"{command} failed, code={code}, {self._motion_status()}")
+
     def send_action(self, action: dict) -> np.ndarray:
         if not self._is_connected:
             raise ConnectionError()
@@ -458,17 +482,43 @@ class UFRobot(Robot, Thread):
             for i in range(self._dof):
                 cmd_list[i] = action[f"{self.prefix}J{i+1}.pos"]
 
-            # TODO: make mode 6 compatible with wait=True
+            if self.config.joint_command_mode == 1:
+                # set_servo_angle_j is an absolute target command. It is the
+                # SDK's high-frequency interface and executes only the latest
+                # target, so it must be used with servo motion mode (1).
+                if self.real_arm.mode != 1:
+                    code = self.real_arm.set_mode(1)
+                    self._check_motion_code("set_mode(1)", code)
+                    code = self.real_arm.set_state(0)
+                    self._check_motion_code("set_state(0)", code)
+                    time.sleep(0.1)
+                code = self.real_arm.set_servo_angle_j(
+                    cmd_list[:self._dof], speed=jnt_spd, is_radian=True
+                )
+                self._check_motion_code("set_servo_angle_j", code)
+            else:
+                # The legacy mode-6 path uses the absolute move_joint API.
+                # The first blocking command must be sent in position mode.
                 if wait_ == False and self.real_arm.mode != 6:
-                self.real_arm.set_mode(6)
+                    code = self.real_arm.set_mode(6)
-                self.real_arm.set_state(0)
+                    self._check_motion_code("set_mode(6)", code)
+                    code = self.real_arm.set_state(0)
+                    self._check_motion_code("set_state(0)", code)
                     time.sleep(0.1)
                 elif wait_ and self.real_arm.mode != 0:
-                self.real_arm.set_mode(0)
+                    code = self.real_arm.set_mode(0)
-                self.real_arm.set_state(0)
+                    self._check_motion_code("set_mode(0)", code)
+                    code = self.real_arm.set_state(0)
+                    self._check_motion_code("set_state(0)", code)
                     time.sleep(0.1)
 
-            self.real_arm.set_servo_angle(angle=cmd_list[:self._dof], speed=jnt_spd, is_radian=True, wait=wait_)
+                code = self.real_arm.set_servo_angle(
+                    angle=cmd_list[:self._dof],
+                    speed=jnt_spd,
+                    is_radian=True,
+                    wait=wait_,
+                )
+                self._check_motion_code("set_servo_angle", code)
         elif self._control_space == "cartesian": # unit: mm?
             lin_spd = self._max_linear_velocity
 

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot_config.py

@@ -20,6 +20,7 @@ class UFRobotConfig(RobotConfig):
     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
     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
     # 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
@@ -36,3 +37,5 @@ class UFRobotConfig(RobotConfig):
                 raise ValueError("teach_sensitivity must be between 1 and 5")
         if self.manual_gripper_speed < 0:
             raise ValueError("manual_gripper_speed must be 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")

