refactor: 插件化重构 — 重命名包、draccus 配置迁移、上下文注册、Pika 复用

1. 重命名 ufactory_lerobot → lerobot_robot_ufactory
   以独立插件包形式支持 lerobot 加载，pyproject.toml 同步更新

2. 配置文件迁移至 draccus 格式
   所有 YAML config 从 _target_ 格式迁移至 ChoiceRegistry type 格式
   dict 值类型从具体类改为抽象基类（RobotConfig/TeleoperatorConfig）
   确保嵌套 dict 中的 type 选择器能被 draccus 正确解析

3. teleop 上下文注册替代属性注入
   新增 context.py（contextvars 实现），支持多 teleop 按 id 存取
   UFBaseTeleop.connect/disconnect 自动注册/注销活跃 teleop
   UFMockRobot.get_observation 从上下文获取 teleop action
   移除 record() 对 cfg.robot.teleop 的注入

4. 部分导入延迟加载
   pika_device: serial/list_ports 延迟导入
   gello_teleop: gello 依赖延迟导入
   umi_teleop/camera_umi: XVLib 延迟导入
   space_mouse: spnav 延迟导入

5. Pika 设备实例复用
   PIKA_DEVICE_MAP 共享已连接的 Sense/Gripper，防止多实例化抢占端口
   修复 pika_gripper 属性误用 _pika_sense_port 的 bug

6. 修复 multiple_uf_mock_robot
   robots 从 list 改为 dict[str, UFMockRobot]，移除 keys 列表
   send_action 改用 dict items 遍历
   新增 MultipleUFMockRobot.cameras 聚合属性

.gitignore

@@ -6,8 +6,8 @@ __pycache__/
 *$py.class
 *.so
 *.so.*
-!src/ufactory_lerobot/devices/umi/xvlib/lib*.so
+!src/lerobot_robot_ufactory/devices/umi/xvlib/lib*.so
-!src/ufactory_lerobot/devices/umi/xvlib/lib*.so.*
+!src/lerobot_robot_ufactory/devices/umi/xvlib/lib*.so.*
 *.egg
 *.egg-info/
 dist/

config/gello/xarm5_gello_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"
   robot_dof: 5
   control_space: "joint"
@@ -7,20 +7,9 @@ RobotConfig:
   gripper_type: 1
   start_joints: [0, 0, -90, 90, 0]
 
-DatasetRecordConfig:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm5_gello_datas"
-  repo_id: "ufactory/xarm5_gello_datas"
-  single_task: "Pick up the purple grape and drop into the box on the left."
-  fps: 30
-  episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # (invalid) time for resetting env between episodes
-  push_to_hub: False
-
 # make sure to edit with your correct configurations!
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.gello_teleop.GelloTeleopConfig
+  type: uf::gello_teleop
   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]
@@ -28,3 +17,12 @@ TeleoperatorConfig:
   gripper_id: 8
   torque_joint_ids: [3, 5]
 
+dataset:
+  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm5_gello_datas"
+  repo_id: "ufactory/xarm5_gello_datas"
+  single_task: "Pick up the purple grape and drop into the box on the left."
+  fps: 30
+  episode_time_s: 60  # max duration for one episode
+  reset_time_s: 20    # time for resetting env between episodes
+  push_to_hub: False

config/gello/xarm6_gello_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"
   robot_dof: 6
   control_space: "joint"
@@ -7,20 +7,9 @@ RobotConfig:
   gripper_type: 1
   start_joints: [0, 0, -90, 0, 90, 0]
 
-DatasetRecordConfig:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
-  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas"
-  repo_id: "ufactory/xarm6_gello_datas"
-  single_task: "Pick up the purple grape and drop into the box on the left."
-  fps: 30
-  episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # (invalid) time for resetting env between episodes
-  push_to_hub: False
-
 # make sure to edit with your correct configurations!
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.gello_teleop.GelloTeleopConfig
+  type: uf::gello_teleop
   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]
@@ -28,3 +17,12 @@ TeleoperatorConfig:
   gripper_id: 8
   torque_joint_ids: [3]
 
+dataset:
+  # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
+  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas"
+  repo_id: "ufactory/xarm6_gello_datas"
+  single_task: "Pick up the purple grape and drop into the box on the left."
+  fps: 30
+  episode_time_s: 60  # max duration for one episode
+  reset_time_s: 20    # time for resetting env between episodes
+  push_to_hub: False

config/gello/xarm7_gello_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"
   robot_dof: 7
   control_space: "joint"
@@ -7,21 +7,19 @@ RobotConfig:
   gripper_type: 1
   start_joints: [0, 0, 0, 90, 0, 90, 0]
 
-DatasetRecordConfig:
+# make sure to edit with your correct configurations!
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
+teleop:
+  type: uf::gello_teleop
+  id: "gello_teleop"
+  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
+  start_joints: [0, 0, 0, 90, 0, 90, 0]
+
+dataset:
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm6_gello_datas"
   repo_id: "ufactory/xarm6_gello_datas"
   single_task: "Pick up the purple grape and drop into the box on the left."
   fps: 30
   episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # (invalid) time for resetting env between episodes
+  reset_time_s: 20    # time for resetting env between episodes
   push_to_hub: False
-
-# make sure to edit with your correct configurations!
-TeleoperatorConfig:
-  _target_: ufactory_lerobot.teleoperators.gello_teleop.GelloTeleopConfig
-  id: "gello_teleop"
-  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
-  start_joints: [0, 0, 0, 90, 0, 90, 0]
-

config/pika/pika_record_config.yaml

@@ -1,21 +1,29 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
+  type: uf::mock_robot
   id: "uf_mock_robot"  
   control_space: "cartesian"
   gripper_type: 2
   state_offset_action: 3
-  
+  teleop_id: "pika_xxxx"
   cameras:
     fisheye:
-      _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
+      type: opencv
       index_or_path: "/dev/v4l/by-id/usb-DECXIN_CAMERA_DECXIN_CAMERA_01.00.00-video-index0"
       width: 640
       height: 480
       fps: 30
       fourcc: "MJPG"
 
