Fix bug in camera config

.gitignore

@@ -88,4 +88,5 @@ models/
 *.trt
 *.xvcd
 ufactory_usage/
-.history/
+.history/
+xarm7_manual_datas

README.md

@@ -155,28 +155,18 @@ uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60  # specify fre
 uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 ```
 
-### 2. xArm Manual Drag Mode
+### 2. Manual Drag Data Collection
-
-Use xArm joint teaching mode (`mode=2`) for manual dragging:
-
-```bash
-uv run uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
-```
-
-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.
-
-### 3. Manual Drag Data Collection
 
 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`:
 
 ```bash
-uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml
+./start_manual_record.sh
-uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml --resume true
+./start_manual_record.sh -r
 ```
 
-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.
+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.
 
-### 4. Teleop Data Collection
+### 3. Teleop Data Collection
 
 Record datasets via teleop.
 

README_ZH.md

@@ -154,28 +154,18 @@ uv run uf-robot-teleop --config_path path/to/config.yaml --fps 60  # 指定频
 uv run uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
 ```
 
-### 2. xArm 人工拖拽模式测试
+### 2. 人工拖拽数据采集
-
-使用 xArm 的关节示教模式（`mode=2`）进行人工拖拽：
-
-```bash
-uv run uf-xarm-manual-mode --config_path config/manual_mode/xarm_manual_mode_config.yaml
-```
-
-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。
-
-### 3. 人工拖拽数据采集
 
 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`：
 