src/lerobot_robot_ufactory/scripts/uf_lerobot_replay.py

@@ -0,0 +1,272 @@
+"""Replay absolute joint states from a LeRobot dataset on an xArm robot."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import sys
+import time
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any, Sequence
+
+import pyarrow.parquet as parquet
+
+import lerobot_robot_ufactory  # noqa: F401
+from lerobot.utils.robot_utils import precise_sleep
+from lerobot_robot_ufactory.robots.uf_robot.uf_robot import UFRobot
+from lerobot_robot_ufactory.robots.uf_robot.uf_robot_config import UFRobotConfig
+
+
+JOINT_STATE_NAMES = tuple(f"J{index}.pos" for index in range(1, 8))
+STATE_NAMES = JOINT_STATE_NAMES + ("gripper.pos",)
+STATE_FEATURE = "observation.state"
+DEFAULT_DATASET_ROOT = Path("datasets/xarm7_manual_replay")
+DEFAULT_ROBOT_IP = "192.168.1.245"
+
+
+@dataclass(frozen=True)
+class ReplayEpisode:
+    """Validated, ordered absolute states for one dataset episode."""
+
+    fps: float
+    episode_index: int
+    frame_indices: tuple[int, ...]
+    states: tuple[tuple[float, ...], ...]
+
+
+def _load_info(dataset_root: Path) -> dict[str, Any]:
+    info_path = dataset_root / "meta" / "info.json"
+    if not info_path.is_file():
+        raise ValueError(f"LeRobot metadata file does not exist: {info_path}")
+
+    try:
+        with info_path.open("r", encoding="utf-8") as info_file:
+            info = json.load(info_file)
+    except (OSError, json.JSONDecodeError) as exc:
+        raise ValueError(f"Could not read LeRobot metadata: {info_path}") from exc
+
+    if not isinstance(info, dict):
+        raise ValueError(f"LeRobot metadata must contain a JSON object: {info_path}")
+    return info
+
+
+def _validate_state_feature(info: dict[str, Any]) -> float:
+    try:
+        fps = float(info["fps"])
+        feature = info["features"][STATE_FEATURE]
+        names = tuple(feature["names"])
+        shape = tuple(feature["shape"])
+    except (KeyError, TypeError, ValueError) as exc:
+        raise ValueError(
+            f"Dataset metadata must define {STATE_FEATURE!r} and a positive FPS"
+        ) from exc
+
+    if not math.isfinite(fps) or fps <= 0:
+        raise ValueError(f"Dataset FPS must be a positive finite number, got {fps!r}")
+    if names != STATE_NAMES or shape != (len(STATE_NAMES),):
+        raise ValueError(
+            f"{STATE_FEATURE!r} must contain absolute fields {list(STATE_NAMES)!r}; "
+            f"got names={list(names)!r}, shape={list(shape)!r}"
+        )
+    return fps
+
+
+def _read_episode_rows(dataset_root: Path, episode_index: int) -> list[dict[str, Any]]:
+    data_files = sorted((dataset_root / "data").glob("chunk-*/file-*.parquet"))
+    if not data_files:
+        raise ValueError(f"No LeRobot data files found below {dataset_root / 'data'}")
+
+    rows: list[dict[str, Any]] = []
+    columns = [STATE_FEATURE, "episode_index", "frame_index"]
+    for data_file in data_files:
+        try:
+            table = parquet.read_table(data_file, columns=columns)
+        except Exception as exc:
+            raise ValueError(f"Could not read LeRobot data file: {data_file}") from exc
+        rows.extend(
+            row for row in table.to_pylist() if int(row["episode_index"]) == episode_index
+        )
+
+    if not rows:
+        raise ValueError(f"Episode {episode_index} does not exist in {dataset_root}")
+    rows.sort(key=lambda row: int(row["frame_index"]))
+    return rows
+
+
+def load_replay_episode(dataset_root: Path, episode_index: int = 0) -> ReplayEpisode:
+    """Load and validate one episode as absolute robot target states."""
+
+    dataset_root = Path(dataset_root).expanduser().resolve()
+    if not dataset_root.is_dir():
+        raise ValueError(f"Dataset directory does not exist: {dataset_root}")
+    if episode_index < 0:
+        raise ValueError(f"Episode index must be non-negative, got {episode_index}")
+
+    info = _load_info(dataset_root)
+    fps = _validate_state_feature(info)
+    rows = _read_episode_rows(dataset_root, episode_index)
+
+    frame_indices = tuple(int(row["frame_index"]) for row in rows)
+    expected_indices = tuple(range(len(rows)))
+    if frame_indices != expected_indices:
+        raise ValueError(
+            f"Episode {episode_index} frame_index must be contiguous from 0; "
+            f"got first={frame_indices[0]}, last={frame_indices[-1]}"
+        )
+
+    states: list[tuple[float, ...]] = []
+    for row_index, row in enumerate(rows):
+        raw_state = row[STATE_FEATURE]
+        if not isinstance(raw_state, (list, tuple)) or len(raw_state) != len(STATE_NAMES):
+            raise ValueError(
+                f"Episode {episode_index}, frame {row_index} must contain "
+                f"{len(STATE_NAMES)} state values"
+            )
+        state = tuple(float(value) for value in raw_state)
+        if not all(math.isfinite(value) for value in state):
+            raise ValueError(