-DatasetRecordConfig:
+# make sure to edit with your correct configurations!
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
+teleop:
+  type: uf::pika_teleop
+  id: "pika_xxxx"
+  # port: "/dev/ttyUSB0"
+  scale_xyz: 1.5
+  tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
+  robot_base_pose: [400, 0, 400, 180, 0, 0]
+
+dataset:
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/pika_datas"
   repo_id: "ufactory/pika_datas"
@@ -24,11 +32,3 @@ DatasetRecordConfig:
   episode_time_s: 60  # max duration for one episode
   reset_time_s: 20    # (invalid) time for resetting env between episodes
   push_to_hub: False
-
-# make sure to edit with your correct configurations!
-TeleoperatorConfig:
-  _target_: ufactory_lerobot.teleoperators.pika_teleop.PikaTeleopConfig
-  # port: "/dev/ttyUSB0"
-  scale_xyz: 1.5
-  tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
-  robot_base_pose: [400, 0, 400, 180, 0, 0]

config/pika/xarm7_pika_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"
   robot_dof: 7
   control_space: "cartesian"
@@ -8,18 +8,24 @@ RobotConfig:
   max_linear_velocity: 200
   start_joints: [-0.2, -13.9, -0.3, 52.6, 0.9, 66.6, 0.2]
   start_tcp_pose: [400, 0, 400, 180, 0, 0]
-  
   cameras:
     fisheye:
-      _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
+      type: opencv
       index_or_path: "/dev/v4l/by-id/usb-DECXIN_CAMERA_DECXIN_CAMERA_01.00.00-video-index0"
       width: 640
       height: 480
       fps: 30
       fourcc: "MJPG"
 
-DatasetRecordConfig:
+# make sure to edit with your correct configurations!
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
+teleop:
+  type: uf::pika_teleop
+  # port: "/dev/ttyUSB0"
+  scale_xyz: 1.5
+  tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
+  robot_base_pose: [400, 0, 400, 180, 0, 0]
+
+dataset:
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pika_datas"
   repo_id: "ufactory/xarm7_pika_datas"
@@ -28,11 +34,3 @@ DatasetRecordConfig:
   episode_time_s: 60  # max duration for one episode
   reset_time_s: 20    # (invalid) time for resetting env between episodes
   push_to_hub: False
-
-# make sure to edit with your correct configurations!
-TeleoperatorConfig:
-  _target_: ufactory_lerobot.teleoperators.pika_teleop.PikaTeleopConfig
-  # port: "/dev/ttyUSB0"
-  scale_xyz: 1.5
-  tracker_to_robot_eef: [0, 0, 0, 180, -90, 0]
-  robot_base_pose: [400, 0, 400, 180, 0, 0]

config/spacemouse/xarm7_spacemouse_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"
   robot_dof: 7
   control_space: "cartesian"
@@ -8,20 +8,25 @@ RobotConfig:
 
   cameras:
     overhead:
-      _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
+      type: intelrealsense
       serial_number_or_name: "Intel RealSense D435I"
       width: 640
       height: 480
       fps: 30
     tool:
-      _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig
+      type: intelrealsense
       serial_number_or_name: "Intel RealSense D435"
       width: 640
       height: 480
       fps: 30
 
-DatasetRecordConfig:
+# space mouse
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
+teleop:
+  type: uf::spacemouse_teleop
+  max_value: 300
+  use_gripper: False
+
+dataset:
   # root: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_pushT"
   repo_id: "ufactory/xarm7_pushT"
@@ -30,9 +35,3 @@ DatasetRecordConfig:
   episode_time_s: 60  # max duration for one episode
   reset_time_s: 20    # (invalid) time for resetting env between episodes
   push_to_hub: False
-
-# space mouse
-TeleoperatorConfig:
-  _target_: ufactory_lerobot.teleoperators.space_mouse.SpaceMouseTeleopConfig
-  max_value: 300
-  use_gripper: False

config/umi/dual_umi_record_config.yaml

@@ -1,42 +1,44 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_mock_robot.MultipleUFMockRobotConfig
+  type: uf::multiple_mock_robot
   id: "multiple_uf_mock_robots"
   robots:
     left:
-      _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
+      type: uf::mock_robot
       id: "left_uf_mock_robot"
       control_space: "cartesian"
       gripper_type: 1
       state_offset_action: 3
+      teleop_id: "umi_250801DR48FP26001318"
       cameras:
         fisheye:
-          _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
+          type: uf::umi_camera
           serial_number: "250801DR48FP26001318"
           width: 1280
           height: 1280
           fps: 30
     right:
-      _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
+      type: uf::mock_robot
       id: "right_uf_mock_robot"
       control_space: "cartesian"
       gripper_type: 1
       state_offset_action: 3
+      teleop_id: "umi_250801DR48FP26001295"
       cameras:
         fisheye:
-          _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
+          type: uf::umi_camera
           serial_number: "250801DR48FP26001295"
           width: 1280
           height: 1280
           fps: 30
 
 # make sure to edit with your correct configurations!
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig
+  type: uf::multiple_umi_teleop
   id: "multiple_teleops"
   teleops:
     left:
-      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+      type: uf::umi_teleop
-      id: "left_teleop"
+      id: "umi_250801DR48FP26001318"
       serial_number: "250801DR48FP26001318"
       use_vive_tracker: False
       vive_tracker_id: "LHR-555DC7BF"
@@ -44,8 +46,8 @@ TeleoperatorConfig:
       tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
       robot_base_pose: [400, 0, 150, -90, 0, 0]
     right:
-      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+      type: uf::umi_teleop
-      id: "right_teleop"
+      id: "umi_250801DR48FP26001295"
       serial_number: "250801DR48FP26001295"
       use_vive_tracker: False
       vive_tracker_id: "LHR-2425BAD3"
@@ -53,15 +55,14 @@ TeleoperatorConfig:
       tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
       robot_base_pose: [400, 0, 150, 90, 0, 0]
 
