Fix bug in camera config
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Saberlve
parent
c04fcf4427
commit
d336b73aa3
3
.gitignore
vendored
3
.gitignore
vendored
@ -88,4 +88,5 @@ models/
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*.trt
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*.xvcd
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ufactory_usage/
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.history/
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.history/
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xarm7_manual_datas
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20
README.md
20
README.md
@ -155,28 +155,18 @@ uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60 # specify fre
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uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 2. xArm Manual Drag Mode
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Use xArm joint teaching mode (`mode=2`) for manual dragging:
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```bash
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uv run uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
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```
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Set `manual_mode` to `true` to enter drag mode. Press Enter to restore normal mode; set it to `false` to restore normal mode directly. With `return_to_initial: true`, the script reads the saved initial point through the xArm Studio API and returns to it when drag mode exits.
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### 3. Manual Drag Data Collection
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### 2. Manual Drag Data Collection
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Manual drag recording uses `manual_mode: true` in the robot configuration and does not configure a teleoperator. During recording, the actual joint state is written as both the observation and action in the LeRobot dataset. When a gripper is configured, hold `C` to close it slowly and `O` to open it slowly. Adjust the speed with `manual_gripper_speed`, which defaults to `0.5`:
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```bash
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uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml
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uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml --resume true
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./start_manual_record.sh
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./start_manual_record.sh -r
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```
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Press `Space` to start an episode, `Right` to save it, `Left` to discard and re-record it, and `Esc` to stop recording. Reset the arm manually between episodes.
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The launcher creates a dataset on its first run and automatically resumes an existing valid dataset. If it reports an empty or incomplete dataset directory, choose a new `dataset.root` or remove that directory after confirming it contains no data. Press `Space` to start an episode, `Right` to save it, `Left` to discard and re-record it, and `Esc` to stop recording. Reset the arm manually between episodes.
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### 4. Teleop Data Collection
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### 3. Teleop Data Collection
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Record datasets via teleop.
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20
README_ZH.md
20
README_ZH.md
@ -154,28 +154,18 @@ uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60 # 指定频
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uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 2. xArm 人工拖拽模式测试
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使用 xArm 的关节示教模式（`mode=2`）进行人工拖拽：
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```bash
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uv run uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
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```
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配置中的 `manual_mode` 为 `true` 时进入拖拽模式，按回车后恢复为普通模式；设置为 `false` 可直接恢复为普通模式。`return_to_initial: true` 会通过 xArm Studio 接口读取保存的初始位置，并在退出拖拽后自动回位。
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### 3. 人工拖拽数据采集
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### 2. 人工拖拽数据采集
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人工拖拽录制使用 robot 配置中的 `manual_mode: true`，不需要配置 teleop。录制过程中，机械臂的实际关节状态会作为 observation 和 action 写入 LeRobot 数据集；如果配置了夹爪，还可以按住 `C` 缓慢闭合、按住 `O` 缓慢张开。夹爪速度通过 `manual_gripper_speed` 配置，默认值为 `0.5`：
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```bash
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uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml
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uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml --resume true
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./start_manual_record.sh
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./start_manual_record.sh -r
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```
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按 `Space` 开始当前 episode，按 `Right` 保存，按 `Left` 放弃并重录当前 episode，按 `Esc` 停止录制。episode 之间可以手动复位机械臂。
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启动脚本首次运行时创建数据集，检测到有效数据集时会自动续录。如果提示数据目录为空或不完整，请修改 `dataset.root`，或者确认没有数据后删除该目录。按 `Space` 开始当前 episode，按 `Right` 保存，按 `Left` 放弃并重录当前 episode，按 `Esc` 停止录制。episode 之间可以手动复位机械臂。
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### 4. 遥操作数据采集
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### 3. 遥操作数据采集
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通过遥操作录制数据集。
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@ -15,11 +15,16 @@ robot:
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# Whether to record joint velocities in observations.
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observe_joint_vel: false
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# Camera definitions; leave empty when no cameras are used.
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cameras: {}
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cameras:
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camera:
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type: intelrealsense
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serial_number_or_name: "148522072685"
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width: 640
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height: 480
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fps: 30
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dataset:
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root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_manual_datas"
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root: "/home/wsx/code/lerobot_robot_ufactory/xarm7_manual_datas"
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repo_id: "ufactory/xarm7_manual_datas"
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# Task description stored with each recorded frame.
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single_task: "Describe the task being demonstrated."