 ```bash
-uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml
+./start_manual_record.sh
-uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml --resume true
+./start_manual_record.sh -r
 ```
 
-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。
+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。
 
-### 4. 遥操作数据采集
+### 3. 遥操作数据采集
 
 通过遥操作录制数据集。
 

config/manual_mode/xarm7_manual_record_config.yaml

@@ -15,11 +15,16 @@ robot:
   # Whether to record joint velocities in observations.
   observe_joint_vel: false
 
-  # Camera definitions; leave empty when no cameras are used.
+  cameras:
-  cameras: {}
+    camera:
+      type: intelrealsense
+      serial_number_or_name: "148522072685"
+      width: 640
+      height: 480
+      fps: 30
 
 dataset:
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/xarm7_manual_datas"
+  root: "/home/wsx/code/lerobot_robot_ufactory/xarm7_manual_datas"
   repo_id: "ufactory/xarm7_manual_datas"
   # Task description stored with each recorded frame.
   single_task: "Describe the task being demonstrated."

pyproject.toml

@@ -34,7 +34,6 @@ dependencies = [
 [project.scripts]
 uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
 uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
-uf-xarm-manual-mode = "lerobot_robot_ufactory.scripts.uf_xarm_manual_mode:main"
 uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
 uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
 uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"

src/lerobot_robot_ufactory/scripts/uf_xarm_manual_mode.py

@@ -1,107 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import sys
-from dataclasses import dataclass
-
-import lerobot_robot_ufactory  # noqa: F401  # register UFACTORY plugins
-from xarm.wrapper import XArmAPI
-from lerobot_robot_ufactory.configs import parser as config_parser
-
-
-@dataclass
-class ManualModeConfig:
-    robot_ip: str = "192.168.1.127"
-    manual_mode: bool = True
-    teach_sensitivity: int | None = 3
-    return_to_initial: bool = True
-    reset_speed: float = 30.0
-
-
-@config_parser.wrap()
-def get_cfg(cfg: ManualModeConfig) -> ManualModeConfig:
-    return cfg
-
-
-def run(cfg: ManualModeConfig):
-    if cfg.teach_sensitivity is not None and not 1 <= cfg.teach_sensitivity <= 5:
-        raise ValueError("teach_sensitivity must be between 1 and 5")
-    if cfg.reset_speed <= 0:
-        raise ValueError("reset_speed must be greater than 0")
-
-    arm = XArmAPI(cfg.robot_ip)
-    initial_point = None
-    try:
-        if not arm.connected:
-            raise ConnectionError(f"Failed to connect to xArm at {cfg.robot_ip}")
-
-        arm.motion_enable(enable=True)
-        arm.clean_error()
-        arm.set_mode(0)
-        arm.set_state(0)
-
-        code, initial_point = arm.get_initial_point()
-        if code != 0:
-            raise RuntimeError(f"get_initial_point failed, code={code}")
-        if not initial_point or len(initial_point) < arm.axis:
-            raise RuntimeError(
-                f"Invalid initial point returned by xArm: {initial_point}"
-            )
-        initial_point = list(initial_point[:arm.axis])
-        print(f"Initial point loaded from xArm Studio: {initial_point}")
-
-        if cfg.manual_mode:
-            if cfg.teach_sensitivity is not None:
-                code = arm.set_teach_sensitivity(cfg.teach_sensitivity)
-                if code != 0:
-                    raise RuntimeError(f"set_teach_sensitivity failed, code={code}")
-
-            code = arm.set_mode(2)
-            if code != 0:
-                raise RuntimeError(f"set_mode(2) failed, code={code}")
-            code = arm.set_state(0)
-            if code != 0:
-                raise RuntimeError(f"set_state(0) failed, code={code}")
-
-            print("Joint teaching mode enabled. Drag the arm manually.")
-            input("Press Enter to disable mode 2... ")
-        else:
-            code = arm.set_mode(0)
-            if code != 0:
-                raise RuntimeError(f"set_mode(0) failed, code={code}")
-            code = arm.set_state(0)
-            if code != 0:
-                raise RuntimeError(f"set_state(0) failed, code={code}")
-            print("Joint teaching mode disabled.")
-    finally:
-        if arm.connected:
-            try:
-                arm.set_mode(0)
-                arm.set_state(0)
-                if cfg.return_to_initial and initial_point is not None:
-                    _move_to_initial(arm, initial_point, cfg.reset_speed)
-            finally:
-                arm.disconnect()
-
-
-def _move_to_initial(arm: XArmAPI, initial_point: list[float], speed: float):
-    code = arm.set_servo_angle(
-        angle=initial_point,
-        speed=speed,
-        is_radian=False,
-        wait=True,
-    )
-    if code != 0:
-        raise RuntimeError(f"Failed to move to xArm initial point, code={code}")
-
-
-def main():
-    cli_parser = argparse.ArgumentParser(description="Control xArm joint teaching mode from YAML")
-    _, unknown = cli_parser.parse_known_args()
-    sys.argv = [sys.argv[0]] + unknown
-    cfg = get_cfg()
-    run(cfg)
-
-
-if __name__ == "__main__":
-    main()

start_manual_record.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+cd "$repo_root"
+
+config_path="config/manual_mode/xarm7_manual_record_config.yaml"
+dataset_root="$(
+  sed -n '/^dataset:/,/^[^[:space:]]/s/^[[:space:]]*root:[[:space:]]*//p' "$config_path" \
+    | head -n 1 \
+    | tr -d "\"'"
+)"
+
+if [[ -z "$dataset_root" ]]; then
+  printf 'Could not read dataset.root from %s\n' "$config_path" >&2
+  exit 1
+fi
+
+if [[ "$dataset_root" != /* ]]; then
+  dataset_root="$repo_root/$dataset_root"
+fi
+
+record_args=("$@")
+resume_requested=false
+for arg in "${record_args[@]}"; do
+  if [[ "$arg" == "-r" ]]; then
+    resume_requested=true
+    break
+  fi
+done
+
+if [[ -e "$dataset_root" ]]; then
+  if [[ ! -f "$dataset_root/meta/info.json" ]]; then
+    printf 'Dataset directory exists but is not a valid LeRobot dataset: %s\n' "$dataset_root" >&2
+    printf 'Choose a new dataset.root, or remove this empty/incomplete directory before recording.\n' >&2
+    exit 1
+  fi
+
+  if [[ "$resume_requested" == false ]]; then
+    record_args=("-r" "${record_args[@]}")
+  fi
+elif [[ "$resume_requested" == true ]]; then
+  printf 'Cannot resume because the dataset directory does not exist: %s\n' "$dataset_root" >&2
+  exit 1
+fi
+
+exec uv run uf-lerobot-record \
+  --config_path "$config_path" \
+  "${record_args[@]}"