+                f"Episode {episode_index}, frame {row_index} contains a non-finite value"
+            )
+        states.append(state)
+
+    return ReplayEpisode(
+        fps=fps,
+        episode_index=episode_index,
+        frame_indices=frame_indices,
+        states=tuple(states),
+    )
+
+
+def state_to_robot_action(state: Sequence[float]) -> dict[str, float]:
+    """Map one absolute dataset state to the xArm absolute command format."""
+
+    if len(state) != len(STATE_NAMES):
+        raise ValueError(f"Expected {len(STATE_NAMES)} state values, got {len(state)}")
+    values = tuple(float(value) for value in state)
+    if not all(math.isfinite(value) for value in values):
+        raise ValueError("Robot state contains a non-finite value")
+    # These values are absolute positions. Do not subtract the previous state.
+    return dict(zip(STATE_NAMES, values, strict=True))
+
+
+def replay_episode(robot: Any, episode: ReplayEpisode, show_progress: bool = True) -> None:
+    """Send every absolute state once at the dataset FPS."""
+
+    period_s = 1.0 / episode.fps
+    next_deadline = time.perf_counter()
+    total_frames = len(episode.states)
+
+    for frame_number, state in enumerate(episode.states, start=1):
+        robot.send_action(state_to_robot_action(state))
+        if show_progress:
+            print(f"\rReplaying frame {frame_number}/{total_frames}", end="", flush=True)
+
+        next_deadline += period_s
+        precise_sleep(max(next_deadline - time.perf_counter(), 0.0))
+
+    if show_progress:
+        print()
+
+
+def _build_robot(robot_ip: str) -> UFRobot:
+    config = UFRobotConfig(
+        id="xarm7_replay_robot",
+        robot_ip=robot_ip,
+        robot_dof=7,
+        control_space="joint",
+        joint_command_mode=1,
+        gripper_type=1,
+        manual_mode=False,
+        cameras={},
+    )
+    return UFRobot(config)
+
+
+def _confirm_start(episode: ReplayEpisode, robot_ip: str, skip_confirmation: bool) -> bool:
+    first_state = state_to_robot_action(episode.states[0])
+    last_state = state_to_robot_action(episode.states[-1])
+    duration_s = (len(episode.states) - 1) / episode.fps
+    print(f"Robot: xArm7 at {robot_ip}")
+    print(
+        f"Episode {episode.episode_index}: {len(episode.states)} frames, "
+        f"{episode.fps:g} FPS, about {duration_s:.2f} seconds"
+    )
+    print(f"First absolute state: {first_state}")
+    print(f"Last absolute state:  {last_state}")
+    print("The robot will first move to its xArm SDK initial point.")
+    print("After replay it will stop at the last state and disconnect.")
+
+    if skip_confirmation:
+        return True
+    if not sys.stdin.isatty():
+        raise RuntimeError("Interactive confirmation is required; use --yes to continue")
+    return input("Type 'yes' to connect and start replay: ").strip().lower() == "yes"
+
+
+def _disconnect_quietly(robot: UFRobot) -> None:
+    if getattr(robot, "real_arm", None) is None:
+        return
+    try:
+        robot.disconnect()
+    except Exception as exc:
+        print(f"Warning: failed to disconnect robot cleanly: {exc}", file=sys.stderr)
+
+
+def parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Replay absolute observation.state joint positions on an xArm7."
+    )
+    parser.add_argument(
+        "--dataset-root",
+        type=Path,
+        default=DEFAULT_DATASET_ROOT,
+        help=f"LeRobot dataset root (default: {DEFAULT_DATASET_ROOT})",
+    )
+    parser.add_argument(
+        "--robot-ip",
+        default=DEFAULT_ROBOT_IP,
+        help=f"xArm controller IP (default: {DEFAULT_ROBOT_IP})",
+    )
+    parser.add_argument(
+        "--episode-index",
+        type=int,
+        default=0,
+        help="Episode to replay (default: 0)",
+    )
+    parser.add_argument(
+        "--yes",
+        action="store_true",
+        help="Skip the interactive confirmation before connecting to the robot",
+    )
+    return parser.parse_args(argv)
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    args = parse_args(argv)
+    try:
+        episode = load_replay_episode(args.dataset_root, args.episode_index)
+        if not _confirm_start(episode, args.robot_ip, args.yes):
+            print("Replay cancelled before connecting to the robot.")
+            return 0
+
+        robot = _build_robot(args.robot_ip)
+        try:
+            robot.connect()
+            print("Robot connected and moved to the SDK initial point.")
+            replay_episode(robot, episode)
+            print("Replay complete. The robot will remain at the last state.")
+        finally:
+            _disconnect_quietly(robot)
+    except KeyboardInterrupt:
+        print("\nReplay interrupted by user.", file=sys.stderr)
+        return 130
+    except (RuntimeError, ValueError, OSError) as exc:
+        print(f"Replay failed: {exc}", file=sys.stderr)
+        return 1
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

