docs: 生成英文 README，新增摄像头查看工具
README 拆分为英文版和中文版并添加语言切换链接， 新增 uf_camera_view 多摄像头拼接工具， udev 规则移至项目根目录。
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README.md
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README.md
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# UFACTORY LeRobot
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# UFACTORY LeRobot
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UFACTORY 机械臂与 LeRobot 框架集成项目，支持多种遥操作方式的数据采集、策略训练和部署推理。
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> [中文版本](README_ZH.md)
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## 功能特性
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UFACTORY robot arm integration with the LeRobot framework for robot learning, data collection, and policy deployment.
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- 🤖 UFACTORY 机械臂控制（xArm 系列）
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Reference project: [ufactory_teleop](https://github.com/xArm-Developer/ufactory_teleop)
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- 🎮 多种遥操作方式：GELLO / Pika / UMI / SpaceMouse
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- 📷 多摄像头数据采集（RealSense / UMI 相机）
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- 📊 数据集录制与管理（兼容 LeRobot 格式）
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- 🧠 模仿学习训练（ACT / Diffusion Policy 等）
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- 🚀 策略评估与实时推理
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- 🔧 Mock 机器人模拟（只用遥操作设备采集数据）
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## 环境要求
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## Features
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- xArm robot control (xArm series)
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- Multiple teleop modes: GELLO / Pika / UMI / SpaceMouse
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- Multi-camera data collection (RealSense / UMI camera)
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- Dataset recording & management (LeRobot-compatible)
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- Imitation learning training (ACT / Diffusion Policy / etc.)
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- Policy evaluation & real-time inference
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- Mock mode (no physical robot needed)
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## Requirements
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- Ubuntu 22.04 / 24.04
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- Ubuntu 22.04 / 24.04
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- Python >= 3.10
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- Python >= 3.10
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- CUDA >= 12.0（GPU 训练推荐）
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- CUDA >= 12.0 (recommended for GPU training)
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- UFACTORY 机械臂（xArm 系列，可选）
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- UFACTORY xArm (optional)
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## 安装
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## Installation
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### 基础项目安装
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### Base Install
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```bash
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```bash
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git clone https://github.com/xArm-Developer/ufactory_lerobot.git
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git clone https://github.com/xArm-Developer/ufactory_lerobot.git
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cd ufactory_lerobot
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cd ufactory_lerobot
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# 创建 conda 环境
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# Create conda environment
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conda create -n uf_lerobot python=3.10 -y
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conda create -n uf_lerobot python=3.10 -y
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conda activate uf_lerobot
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conda activate uf_lerobot
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# 安装项目
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# Install project
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pip install -e .
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pip install -e .
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```
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```
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包含：`lerobot==0.4.3`、`xarm-python-sdk`、`numpy`、`pyyaml`（lerobot 已自动携带 torch、opencv、wandb 等训练相关依赖）。
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Includes: `lerobot==0.4.3`, `xarm-python-sdk`, `numpy`, `pyyaml`. LeRobot already pulls in torch, opencv, wandb, etc.
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### 外设模块安装
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### Peripheral Modules
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外设依赖以可选模块形式提供，通过 `[模块名]` 安装。
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Peripheral dependencies are available as optional extras via `[module]` install.
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#### GELLO 遥操作
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#### GELLO Teleop
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适用于 GELLO 示教臂（Dynamixel 舵机方案），控制空间为关节空间。
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Dynamixel-based leader arm, joint-space control.
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```bash
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```bash
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# 1. 安装 GELLO 模块
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# 1. Install GELLO module
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pip install -e ".[gello]"
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pip install -e ".[gello]"
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# 2. 添加串口权限（重新登录后生效）
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# 2. Add serial port permissions (re-login required)
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sudo usermod -aG dialout $USER
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sudo usermod -aG dialout $USER
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```
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```
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#### Pika 遥操作
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#### Pika Teleop
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适用于 Pika Sense 手持示教器 + Vive Tracker，控制空间为笛卡尔空间。
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Pika Sense handheld + Vive Tracker, task-space control.