-DatasetRecordConfig:
+dataset:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
-  repo_id: "ufactory/dual_xarm6_umi_datas"
+  repo_id: "ufactory/dual_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    # (invalid) time for resetting env between episodes
+  reset_time_s: 20    # time for resetting env between episodes
   num_episodes: 100
   push_to_hub: False
 

config/umi/dual_xarm6_umi_record_config.yaml

@@ -1,12 +1,12 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.MultipleUFRobotConfig
+  type: uf::multiple_robot
   id: "multiple_uf_robots"
   async_connect: True
   async_configure: True
   async_action: False
   robots:
     left:
-      _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+      type: uf::robot
       id: "left_uf_robot"
       robot_dof: 6
       control_space: "cartesian"
@@ -15,16 +15,23 @@ RobotConfig:
       max_linear_velocity: 200
       start_joints: [-14.7, 25.6, -49.6, -282.5, 95.9, -65.9]
       start_tcp_pose: [400, 0, 150, -90, 0, 0]
+      teleop_id: "umi_250801DR48FP26001318"
+      # no_action: True
       cameras:
         fisheye:
-          _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
+          # 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"
     right:
-      _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+      type: uf::robot
       id: "right_uf_robot"
       robot_dof: 6
       control_space: "cartesian"
@@ -33,9 +40,16 @@ RobotConfig:
       max_linear_velocity: 200
       start_joints: [14.5, 25.5, -49.6, -76.8, 95.9, 66.6]
       start_tcp_pose: [400, 0, 150, 90, 0, 0]
+      teleop_id: "umi_250801DR48FP26001295"
+      # no_action: True
       cameras:
         fisheye:
-          _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
+          # 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
@@ -43,13 +57,13 @@ RobotConfig:
           fourcc: "YUYV"
 
 # make sure to edit with your correct configurations!
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig
+  type: uf::multiple_umi_teleop
   id: "multiple_teleops"
   teleops:
     left:
-      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+      type: uf::umi_teleop
-      id: "left_teleop"
+      id: "umi_250801DR48FP26001318"
       serial_number: "250801DR48FP26001318"
       use_vive_tracker: False
       vive_tracker_id: "LHR-555DC7BF"
@@ -57,8 +71,8 @@ TeleoperatorConfig:
       tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
       robot_base_pose: [400, 0, 150, -90, 0, 0]
     right:
-      _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+      type: uf::umi_teleop
-      id: "right_teleop"
+      id: "umi_250801DR48FP26001295"
       serial_number: "250801DR48FP26001295"
       use_vive_tracker: False
       vive_tracker_id: "LHR-2425BAD3"
@@ -66,15 +80,14 @@ TeleoperatorConfig:
       tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
       robot_base_pose: [400, 0, 150, 90, 0, 0]
 
-DatasetRecordConfig:
+dataset:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
   repo_id: "ufactory/dual_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    # (invalid) time for resetting env between episodes
+  reset_time_s: 20    # time for resetting env between episodes
   num_episodes: 100
   push_to_hub: False
 

config/umi/umi_record_config.yaml

@@ -1,19 +1,21 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig
+  type: uf::mock_robot
   id: "uf_mock_robot"  
   control_space: "cartesian"
   gripper_type: 1
   state_offset_action: 3
+  teleop_id: "umi_250801DR48FP26001295"
   cameras:
     fisheye:
-      _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig
+      type: uf::umi_camera
       serial_number: "250801DR48FP26001295"
       width: 1280
       height: 1280
       fps: 100
 
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+  type: uf::umi_teleop
+  id: "umi_250801DR48FP26001295"
   serial_number: "250801DR48FP26001295"
   use_vive_tracker: False
   vive_tracker_id: "LHR-2425BAD3"
@@ -21,14 +23,13 @@ TeleoperatorConfig:
   tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
   robot_base_pose: [400, 0, 400, 180, 0, 0]
 
-DatasetRecordConfig:
+dataset:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
   root: "/home/uf/Data/lerobot_datas/record/ufactory/umi_datas"
   repo_id: "ufactory/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    # (invalid) time for resetting env between episodes
+  reset_time_s: 20    # time for resetting env between episodes
   num_episodes: 100
   push_to_hub: False

config/umi/xarm6_umi_record_config.yaml

@@ -1,5 +1,5 @@
-RobotConfig:
+robot:
-  _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig
+  type: uf::robot
   id: "uf_robot"  
   robot_dof: 6
   control_space: "cartesian"
@@ -10,15 +10,15 @@ RobotConfig:
   start_tcp_pose: [400, 0, 400, 180, 0, 0]
   cameras:
     fisheye:
-      _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig
+      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"
 
-TeleoperatorConfig:
+teleop:
-  _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig
+  type: uf::umi_teleop
   serial_number: "250801DR48FP26001295"
   use_vive_tracker: False
   vive_tracker_id: "LHR-2425BAD3"
@@ -26,14 +26,13 @@ TeleoperatorConfig:
   tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
   robot_base_pose: [400, 0, 400, 180, 0, 0]
 
-DatasetRecordConfig:
+dataset:
-  _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig
   # 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    # (invalid) time for resetting env between episodes
+  reset_time_s: 20    # time for resetting env between episodes
   num_episodes: 100
   push_to_hub: False

pyproject.toml

@@ -3,14 +3,14 @@ requires = ["setuptools>=68.0", "wheel>=0.42"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "ufactory_lerobot"
+name = "lerobot_robot_ufactory"
 version = "0.1.0"
 description = "UFACTORY 机械臂与 LeRobot 框架集成"
 readme = "README.md"
 license = { text = "Apache-2.0" }
 requires-python = ">=3.10"
 authors = [
-    { name = "ufactory_lerobot Contributors" },
+    { name = "lerobot_robot_ufactory Contributors" },
 ]
 keywords = ["robotics", "lerobot", "ufactory", "xarm", "imitation-learning"]
 classifiers = [
@@ -32,11 +32,11 @@ dependencies = [
 ]
 
 [project.scripts]
-uf-robot-teleop = "ufactory_lerobot.scripts.uf_robot_teleop:main"
+uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
-uf-lerobot-record = "ufactory_lerobot.scripts.uf_lerobot_record:main"
+uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
-uf-lerobot-eval = "ufactory_lerobot.scripts.uf_lerobot_eval:main"
+uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
-uf-vive-calibrate = "ufactory_lerobot.scripts.vive_calibrate:main"
+uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
-uf-camera-view = "ufactory_lerobot.scripts.uf_camera_view:main"
+uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"
 