tests/test_lerobot_replay.py

@@ -0,0 +1,273 @@
+import json
+
+import pyarrow as pa
+import pyarrow.parquet as parquet
+import pytest
+
+from lerobot_robot_ufactory.scripts import uf_lerobot_replay as replay_module
+from lerobot_robot_ufactory.scripts.uf_lerobot_replay import (
+    JOINT_STATE_NAMES,
+    ReplayEpisode,
+    STATE_NAMES,
+    load_replay_episode,
+    replay_episode,
+    state_to_robot_action,
+)
+
+
+def _write_dataset(tmp_path, states, episode_indices=None, frame_indices=None, names=None):
+    dataset_root = tmp_path / "dataset"
+    (dataset_root / "data" / "chunk-000").mkdir(parents=True)
+    (dataset_root / "meta").mkdir()
+
+    episode_indices = episode_indices or [0] * len(states)
+    frame_indices = frame_indices or list(range(len(states)))
+    names = names or list(STATE_NAMES)
+    info = {
+        "fps": 30,
+        "features": {
+            "observation.state": {
+                "dtype": "float32",
+                "names": names,
+                "shape": [len(names)],
+            }
+        },
+    }
+    (dataset_root / "meta" / "info.json").write_text(
+        json.dumps(info), encoding="utf-8"
+    )
+    table = pa.table(
+        {
+            "observation.state": states,
+            "episode_index": episode_indices,
+            "frame_index": frame_indices,
+        }
+    )
+    parquet.write_table(table, dataset_root / "data" / "chunk-000" / "file-000.parquet")
+    return dataset_root
+
+
+def test_load_replay_episode_sorts_and_maps_absolute_states(tmp_path):
+    state_a = [0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.7, 1.00375]
+    state_b = [0.2, -0.3, 0.4, -0.5, 0.6, -0.7, 0.8, 0.4]
+    dataset_root = _write_dataset(
+        tmp_path,
+        states=[state_b, state_a, [9.0] * 8],
+        episode_indices=[0, 0, 1],
+        frame_indices=[1, 0, 0],
+    )
+
+    episode = load_replay_episode(dataset_root, episode_index=0)
+
+    assert episode.fps == 30
+    assert episode.frame_indices == (0, 1)
+    assert episode.states == (tuple(state_a), tuple(state_b))
+    assert state_to_robot_action(state_a) == dict(zip(STATE_NAMES, state_a, strict=True))
+
+
+def test_replay_sends_absolute_values_without_delta_accumulation(monkeypatch):
+    class FakeRobot:
+        def __init__(self):
+            self.actions = []
+
+        def send_action(self, action):
+            self.actions.append(action.copy())
+
+    monkeypatch.setattr(replay_module, "precise_sleep", lambda _: None)
+    state_a = (0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8)
+    state_b = (0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 0.9)
+    episode = ReplayEpisode(
+        fps=30,
+        episode_index=0,
+        frame_indices=(0, 1),
+        states=(state_a, state_b),
+    )
+    robot = FakeRobot()
+
+    replay_episode(robot, episode, show_progress=False)
+
+    assert robot.actions == [
+        dict(zip(STATE_NAMES, state_a, strict=True)),
+        dict(zip(STATE_NAMES, state_b, strict=True)),
+    ]
+    assert robot.actions[1]["J1.pos"] == state_b[0]
+
+
+def test_ufactory_robot_sends_absolute_radian_joint_targets(monkeypatch):
+    from lerobot_robot_ufactory.robots.uf_robot import uf_robot as uf_robot_module
+    from lerobot_robot_ufactory.robots.uf_robot.uf_robot_config import UFRobotConfig
+
+    class FakeArm:
+        error_code = 0
+        mode = 6
+
+        def __init__(self):
+            self.calls = []
+
+        def set_mode(self, mode):
+            self.calls.append(("set_mode", mode))
+            self.mode = mode
+            return 0
+
+        def set_state(self, state):
+            self.calls.append(("set_state", state))
+            return 0
+
+        def set_servo_angle(self, **kwargs):
+            self.calls.append(("set_servo_angle", kwargs))
+            return 0
+
+    monkeypatch.setattr(uf_robot_module.time, "sleep", lambda _: None)
+    robot = uf_robot_module.UFRobot(
+        UFRobotConfig(
+            id="replay-test",
+            robot_dof=7,
+            control_space="joint",
+            gripper_type=0,
+            cameras={},
+        )
+    )
+    arm = FakeArm()
+    robot.real_arm = arm
+    robot._is_connected = True
+    target = state_to_robot_action((0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.7, 0.8))
+
+    robot.send_action(target)
+
+    servo_calls = [kwargs for name, kwargs in arm.calls if name == "set_servo_angle"]
+    assert servo_calls == [
+        {
+            "angle": [0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.7],
+            "speed": 0.2,
+            "is_radian": True,