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```bash
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```bash
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# 1. 安装外设依赖（不需要它们的间接依赖）
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# 1. Install peripheral deps (skip transitive deps)
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pip install pysurvive agx-pypika --no-deps
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pip install pysurvive agx-pypika --no-deps
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# 2. 安装 udev 规则（重新插拔设备后生效）
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# 2. Install udev rules (re-plug devices afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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```
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> Vive Tracker 首次使用前需校准：`uf-vive-calibrate`
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> Calibrate Vive Tracker before first use: `uf-vive-calibrate`
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#### UMI 遥操作
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#### UMI Teleop
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适用于 UMI（Universal Manipulation Interface）方案，含 Vive Tracker 追踪，支持双机械臂。
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Universal Manipulation Interface + Vive Tracker, supports dual-arm.
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```bash
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```bash
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# 1. 安装 XVSDK（系统级依赖，仅支持 Ubuntu Focal）
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# 1. Install XVSDK (system-level, Ubuntu Focal only)
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sudo dpkg -i src/xvsdk/XVSDK_focal_amd64.deb
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sudo dpkg -i src/xvsdk/XVSDK_focal_amd64.deb
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sudo apt install -y --fix-broken
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sudo apt install -y --fix-broken
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# 2. 安装外设依赖
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# 2. Install peripheral deps
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pip install pysurvive --no-deps
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pip install pysurvive --no-deps
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# 3. 安装 udev 规则（重新插拔设备后生效）
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# 3. Install udev rules (re-plug devices afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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```
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> Vive Tracker 首次使用前需校准：`uf-vive-calibrate`
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> Calibrate Vive Tracker before first use: `uf-vive-calibrate`
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**多 UMI 设备配置**（使用两台及以上时）：
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**Multi-UMI device configuration** (two or more devices):
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```bash
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```bash
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# 增加 USB 缓冲区大小
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# Increase USB buffer size
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sudo sed -i '/GRUB_CMDLINE_LINUX_DEFAULT/s/quiet splash/quiet splash usbcore.usbfs_memory_mb=128/' /etc/default/grub
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sudo sed -i '/GRUB_CMDLINE_LINUX_DEFAULT/s/quiet splash/quiet splash usbcore.usbfs_memory_mb=128/' /etc/default/grub
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sync
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sync
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sudo update-grub
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sudo update-grub
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sudo reboot
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sudo reboot
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```
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```
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#### SpaceMouse 遥操作
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#### SpaceMouse Teleop
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适用于 3Dconnexion SpaceMouse / SpaceNavigator。
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3Dconnexion SpaceMouse / SpaceNavigator.
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```bash
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```bash
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# 1. 安装 SpaceMouse 模块
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# 1. Install SpaceMouse module
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pip install -e ".[spacemouse]"
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pip install -e ".[spacemouse]"
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# 2. 安装 udev 规则（重新插拔设备后生效）
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# 2. Install udev rules (re-plug device afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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```
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## 使用
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## Usage
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### 1. 遥操作测试
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### 1. Teleop Testing
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测试遥操作设备与机械臂的联动，不录制数据。
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Test teleop-to-robot control loop without recording.
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```bash
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```bash
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uf-robot-teleop -c path/to/config.yaml
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uf-robot-teleop -c path/to/config.yaml
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uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率
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uf-robot-teleop -c path/to/config.yaml -f 60 # specify frequency
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```
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```
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### 2. 数据采集
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### 2. Data Collection
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通过遥操作录制数据集。
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Record datasets via teleop.
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```bash
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```bash
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uf-lerobot-record -c path/to/record_config.yaml
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uf-lerobot-record -c path/to/record_config.yaml
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uf-lerobot-record -c path/to/config.yaml --resume # 续录
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uf-lerobot-record -c path/to/config.yaml --resume # resume recording
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```
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```
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### 3. 策略训练
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### 3. Policy Training
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采集数据后，使用 LeRobot 训练管道进行模仿学习训练。
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Train imitation learning policies on collected data.
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```bash
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```bash
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lerobot-train --policy act --dataset your_dataset_name
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lerobot-train --policy act --dataset your_dataset_name
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```
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```
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### 4. 策略评估
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### 4. Policy Evaluation
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Evaluate trained policies.