 [project.optional-dependencies]
 # GELLO 遥操作
@@ -64,7 +64,7 @@ include-package-data = true
 where = ["src"]
 
 [tool.setuptools.package-data]
-"ufactory_lerobot.devices.umi.xvlib" = ["*.so", "*.so.*"]
+"lerobot_robot_ufactory.devices.umi.xvlib" = ["*.so", "*.so.*"]
 
 [tool.ruff]
 line-length = 100

src/lerobot_robot_ufactory/__init__.py

@@ -1,6 +1,6 @@
-from ufactory_lerobot.cameras.utils import make_cameras_from_configs as _uf_make_cameras_from_configs
+from lerobot_robot_ufactory.cameras.utils import make_cameras_from_configs as _uf_make_cameras_from_configs
-from ufactory_lerobot.robots.utils import make_robot_from_config as _uf_make_robot_from_config
+from lerobot_robot_ufactory.robots.utils import make_robot_from_config as _uf_make_robot_from_config
-from ufactory_lerobot.teleoperators.utils import make_teleoperator_from_config as _uf_make_teleoperator_from_config
+from lerobot_robot_ufactory.teleoperators.utils import make_teleoperator_from_config as _uf_make_teleoperator_from_config
 import lerobot.cameras as _lerobot_cameras
 import lerobot.robots as _lerobot_robot
 import lerobot.teleoperators as _lerobot_teleoperators
@@ -15,11 +15,11 @@ _lerobot_cameras_utils.make_cameras_from_configs = _uf_make_cameras_from_configs
 _lerobot_robot_utils.make_robot_from_config = _uf_make_robot_from_config
 _lerobot_teleoperators_utils.make_teleoperator_from_config = _uf_make_teleoperator_from_config
 # register plugin
-import ufactory_lerobot.cameras.umi_camera
+import lerobot_robot_ufactory.cameras.umi_camera
-import ufactory_lerobot.robots.uf_robot
+import lerobot_robot_ufactory.robots.uf_robot
-import ufactory_lerobot.robots.uf_mock_robot
+import lerobot_robot_ufactory.robots.uf_mock_robot
-import ufactory_lerobot.teleoperators.uf_mock_teleop
+import lerobot_robot_ufactory.teleoperators.uf_mock_teleop
-import ufactory_lerobot.teleoperators.gello_teleop
+import lerobot_robot_ufactory.teleoperators.gello_teleop
-import ufactory_lerobot.teleoperators.pika_teleop
+import lerobot_robot_ufactory.teleoperators.pika_teleop
-import ufactory_lerobot.teleoperators.space_mouse
+import lerobot_robot_ufactory.teleoperators.space_mouse
-import ufactory_lerobot.teleoperators.umi_teleop
+import lerobot_robot_ufactory.teleoperators.umi_teleop

src/lerobot_robot_ufactory/cameras/umi_camera/camera_umi.py

@@ -51,7 +51,7 @@ class UmiCamera(Camera):
         self.rotation: int | None = get_cv2_rotation(config.rotation)
 
         self.last_frame = None
-        from ufactory_lerobot.devices.umi.xvlib import XVLib
+        from lerobot_robot_ufactory.devices.umi.xvlib import XVLib
         self.xvlib = XVLib(self.serial_number)
         self.xvlib.xv_color_camera_init()
 

src/lerobot_robot_ufactory/context.py

@@ -0,0 +1,28 @@
+"""上下文变量，用于跨模块共享运行时对象，避免属性注入。"""
+import contextvars
+
+_active_teleops: contextvars.ContextVar = contextvars.ContextVar("active_teleops", default={})
+
+
+def register_teleop(teleop) -> None:
+    """注册 teleop, 以 teleop.id 为 key"""
+    teleops = _active_teleops.get()
+    teleops[teleop.id] = teleop
+    _active_teleops.set(teleops)
+
+
+def unregister_teleop(teleop) -> None:
+    """移除 teleop"""
+    teleops = _active_teleops.get()
+    teleops.pop(teleop.id, None)
+    _active_teleops.set(teleops)
+
+
+def get_active_teleop(teleop_id: str | None = None):
+    """获取 active teleop。不传 id 返回第一个；传 id 返回对应 teleop。"""
+    teleops = _active_teleops.get()
+    if not teleops:
+        return None
+    if teleop_id is not None:
+        return teleops.get(teleop_id)
+    return next(iter(teleops.values()))

src/lerobot_robot_ufactory/devices/pika/pika_device.py

@@ -72,6 +72,7 @@ class PikaDevice(object):
     # _pika_sense_port = None
     # _pika_gripper_port = None
     # _lock = threading.Lock()
+    PIKA_DEVICE_MAP = {}
 
     def __init__(self, dev_type=1, **kwargs):
         """
@@ -144,6 +145,9 @@ class PikaDevice(object):
         if self._dev_type not in [1, 3]:
             return None
         if self._pika_sense is None:
+            if self._pika_sense_port in self.PIKA_DEVICE_MAP:
+                self._pika_sense = self.PIKA_DEVICE_MAP[self._pika_sense_port]
+                return self._pika_sense
             from pika.sense import Sense
             # 初始化Sense对象
             self._pika_sense = Sense(port=self._pika_sense_port)
@@ -152,6 +156,7 @@ class PikaDevice(object):
                 logger.error('连接Pika Sense设备失败')
                 exit(1)
             logger.info('Pika Sense设备连接成功')
+            self.PIKA_DEVICE_MAP[self._pika_sense_port] = self._pika_sense  # 注册共享
 