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@ -34,7 +34,6 @@ dependencies = [
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[project.scripts]
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uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
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uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
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uf-xarm-manual-mode = "lerobot_robot_ufactory.scripts.uf_xarm_manual_mode:main"
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uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
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uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
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uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"
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@ -1,107 +0,0 @@
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#!/usr/bin/env python3
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import argparse
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import sys
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from dataclasses import dataclass
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import lerobot_robot_ufactory # noqa: F401 # register UFACTORY plugins
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from xarm.wrapper import XArmAPI
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from lerobot_robot_ufactory.configs import parser as config_parser
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@dataclass
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class ManualModeConfig:
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robot_ip: str = "192.168.1.127"
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manual_mode: bool = True
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teach_sensitivity: int | None = 3
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return_to_initial: bool = True
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reset_speed: float = 30.0
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@config_parser.wrap()
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def get_cfg(cfg: ManualModeConfig) -> ManualModeConfig:
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return cfg
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def run(cfg: ManualModeConfig):
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if cfg.teach_sensitivity is not None and not 1 <= cfg.teach_sensitivity <= 5:
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raise ValueError("teach_sensitivity must be between 1 and 5")
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if cfg.reset_speed <= 0:
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raise ValueError("reset_speed must be greater than 0")
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arm = XArmAPI(cfg.robot_ip)
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initial_point = None
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try:
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if not arm.connected:
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raise ConnectionError(f"Failed to connect to xArm at {cfg.robot_ip}")
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arm.motion_enable(enable=True)
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arm.clean_error()
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arm.set_mode(0)
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arm.set_state(0)
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code, initial_point = arm.get_initial_point()
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if code != 0:
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raise RuntimeError(f"get_initial_point failed, code={code}")
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if not initial_point or len(initial_point) < arm.axis:
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raise RuntimeError(
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f"Invalid initial point returned by xArm: {initial_point}"
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)
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initial_point = list(initial_point[:arm.axis])
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print(f"Initial point loaded from xArm Studio: {initial_point}")
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if cfg.manual_mode:
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if cfg.teach_sensitivity is not None:
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code = arm.set_teach_sensitivity(cfg.teach_sensitivity)
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if code != 0:
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raise RuntimeError(f"set_teach_sensitivity failed, code={code}")
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code = arm.set_mode(2)
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if code != 0:
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raise RuntimeError(f"set_mode(2) failed, code={code}")
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code = arm.set_state(0)
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if code != 0:
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raise RuntimeError(f"set_state(0) failed, code={code}")
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print("Joint teaching mode enabled. Drag the arm manually.")
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input("Press Enter to disable mode 2... ")
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else:
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code = arm.set_mode(0)
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if code != 0:
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raise RuntimeError(f"set_mode(0) failed, code={code}")
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code = arm.set_state(0)
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if code != 0:
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raise RuntimeError(f"set_state(0) failed, code={code}")
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print("Joint teaching mode disabled.")
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finally:
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if arm.connected:
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try:
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arm.set_mode(0)
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arm.set_state(0)
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if cfg.return_to_initial and initial_point is not None:
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_move_to_initial(arm, initial_point, cfg.reset_speed)
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finally:
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arm.disconnect()
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def _move_to_initial(arm: XArmAPI, initial_point: list[float], speed: float):
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code = arm.set_servo_angle(
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angle=initial_point,
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speed=speed,
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is_radian=False,
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wait=True,
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)
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if code != 0:
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raise RuntimeError(f"Failed to move to xArm initial point, code={code}")
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def main():
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cli_parser = argparse.ArgumentParser(description="Control xArm joint teaching mode from YAML")
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_, unknown = cli_parser.parse_known_args()
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sys.argv = [sys.argv[0]] + unknown
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cfg = get_cfg()
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run(cfg)
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if __name__ == "__main__":
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main()
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50
start_manual_record.sh
Executable file
50
start_manual_record.sh
Executable file
@ -0,0 +1,50 @@
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#!/usr/bin/env bash
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set -euo pipefail
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repo_root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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cd "$repo_root"
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config_path="config/manual_mode/xarm7_manual_record_config.yaml"
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dataset_root="$(
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sed -n '/^dataset:/,/^[^[:space:]]/s/^[[:space:]]*root:[[:space:]]*//p' "$config_path" \
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| head -n 1 \
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| tr -d "\"'"
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)"
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if [[ -z "$dataset_root" ]]; then
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printf 'Could not read dataset.root from %s\n' "$config_path" >&2
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exit 1
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fi
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if [[ "$dataset_root" != /* ]]; then
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dataset_root="$repo_root/$dataset_root"
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fi
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record_args=("$@")
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resume_requested=false
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for arg in "${record_args[@]}"; do
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if [[ "$arg" == "-r" ]]; then
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resume_requested=true
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break
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fi
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done
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if [[ -e "$dataset_root" ]]; then
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if [[ ! -f "$dataset_root/meta/info.json" ]]; then
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printf 'Dataset directory exists but is not a valid LeRobot dataset: %s\n' "$dataset_root" >&2
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printf 'Choose a new dataset.root, or remove this empty/incomplete directory before recording.\n' >&2
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exit 1
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fi
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if [[ "$resume_requested" == false ]]; then
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record_args=("-r" "${record_args[@]}")
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fi
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elif [[ "$resume_requested" == true ]]; then
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printf 'Cannot resume because the dataset directory does not exist: %s\n' "$dataset_root" >&2
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exit 1
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fi
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exec uv run uf-lerobot-record \
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--config_path "$config_path" \
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"${record_args[@]}"
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