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```bash
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```bash
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uf-lerobot-eval -c path/to/eval_config.yaml
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uf-lerobot-eval -c path/to/eval_config.yaml
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```
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```
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### Mock 模式（无实体机械臂）
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### 5. Camera Viewer
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```yaml
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View and stitch multiple camera feeds.
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type: "uf::mock_robot" # 单臂模拟
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type: "uf::multiple_mock_robot" # 双臂模拟
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```bash
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uf-camera-view -l # list all cameras
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uf-camera-view -l -T xvisio # list XVisio cameras only
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uf-camera-view -T xvisio # view XVisio cameras (default 1280x1280 YU12)
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uf-camera-view -T xvisio -W 640 -H 1920 -F NV12 # specify format
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uf-camera-view -T other # view other camera types
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```
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```
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## 遥操作方式对比
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### Mock Mode (no physical robot)
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| 特性 | GELLO | Pika | UMI | SpaceMouse |
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```yaml
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|------|-------|------|-----|------------|
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type: "uf::mock_robot" # single arm simulation
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| 控制空间 | 关节空间 | 任务空间 | 任务空间 | 任务空间 |
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type: "uf::multiple_mock_robot" # dual arm simulation
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| 跟踪方式 | Dynamixel 舵机 | Vive Tracker | UMI SLAM / Vive | 3D 鼠标 |
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```
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| 双臂支持 | ❌ | ❌ | ✅ | ❌ |
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| 系统依赖 | dialout 组 | — | XVSDK deb | — |
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## 项目结构
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## Teleop Comparison
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| Feature | GELLO | Pika | UMI | SpaceMouse |
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|---------|-------|------|-----|------------|
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| Control space | Joint space | Task space | Task space | Task space |
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| Tracking | Dynamixel servos | Vive Tracker | UMI SLAM / Vive | 3D mouse |
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| Dual-arm | ❌ | ❌ | ✅ | ❌ |
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| System dep | dialout group | — | XVSDK deb | — |
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## Project Structure
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```
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```
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ufactory_lerobot/
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ufactory_lerobot/
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├── src/
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├── src/
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│ ├── ufactory_lerobot/
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│ ├── ufactory_lerobot/
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│ │ ├── robots/ # 机器人控制
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│ │ ├── robots/ # Robot control
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│ │ │ ├── uf_robot/ # xArm 实体机器人
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│ │ │ ├── uf_robot/ # xArm physical robot
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│ │ │ ├── uf_mock_robot/ # 仿真 Mock 机器人
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│ │ │ ├── uf_mock_robot/ # Mock robot simulator
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│ │ ├── teleoperators/ # 遥操作器
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│ │ │ └── utils.py # make_robot_from_config patch
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│ │ │ ├── gello_teleop/ # GELLO (Dynamixel 示教臂)
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│ │ ├── teleoperators/ # Teleop drivers
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│ │ │ ├── pika_teleop/ # Pika Sense (手持示教器 + Vive)
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│ │ │ ├── gello_teleop/ # GELLO (Dynamixel leader)
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│ │ │ ├── umi_teleop/ # UMI (含双机械臂)
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│ │ │ ├── pika_teleop/ # Pika Sense (handheld + Vive)
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│ │ │ ├── space_mouse/ # SpaceMouse (3D 鼠标)
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│ │ │ ├── umi_teleop/ # UMI (dual-arm support)
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│ │ ├── cameras/ # 摄像头模块
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│ │ │ ├── space_mouse/ # SpaceMouse (3D mouse)
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│ │ │ └── umi_camera/ # UMI 相机
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│ │ ├── cameras/ # Camera modules
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│ │ ├── devices/ # 外部设备驱动