             # 配置Vive Tracker（可选）
             # sense.set_vive_tracker_config(config_path='path/to/config', lh_config='lighthouse_config')
@@ -186,16 +191,19 @@ class PikaDevice(object):
         if self._dev_type not in [2, 3]:
             return None
         if self._pika_gripper is None:
-            if self._dev_type in [2, 3]:
+            if self._pika_gripper_port in self.PIKA_DEVICE_MAP:
-                from pika.gripper import Gripper
+                self._pika_gripper = self.PIKA_DEVICE_MAP[self._pika_gripper_port]
-                self._pika_gripper = Gripper(port=self._pika_gripper_port)
+                return self._pika_gripper
-                # 连接设备
+            from pika.gripper import Gripper
-                if not self._pika_gripper.connect():
+            self._pika_gripper = Gripper(port=self._pika_gripper_port)
-                    logger.error('连接Pika Gripper设备失败')
+            self.PIKA_DEVICE_MAP[self._pika_gripper_port] = self._pika_gripper  # 注册共享
-                    if self._dev_type in [1, 3]:
+            # 连接设备
-                        self.pika_sense.disconnect()
+            if not self._pika_gripper.connect():
-                    exit(1)
+                logger.error('连接Pika Gripper设备失败')
-                logger.info('Pika Gripper设备连接成功')
+                if self._dev_type in [1, 3]:
+                    self.pika_sense.disconnect()
+                exit(1)
+            logger.info('Pika Gripper设备连接成功')
         return self._pika_gripper
 
 

src/lerobot_robot_ufactory/robots/uf_mock_robot/multiple_uf_mock_robot.py

@@ -15,60 +15,61 @@ class MultipleUFMockRobot(Robot):
     def __init__(self, config: MultipleUFMockRobotConfig):
         super().__init__(config)
         self.config = config
-        self.keys = []
+        self.robots: dict[str, UFMockRobot] = {}
-        self.robots = []
         for key, robot_config in self.config.robots.items():
-            self.keys.append(key)
+            self.robots[key] = UFMockRobot(robot_config, prefix=key)
-            self.robots.append(UFMockRobot(robot_config, prefix=key))
+
+        self.cameras = {}
+        for robot in self.robots.values():
+            self.cameras.update(robot.cameras)
 
     @property
     def observation_features(self) -> dict:
         observation_features = {}
-        for robot in self.robots:
+        for robot in self.robots.values():
             observation_features.update(robot.observation_features)
         return observation_features
 
     @property
     def action_features(self) -> dict:
         action_features = {}
-        for robot in self.robots:
+        for robot in self.robots.values():
             action_features.update(robot.action_features)
         return action_features
 
     @property
     def is_connected(self) -> bool:
-        return all(robot.is_connected for robot in self.robots)
+        return all(robot.is_connected for robot in self.robots.values())
 
     @property
     def is_calibrated(self) -> bool:
-        return all(robot.is_calibrated for robot in self.robots)
+        return all(robot.is_calibrated for robot in self.robots.values())
 
     def connect(self, calibrate: bool = True) -> None:
-        for robot in self.robots:
+        for robot in self.robots.values():
             robot.connect(calibrate=calibrate)
 
     def calibrate(self) -> None:
-        for robot in self.robots:
+        for robot in self.robots.values():
             robot.calibrate()
 
     def configure(self) -> None:
-        for robot in self.robots:
+        for robot in self.robots.values():
             robot.configure()
 
     def disconnect(self) -> None:
-        for robot in self.robots:
+        for robot in self.robots.values():
             robot.disconnect()
 
     def get_observation(self) -> RobotObservation:
-        observations = [robot.get_observation() for robot in self.robots]
+        observations = [robot.get_observation() for robot in self.robots.values()]
         combined_observation = RobotObservation()
         for obs in observations:
             combined_observation.update(obs)
         return combined_observation
 
     def send_action(self, action: RobotAction) -> RobotAction:
-        for i in range(len(self.keys)):
+        for key, robot in self.robots.items():
-            key = self.keys[i]
             action_subset = {k: v for k, v in action.items() if k.startswith(f"{key}.")}
-            self.robots[i].send_action(action_subset)
+            robot.send_action(action_subset)
         return action

src/lerobot_robot_ufactory/robots/uf_mock_robot/multiple_uf_mock_robot_config.py

@@ -1,11 +1,13 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from lerobot.robots import RobotConfig
 from .uf_mock_robot_config import UFMockRobotConfig
 
 @RobotConfig.register_subclass("uf::multiple_mock_robot")
 @dataclass
 class MultipleUFMockRobotConfig(RobotConfig):
-    robots: dict[str, UFMockRobotConfig]
+    robots: dict[str, RobotConfig] = field(
+        default_factory=lambda: {}
+    )
 
     def __post_init__(self):
         super().__post_init__()

src/lerobot_robot_ufactory/robots/uf_mock_robot/uf_mock_robot.py

@@ -1,6 +1,7 @@
 import numpy as np
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.robots import Robot
+from lerobot_robot_ufactory.context import get_active_teleop
 from .uf_mock_robot_config import UFMockRobotConfig
 
 
@@ -31,7 +32,6 @@ class UFMockRobot(Robot):
         self._jnt_obs_has_vel = config.observe_joint_vel if self._control_space == "joint" else False
         self._is_connected = False
         self._is_calibrated =True
-        self._teleop = self.config.teleop
         self._cache_num = self.config.state_offset_action
         self._teleop_actions = []
 
@@ -98,7 +98,8 @@ class UFMockRobot(Robot):
         pass # CHECK! currently No-op
 
     def get_observation(self) -> dict[str, np.ndarray]:
-        new_act = self._teleop.get_action()
+        teleop = get_active_teleop(self.config.teleop_id)
+        new_act = teleop.get_action() if teleop else {}
         # Capture images from cameras
         for cam_key, cam in self.cameras.items():
             new_act[f"{self.prefix}{cam_key}"] = cam.async_read()

src/lerobot_robot_ufactory/robots/uf_mock_robot/uf_mock_robot_config.py

@@ -5,6 +5,7 @@ from lerobot.robots import RobotConfig
 @RobotConfig.register_subclass("uf::mock_robot")
 @dataclass
 class UFMockRobotConfig(RobotConfig):
+    teleop_id:  str
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {}
     )
@@ -13,7 +14,6 @@ class UFMockRobotConfig(RobotConfig):
     control_space: str = "joint"
     gripper_type: int = 1           # 1: xArm Gripper, 10: Pika Gripper
     observe_joint_vel: bool = False # only effective in joint control mode
-    teleop:  None = None # from lerobot.teleoperators import Teleoperator
     state_offset_action: int = 3    # the number of previous teleop actions to be included in the observation
 
     def __post_init__(self):

src/lerobot_robot_ufactory/robots/uf_robot/multiple_uf_robot_config.py

@@ -1,11 +1,13 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from lerobot.robots import RobotConfig
 from .uf_robot_config import UFRobotConfig
 