+            "wait": True,
+        }
+    ]
+
+
+def test_reset_to_initial_enables_robot_before_motion(monkeypatch):
+    from lerobot_robot_ufactory.robots.uf_robot import uf_robot as uf_robot_module
+    from lerobot_robot_ufactory.robots.uf_robot.uf_robot_config import UFRobotConfig
+
+    class FakeArm:
+        mode = 0
+        state = 0
+        error_code = 0
+        warn_code = 0
+
+        def __init__(self):
+            self.calls = []
+
+        def motion_enable(self, enable=True):
+            self.calls.append(("motion_enable", enable))
+            return 0
+
+        def clean_error(self):
+            self.calls.append(("clean_error",))
+            return 0
+
+        def set_mode(self, mode):
+            self.calls.append(("set_mode", mode))
+            self.mode = mode
+            return 0
+
+        def set_state(self, state):
+            self.calls.append(("set_state", state))
+            self.state = state
+            return 0
+
+        def set_servo_angle(self, **kwargs):
+            self.calls.append(("set_servo_angle", kwargs))
+            return 0
+
+    monkeypatch.setattr(uf_robot_module.time, "sleep", lambda _: None)
+    robot = uf_robot_module.UFRobot(
+        UFRobotConfig(
+            id="replay-reset-test",
+            robot_dof=7,
+            control_space="joint",
+            gripper_type=0,
+            cameras={},
+        )
+    )
+    arm = FakeArm()
+    robot.real_arm = arm
+    robot._is_connected = True
+    robot._initial_point = [0.0] * 7
+    robot.configure = lambda: None
+
+    robot.reset_to_initial()
+
+    assert [name for name, *_ in arm.calls] == [
+        "motion_enable",
+        "clean_error",
+        "set_mode",
+        "set_state",
+        "set_servo_angle",
+    ]
+    assert arm.calls[0] == ("motion_enable", True)
+
+
+def test_ufactory_robot_replay_path_sends_absolute_servo_j_targets():
+    from lerobot_robot_ufactory.robots.uf_robot import uf_robot as uf_robot_module
+    from lerobot_robot_ufactory.robots.uf_robot.uf_robot_config import UFRobotConfig
+
+    class FakeArm:
+        error_code = 0
+        mode = 1
+        state = 0
+        warn_code = 0
+
+        def __init__(self):
+            self.calls = []
+
+        def set_servo_angle_j(self, angles, **kwargs):
+            self.calls.append(("set_servo_angle_j", angles, kwargs))
+            return 0
+
+    robot = uf_robot_module.UFRobot(
+        UFRobotConfig(
+            id="replay-servoj-test",
+            robot_dof=7,
+            control_space="joint",
+            joint_command_mode=1,
+            gripper_type=0,
+            cameras={},
+        )
+    )
+    arm = FakeArm()
+    robot.real_arm = arm
+    robot._is_connected = True
+
+    target = state_to_robot_action((0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.7, 0.8))
+    robot.send_action(target)
+
+    assert arm.calls == [
+        (
+            "set_servo_angle_j",
+            [0.1, -0.2, 0.3, -0.4, 0.5, -0.6, 0.7],
+            {"speed": 0.2, "is_radian": True},
+        )
+    ]
+
+
+def test_load_replay_episode_rejects_wrong_state_schema(tmp_path):
+    states = [[0.0] * 8]
+    dataset_root = _write_dataset(tmp_path, states, names=list(JOINT_STATE_NAMES) + ["wrong"])
+
+    with pytest.raises(ValueError, match="absolute fields"):
+        load_replay_episode(dataset_root)
+
+
+def test_load_replay_episode_rejects_non_contiguous_frames(tmp_path):
+    dataset_root = _write_dataset(tmp_path, [[0.0] * 8, [1.0] * 8], frame_indices=[0, 2])
+
+    with pytest.raises(ValueError, match="contiguous"):
+        load_replay_episode(dataset_root)
+
+
+def test_state_to_robot_action_rejects_non_finite_values():
+    state = [0.0] * 7 + [float("nan")]
+
+    with pytest.raises(ValueError, match="non-finite"):
+        state_to_robot_action(state)

uv.lock

@@ -1223,6 +1223,7 @@ dependencies = [
     { name = "numpy", version = "2.4.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.11.*'" },
     { name = "numpy", version = "2.5.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.12'" },
     { name = "opencv-python" },
+    { name = "pyarrow" },
     { name = "pyyaml" },
     { name = "xarm-python-sdk" },
 ]
@@ -1252,6 +1253,7 @@ requires-dist = [
     { name = "numpy", specifier = ">=1.24" },
     { name = "opencv-python" },
     { name = "pre-commit", marker = "extra == 'dev'", specifier = ">=3.7" },
+    { name = "pyarrow", specifier = ">=14.0" },
     { name = "pytest", marker = "extra == 'dev'", specifier = ">=8.0" },
     { name = "pytest-cov", marker = "extra == 'dev'", specifier = ">=5.0" },
     { name = "pyyaml" },