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│ │ │ └── umi_camera/ # UMI camera
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│ │ │ ├── pika/ # Pika 串口驱动
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│ │ ├── devices/ # External device drivers
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│ │ │ ├── pika/ # Pika serial driver
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│ │ │ └── umi/ # XVLib / Vive Tracker
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│ │ │ └── umi/ # XVLib / Vive Tracker
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│ │ ├── scripts/ # 执行脚本
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│ │ ├── scripts/ # Entry-point scripts
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│ │ │ ├── uf_robot_teleop.py # 遥操作测试
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│ │ │ ├── uf_robot_teleop.py # Teleop testing
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│ │ │ ├── uf_lerobot_record.py # 数据采集
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│ │ │ ├── uf_lerobot_record.py # Data recording
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│ │ │ ├── uf_lerobot_eval.py # 策略评估
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│ │ │ ├── uf_lerobot_eval.py # Policy evaluation
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│ │ │ └── vive_calibrate.py # Vive Tracker 校准
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│ │ │ ├── uf_camera_view.py # camera viewer tool
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│ │ └── utils/ # 工具函数
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│ │ │ └── vive_calibrate.py # Vive Tracker calibration
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│ ├── rules/ # udev 设备规则
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│ │ └── utils/ # Utilities
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│ └── xvsdk/ # XVSDK 系统依赖
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│ ├── rules/ # udev device rules
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├── config/ # YAML 配置文件
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│ └── xvsdk/ # XVSDK system dependency
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├── config/ # YAML config files
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│ ├── gello/
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│ ├── gello/
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│ ├── pika/
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│ ├── pika/
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│ ├── umi/
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│ ├── umi/
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│ └── spacemouse/
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│ └── spacemouse/
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├── pyproject.toml
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├── pyproject.toml
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└── README.md
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└── LICENSE
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```
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```
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## 许可证
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## License
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本项目基于 Apache License 2.0 发布，详见 [LICENSE](LICENSE) 文件。
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This project is released under the Apache License 2.0. See [LICENSE](LICENSE).
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205
README_ZH.md
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@ -0,0 +1,205 @@
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# UFACTORY LeRobot
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> [English Version](README.md)
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UFACTORY 机械臂与 LeRobot 框架集成项目，支持多种遥操作方式的数据采集、策略训练和部署推理。
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## 功能特性
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- 🤖 UFACTORY 机械臂控制（xArm 系列）
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- 🎮 多种遥操作方式：GELLO / Pika / UMI / SpaceMouse
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||||||
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- 📷 多摄像头数据采集（RealSense / UMI 相机）
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||||||
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- 📊 数据集录制与管理（兼容 LeRobot 格式）
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- 🧠 模仿学习训练（ACT / Diffusion Policy 等）
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||||||
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- 🚀 策略评估与实时推理
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- 🔧 Mock 机器人模拟（只用遥操作设备采集数据）
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## 环境要求
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|
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||||||
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- Ubuntu 22.04 / 24.04
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- Python >= 3.10
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- CUDA >= 12.0（GPU 训练推荐）
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- UFACTORY 机械臂（xArm 系列，可选）
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## 安装
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||||||
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### 基础项目安装
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||||||
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||||||
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```bash
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||||||
|
git clone https://github.com/xArm-Developer/ufactory_lerobot.git
|
||||||
|
cd ufactory_lerobot
|
||||||
|
|
||||||
|
# 创建 conda 环境
|
||||||
|
conda create -n uf_lerobot python=3.10 -y
|
||||||
|
conda activate uf_lerobot
|
||||||
|
|
||||||
|
# 安装项目
|
||||||
|
pip install -e .