 @RobotConfig.register_subclass("uf::multiple_robot")
 @dataclass
 class MultipleUFRobotConfig(RobotConfig):
-    robots: dict[str, UFRobotConfig]
+    robots: dict[str, RobotConfig] = field(
+        default_factory=lambda: {}
+    )
     async_connect: bool = True
     async_configure: bool = True
     async_action: bool = False

src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py

@@ -10,7 +10,7 @@ from dataclasses import dataclass
 from threading import Thread, Event, Lock
 from lerobot.robots import Robot
 from lerobot.cameras.utils import make_cameras_from_configs
-from ufactory_lerobot.devices.pika import PikaDevice
+from lerobot_robot_ufactory.devices.pika import PikaDevice
 from .uf_robot_config import UFRobotConfig
 from xarm.wrapper import XArmAPI
 from xarm.core.utils import convert

src/lerobot_robot_ufactory/scripts/uf_download_resources.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+"""Download XVSDK binaries and UMI shared libraries after install."""
+import os
+import sys
+import urllib.request
+import subprocess
+import site
+
+RESOURCES = "https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/main/fastumi"
+
+FILES = [
+    # (url_path, subdir)
+    ("libxvlib.so", ""),
+    ("opencv/libopencv_core.so.4.2", ""),
+    ("opencv/libopencv_imgproc.so.4.2", ""),
+]
+
+DEB_FILE = "sdk/XVSDK_focal_amd64.deb"
+
+
+def get_pkg_dir():
+    """Find the installed ufactory_lerobot package directory."""
+    for sp in site.getsitepackages():
+        path = os.path.join(sp, "ufactory_lerobot", "devices", "umi", "xvlib")
+        if os.path.isdir(path):
+            return path
+    # fallback: try user site
+    usp = site.getusersitepackages()
+    if usp:
+        return os.path.join(usp, "ufactory_lerobot", "devices", "umi", "xvlib")
+    sys.exit("Error: cannot find installed ufactory_lerobot package.")
+
+
+def download(url, dest):
+    print(f"  -> {dest}")
+    os.makedirs(os.path.dirname(dest), exist_ok=True)
+    urllib.request.urlretrieve(url, dest)
+
+
+def main():
+    pkg_dir = get_pkg_dir()
+    print(f"Installing to: {pkg_dir}\n")
+
+    for name, subdir in FILES:
+        url = f"{RESOURCES}/{name}"
+        dest = os.path.join(pkg_dir, os.path.basename(name))
+        print(f"Downloading {name} ...")
+        download(url, dest)
+
+    # .deb: download to /tmp and install
+    deb_url = f"{RESOURCES}/{DEB_FILE}"
+    deb_path = "/tmp/XVSDK_focal_amd64.deb"
+    print(f"\nDownloading {DEB_FILE} ...")
+    download(deb_url, deb_path)
+
+    print("\nInstalling XVSDK ...")
+    ret = subprocess.run(["sudo", "dpkg", "-i", deb_path]).returncode
+    if ret != 0:
+        subprocess.run(["sudo", "apt", "install", "-y", "--fix-broken"])
+    os.unlink(deb_path)
+
+    print("\nDone.")
+
+
+if __name__ == "__main__":
+    main()

src/lerobot_robot_ufactory/scripts/uf_lerobot_eval.py

@@ -1,15 +1,13 @@
-import yaml
+import sys
 import argparse
 import logging
 import time
 import math
-import torch
 from pathlib import Path
 from dataclasses import asdict, dataclass
 from pprint import pformat
-from contextlib import nullcontext
 import numpy as np
-import ufactory_lerobot # patch
+import lerobot_robot_ufactory # patch
 from lerobot.scripts.lerobot_record import register_third_party_plugins
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.datasets.utils import build_dataset_frame, combine_feature_dicts
@@ -39,8 +37,8 @@ from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.scripts.lerobot_record import DatasetRecordConfig
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from ufactory_lerobot.utils.utils import instantiate_from_dict, init_keyboard_listener
+from lerobot_robot_ufactory.utils.utils import init_keyboard_listener
-from ufactory_lerobot.devices.umi.vive_tracker.transformations import Transformations
+from lerobot_robot_ufactory.devices.umi.vive_tracker.transformations import Transformations
 
 
 def continuous_rotvec(new_rv, prev_rv):
@@ -98,6 +96,7 @@ def compute_target_axis_angle(rot_prev, rot_delta):
 class EvalConfig:
     robot: RobotConfig
     dataset: DatasetRecordConfig
+    teleop: dict = None # no use
     # Whether to control the robot with a policy
     policy: PreTrainedConfig | None = None
     n_episodes: int = 50
@@ -414,26 +413,19 @@ def eval_loop(cfg: EvalConfig, relative=False, rx_continuous=False):
     if not is_headless() and listener is not None:
         listener.stop()
 
+@parser.wrap()
+def get_cfg(cfg: EvalConfig) -> EvalConfig:
+    return cfg
+
 def main():
     parser = argparse.ArgumentParser(description='configuration args')
-    parser.add_argument('-c', '--config', type=str, required=True, 
-                       help='configuration file path, e.g.my_config.yaml')
-    parser.add_argument('--policy.path', type=str, required=True, 
-                       help='configuration file path, e.g.my_config.yaml')
     parser.add_argument('--relative', action='store_true', help='is relative motion or not')
     parser.add_argument('--rx_continuous', action='store_true', help='rx continuous or not')
-    args = parser.parse_args()
+    args, unknown = parser.parse_known_args()
-    try:
+    sys.argv = [sys.argv[0]] + unknown
-        with open(args.config, 'r') as f:
+    register_third_party_plugins()
-            cfg = yaml.safe_load(f)
+    cfg = get_cfg()
-    except Exception as e:
+    eval_loop(cfg, args.relative, args.rx_continuous)
-        print(f"Error loading config yaml file: {e}")
-    else:
-        register_third_party_plugins()
-        config = instantiate_from_dict(cfg)
-
-        eval_cfg = EvalConfig(robot=config["RobotConfig"], dataset=config["DatasetRecordConfig"])
-        eval_loop(eval_cfg, args.relative, args.rx_continuous)
 
 
 if __name__ == "__main__":

src/lerobot_robot_ufactory/scripts/uf_lerobot_record.py

@@ -1,4 +1,4 @@
-import yaml
+import sys
 import copy
 import time
 import queue
@@ -7,11 +7,11 @@ import logging
 import shutil
 import threading
 from pathlib import Path
-import ufactory_lerobot # patch
+import lerobot_robot_ufactory # patch
 from lerobot.scripts.lerobot_record import *
-from ufactory_lerobot.teleoperators.uf_mock_teleop import UFMockTeleop
+from lerobot_robot_ufactory.teleoperators.uf_mock_teleop import UFMockTeleop
-from ufactory_lerobot.teleoperators.base_teleop import UFBaseTeleop
+from lerobot_robot_ufactory.teleoperators.base_teleop import UFBaseTeleop
-from ufactory_lerobot.utils.utils import instantiate_from_dict, init_keyboard_listener
+from lerobot_robot_ufactory.utils.utils import init_keyboard_listener
 
 
 def _get_dataset_writer(dataset):
@@ -344,17 +344,14 @@ def record_loop(
         timestamp = time.perf_counter() - start_episode_t
 
 
-@parser.wrap()
 def record(cfg: RecordConfig, async_save: bool = False) -> LeRobotDataset:
     init_logging()
     logging.info(pformat(asdict(cfg)))
     if cfg.display_data:
         init_rerun(session_name="recording")
 
-    teleop = make_teleoperator_from_config(cfg.teleop) if cfg.teleop is not None else None
-    if hasattr(cfg.robot, "teleop"):
-        cfg.robot.teleop = teleop
     robot = make_robot_from_config(cfg.robot)
+    teleop = make_teleoperator_from_config(cfg.teleop) if cfg.teleop is not None else None
 
     teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
 
@@ -592,31 +589,28 @@ def record(cfg: RecordConfig, async_save: bool = False) -> LeRobotDataset:
     log_say("Exiting", cfg.play_sounds)
     return dataset
 
+@parser.wrap()
+def get_cfg(cfg: RecordConfig) -> RecordConfig:
+    return cfg
 
 def main():
     parser = argparse.ArgumentParser(description='configuration args')
-    parser.add_argument('-c', '--config', type=str, required=True, 
+    parser.add_argument('-r',
-                       help='configuration file path, e.g.my_config.yaml')
-    parser.add_argument('-r', '--resume',
                        action='store_true', # specify --resume if resume needs to be True
                        default=False,
                        help='Whether contitue recording on existing dataset (default: False)')
-    parser.add_argument('-a', '--async-save',
+    parser.add_argument('-a', '--async_save',
                        action='store_true',
                        default=False,
                        help='Enable async background saving (default: False)')
-    args = parser.parse_args()
+    args, unknown = parser.parse_known_args()
-    try:
+    sys.argv = [sys.argv[0]] + unknown
-        with open(Path(args.config).expanduser(), 'r') as f:
+    register_third_party_plugins()
-            cfg = yaml.safe_load(f)
+    cfg = get_cfg()
-    except Exception as e:
+    if args.r:
-        print(f"Error loading config yaml file: {e}")
+        cfg.resume = True
-    else:
+    cfg.play_sounds = False
-        register_third_party_plugins()
+    record(cfg, async_save=args.async_save)
-        config = instantiate_from_dict(cfg)
-
-        record_cfg = RecordConfig(resume=args.resume, play_sounds=False, robot=config["RobotConfig"], dataset=config["DatasetRecordConfig"], teleop=config["TeleoperatorConfig"])
-        record(record_cfg, async_save=args.async_save)
 
 
 if __name__ == "__main__":

src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py

@@ -1,11 +1,11 @@
-import yaml
+import sys
 import argparse
 import logging
 import time
 from pathlib import Path
 from dataclasses import asdict, dataclass
 from pprint import pformat
-import ufactory_lerobot # patch
+import lerobot_robot_ufactory # patch
 from lerobot.scripts.lerobot_record import register_third_party_plugins
 from lerobot.processor import (
     make_default_processors,
@@ -23,14 +23,16 @@ from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import (
     init_logging,
 )
-from ufactory_lerobot.utils.utils import instantiate_from_dict, is_headless, init_keyboard_listener
+from lerobot.configs import parser
-from ufactory_lerobot.teleoperators.base_teleop import UFBaseTeleop
+from lerobot_robot_ufactory.utils.utils import is_headless, init_keyboard_listener
+from lerobot_robot_ufactory.teleoperators.base_teleop import UFBaseTeleop
 
 
 @dataclass
 class TeleopConfig:
     robot: RobotConfig
     teleop: TeleoperatorConfig
+    dataset: dict = None # no use
     fps: int = 30
 
 
@@ -167,24 +169,17 @@ def teleop_loop(cfg: TeleopConfig):
     if is_evt and listener is not None:
         listener.stop()
 
+@parser.wrap()
+def get_cfg(cfg: TeleopConfig) -> TeleopConfig:
+    return cfg
+
 def main():
     parser = argparse.ArgumentParser(description='configuration args')
-    parser.add_argument('-c', '--config', type=str, required=True,
+    args, unknown = parser.parse_known_args()
-                       help='configuration file path, e.g.my_config.yaml')
+    sys.argv = [sys.argv[0]] + unknown
-    parser.add_argument('-f', '--fps', type=int, default=30,
+    register_third_party_plugins()
-                       help='control loop frequency in Hz (default: 30)')
+    cfg = get_cfg()
-    args = parser.parse_args()
+    teleop_loop(cfg)
-    try:
-        with open(Path(args.config).expanduser(), 'r') as f:
-            cfg = yaml.safe_load(f)
-    except Exception as e:
-        print(f"Error loading config yaml file: {e}")
-    else:
-        register_third_party_plugins()
-        config = instantiate_from_dict(cfg, ignore_cameras=True)
-
-        teleop_cfg = TeleopConfig(robot=config["RobotConfig"], teleop=config["TeleoperatorConfig"], fps=args.fps)
-        teleop_loop(teleop_cfg)
 
 
 if __name__ == "__main__":

src/lerobot_robot_ufactory/teleoperators/base_teleop/base_teleop.py

@@ -1,4 +1,5 @@
 from lerobot.teleoperators import Teleoperator
+from lerobot_robot_ufactory.context import register_teleop, unregister_teleop
 
 
 class UFBaseTeleop(Teleoperator):
@@ -9,6 +10,12 @@ class UFBaseTeleop(Teleoperator):
         super().__init__(config)
         self.config = config
 