|
||||||
|
```
|
||||||
|
|
||||||
|
包含：`lerobot==0.4.3`、`xarm-python-sdk`、`numpy`、`pyyaml`（lerobot 已自动携带 torch、opencv、wandb 等训练相关依赖）。
|
||||||
|
|
||||||
|
### 外设模块安装
|
||||||
|
|
||||||
|
外设依赖以可选模块形式提供，通过 `[模块名]` 安装。
|
||||||
|
|
||||||
|
#### GELLO 遥操作
|
||||||
|
|
||||||
|
适用于 GELLO 示教臂（Dynamixel 舵机方案），控制空间为关节空间。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 安装 GELLO 模块
|
||||||
|
pip install -e ".[gello]"
|
||||||
|
|
||||||
|
# 2. 添加串口权限（重新登录后生效）
|
||||||
|
sudo usermod -aG dialout $USER
|
||||||
|
```
|
||||||
|
|
||||||
|
#### Pika 遥操作
|
||||||
|
|
||||||
|
适用于 Pika Sense 手持示教器 + Vive Tracker，控制空间为笛卡尔空间。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 安装外设依赖（不需要它们的间接依赖）
|
||||||
|
pip install pysurvive agx-pypika --no-deps
|
||||||
|
|
||||||
|
# 2. 安装 udev 规则（重新插拔设备后生效）
|
||||||
|
sudo cp rules/*.rules /etc/udev/rules.d/
|
||||||
|
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||||
|
```
|
||||||
|
|
||||||
|
> Vive Tracker 首次使用前需校准：`uf-vive-calibrate`
|
||||||
|
|
||||||
|
#### UMI 遥操作
|
||||||
|
|
||||||
|
适用于 UMI（Universal Manipulation Interface）方案，含 Vive Tracker 追踪，支持双机械臂。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 安装 XVSDK（系统级依赖，仅支持 Ubuntu Focal）
|
||||||
|
sudo dpkg -i src/xvsdk/XVSDK_focal_amd64.deb
|
||||||
|
sudo apt install -y --fix-broken
|
||||||
|
|
||||||
|
# 2. 安装外设依赖
|
||||||
|
pip install pysurvive --no-deps
|
||||||
|
|
||||||
|
# 3. 安装 udev 规则（重新插拔设备后生效）
|
||||||
|
sudo cp rules/*.rules /etc/udev/rules.d/
|
||||||
|
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||||
|
```
|
||||||
|
|
||||||
|
> Vive Tracker 首次使用前需校准：`uf-vive-calibrate`
|
||||||
|
|
||||||
|
**多 UMI 设备配置**（使用两台及以上时）：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 增加 USB 缓冲区大小
|
||||||
|
sudo sed -i '/GRUB_CMDLINE_LINUX_DEFAULT/s/quiet splash/quiet splash usbcore.usbfs_memory_mb=128/' /etc/default/grub
|
||||||
|
sync
|
||||||
|
sudo update-grub
|
||||||
|
sudo reboot
|
||||||
|
```
|
||||||
|
|
||||||
|
#### SpaceMouse 遥操作
|
||||||
|
|
||||||
|
适用于 3Dconnexion SpaceMouse / SpaceNavigator。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 安装 SpaceMouse 模块
|
||||||
|
pip install -e ".[spacemouse]"
|
||||||
|
|
||||||
|
# 2. 安装 udev 规则（重新插拔设备后生效）
|
||||||
|
sudo cp rules/*.rules /etc/udev/rules.d/
|
||||||
|
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||||
|
```
|
||||||
|
|
||||||
|
|
||||||
|
## 使用
|
||||||
|
|
||||||
|
### 1. 遥操作测试
|
||||||
|
|
||||||
|
测试遥操作设备与机械臂的联动，不录制数据。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uf-robot-teleop -c path/to/config.yaml
|
||||||
|
uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2. 数据采集
|
||||||
|
|
||||||
|
通过遥操作录制数据集。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uf-lerobot-record -c path/to/record_config.yaml
|
||||||
|
uf-lerobot-record -c path/to/config.yaml --resume # 续录
|
||||||
|
```
|
||||||
|
|
||||||
|
### 3. 策略训练
|
||||||
|
|
||||||
|
采集数据后，使用 LeRobot 训练管道进行模仿学习训练。
|
||||||
|
|
||||||
|
```bash
|
||||||
|
lerobot-train --policy act --dataset your_dataset_name
|
||||||
|
```
|
||||||
|
|
||||||
|