+    def connect(self, calibrate: bool = False) -> None:
+        register_teleop(self)
+
+    def disconnect(self):
+        unregister_teleop(self)
+
     def set_teleop_enabled(self, enabled: bool, obs=None):
         """
         启用/停用遥操作

src/lerobot_robot_ufactory/teleoperators/gello_teleop/gello_teleop.py

@@ -103,6 +103,7 @@ class GelloTeleop(UFBaseTeleop):
 
         self.configure()
         self._is_connected = True
+        super().connect(calibrate)
         logger.info(f"{self} connected.")
 
     @property

src/lerobot_robot_ufactory/teleoperators/pika_teleop/pika_teleop.py

@@ -5,8 +5,8 @@ import math
 from typing import Any
 from threading import Thread, Event, Lock
 from lerobot.utils.errors import DeviceNotConnectedError
-from ufactory_lerobot.devices.pika import PikaDevice
+from lerobot_robot_ufactory.devices.pika import PikaDevice
-from ufactory_lerobot.devices.umi.vive_tracker.transformations import Transformations
+from lerobot_robot_ufactory.devices.umi.vive_tracker.transformations import Transformations
 from ..base_teleop import UFBaseTeleop
 from .pika_teleop_config import PikaTeleopConfig
 
@@ -87,6 +87,7 @@ class PikaTeleop(UFBaseTeleop, Thread):
         pass
 
     def connect(self, calibrate: bool = False) -> None:
+        super().connect(calibrate)
         self.start()
 
     def disconnect(self):

src/lerobot_robot_ufactory/teleoperators/umi_teleop/multiple_umi_teleop.py

@@ -40,6 +40,7 @@ class MultipleUmiTeleop(UFBaseTeleop):
         return all(teleop.is_calibrated for teleop in self.teleops.values())
 
     def connect(self, calibrate: bool = True) -> None:
+        super().connect(calibrate)
         for teleop in self.teleops.values():
             teleop.connect(calibrate=calibrate)
 
@@ -52,6 +53,7 @@ class MultipleUmiTeleop(UFBaseTeleop):
             teleop.configure()
     
     def disconnect(self) -> None:
+        super().disconnect()
         for teleop in self.teleops.values():
             teleop.disconnect()
 

src/lerobot_robot_ufactory/teleoperators/umi_teleop/multiple_umi_teleop_config.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from lerobot.teleoperators import TeleoperatorConfig
 from .umi_teleop_config import UmiTeleopConfig
 
@@ -22,7 +22,9 @@ from .umi_teleop_config import UmiTeleopConfig
 @TeleoperatorConfig.register_subclass("uf::multiple_umi_teleop")
 @dataclass
 class MultipleUmiTeleopConfig(TeleoperatorConfig):
-    teleops: dict[str, UmiTeleopConfig]
+    teleops: dict[str, TeleoperatorConfig] = field(
+        default_factory=lambda: {}
+    )
 
     def __post_init__(self):
         self.id = 'multiple_umi_teleop' if self.id is None else self.id

src/lerobot_robot_ufactory/teleoperators/umi_teleop/umi_teleop.py

@@ -3,8 +3,8 @@
 import math
 from typing import Any
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from ufactory_lerobot.devices.umi.vive_tracker.transformations import Transformations
+from lerobot_robot_ufactory.devices.umi.vive_tracker.transformations import Transformations
-from ufactory_lerobot.devices.umi.vive_tracker import ViveTracker
+from lerobot_robot_ufactory.devices.umi.vive_tracker import ViveTracker
 from ..base_teleop import UFBaseTeleop
 from .umi_teleop_config import UmiTeleopConfig
 
@@ -26,7 +26,7 @@ class UmiTeleop(UFBaseTeleop):
         self.tracker = None
         self.xvlib = None
 
-        # from ufactory_lerobot.devices.umi.xvlib import XVLib
+        # from lerobot_robot_ufactory.devices.umi.xvlib import XVLib
         # self.tracker = ViveTracker() if self.config.use_vive_tracker else None
         # self.xvlib = XVLib(self.config.serial_number, not self.config.use_vive_tracker, self.config.use_gripper)
 
@@ -84,7 +84,7 @@ class UmiTeleop(UFBaseTeleop):
         pass
 
     def connect(self, calibrate: bool = False) -> None:
-        from ufactory_lerobot.devices.umi.xvlib import XVLib
+        from lerobot_robot_ufactory.devices.umi.xvlib import XVLib
         self.tracker = ViveTracker() if self.config.use_vive_tracker else None
         self.xvlib = XVLib(self.config.serial_number, not self.config.use_vive_tracker, self.config.use_gripper)
         if not self.config.use_vive_tracker:
@@ -92,8 +92,10 @@ class UmiTeleop(UFBaseTeleop):
         if self.config.use_gripper:
             self.xvlib.xv_clamp_stream_init()
         self._is_connected = True
+        super().connect(calibrate)
 
     def disconnect(self):
+        super().disconnect()
         if self.xvlib:
             self.xvlib.xv_uninit()
         self._is_connected = False

src/lerobot_robot_ufactory/teleoperators/umi_teleop/umi_teleop_config.py

@@ -30,4 +30,4 @@ class UmiTeleopConfig(TeleoperatorConfig):
     robot_base_pose: Tuple[float, ...] = (300, 0, 300, 180, -90, 0) # [x, y, z, roll(°), pitch(°), yaw(°)]
 
     def __post_init__(self):
-        self.id = 'umi_teleop' if self.id is None else self.id
+        self.id = self.serial_number if self.id is None else self.id