### 4. 策略评估
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uf-lerobot-eval -c path/to/eval_config.yaml
|
||||||
|
```
|
||||||
|
|
||||||
|
### Mock 模式（无实体机械臂）
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
type: "uf::mock_robot" # 单臂模拟
|
||||||
|
type: "uf::multiple_mock_robot" # 双臂模拟
|
||||||
|
```
|
||||||
|
|
||||||
|
## 遥操作方式对比
|
||||||
|
|
||||||
|
| 特性 | GELLO | Pika | UMI | SpaceMouse |
|
||||||
|
|------|-------|------|-----|------------|
|
||||||
|
| 控制空间 | 关节空间 | 任务空间 | 任务空间 | 任务空间 |
|
||||||
|
| 跟踪方式 | Dynamixel 舵机 | Vive Tracker | UMI SLAM / Vive | 3D 鼠标 |
|
||||||
|
| 双臂支持 | ❌ | ❌ | ✅ | ❌ |
|
||||||
|
| 系统依赖 | dialout 组 | — | XVSDK deb | — |
|
||||||
|
|
||||||
|
## 项目结构
|
||||||
|
|
||||||
|
```
|
||||||
|
ufactory_lerobot/
|
||||||
|
├── src/
|
||||||
|
│ ├── ufactory_lerobot/
|
||||||
|
│ │ ├── robots/ # 机器人控制
|
||||||
|
│ │ │ ├── uf_robot/ # xArm 实体机器人
|
||||||
|
│ │ │ ├── uf_mock_robot/ # 仿真 Mock 机器人
|
||||||
|
│ │ ├── teleoperators/ # 遥操作器
|
||||||
|
│ │ │ ├── gello_teleop/ # GELLO (Dynamixel 示教臂)
|
||||||
|
│ │ │ ├── pika_teleop/ # Pika Sense (手持示教器 + Vive)
|
||||||
|
│ │ │ ├── umi_teleop/ # UMI (含双机械臂)
|
||||||
|
│ │ │ ├── space_mouse/ # SpaceMouse (3D 鼠标)
|
||||||
|
│ │ ├── cameras/ # 摄像头模块
|
||||||
|
│ │ │ └── umi_camera/ # UMI 相机
|
||||||
|
│ │ ├── devices/ # 外部设备驱动
|
||||||
|
│ │ │ ├── pika/ # Pika 串口驱动
|
||||||
|
│ │ │ └── umi/ # XVLib / Vive Tracker
|
||||||
|
│ │ ├── scripts/ # 执行脚本
|
||||||
|
│ │ │ ├── uf_robot_teleop.py # 遥操作测试
|
||||||
|
│ │ │ ├── uf_lerobot_record.py # 数据采集
|
||||||
|
│ │ │ ├── uf_lerobot_eval.py # 策略评估
|
||||||
|
│ │ │ ├── uf_camera_view.py # 摄像头查看工具
|
||||||
|
│ │ │ └── vive_calibrate.py # Vive Tracker 校准
|
||||||
|
│ │ └── utils/ # 工具函数
|
||||||
|
├── config/ # YAML 配置文件
|
||||||
|
│ ├── gello/
|
||||||
|
│ ├── pika/
|
||||||
|
│ ├── umi/
|
||||||
|
│ └── spacemouse/
|
||||||
|
├── rules/ # udev 设备规则
|
||||||
|
├── xvsdk/ # XVSDK 系统依赖
|
||||||
|
├── pyproject.toml
|
||||||
|
└── README.md
|
||||||
|
```
|
||||||
|
|
||||||
|
## 许可证
|
||||||
|
|
||||||
|
本项目基于 Apache License 2.0 发布，详见 [LICENSE](LICENSE) 文件。
|
||||||
@ -36,6 +36,7 @@ uf-robot-teleop = "ufactory_lerobot.scripts.uf_robot_teleop:main"
|
|||||||
uf-lerobot-record = "ufactory_lerobot.scripts.uf_lerobot_record:main"
|
uf-lerobot-record = "ufactory_lerobot.scripts.uf_lerobot_record:main"
|
||||||
uf-lerobot-eval = "ufactory_lerobot.scripts.uf_lerobot_eval:main"
|
uf-lerobot-eval = "ufactory_lerobot.scripts.uf_lerobot_eval:main"
|
||||||
uf-vive-calibrate = "ufactory_lerobot.scripts.vive_calibrate:main"
|
uf-vive-calibrate = "ufactory_lerobot.scripts.vive_calibrate:main"
|
||||||
|
uf-camera-view = "ufactory_lerobot.scripts.uf_camera_view:main"
|
||||||
|
|
||||||
[project.optional-dependencies]
|
[project.optional-dependencies]
|
||||||
# GELLO 遥操作
|
# GELLO 遥操作
|
||||||
|
|||||||
383
src/ufactory_lerobot/scripts/uf_camera_view.py
Normal file
383
src/ufactory_lerobot/scripts/uf_camera_view.py
Normal file
@ -0,0 +1,383 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
"""Multi-camera viewer: XVisio / RealSense / other cameras."""
|
||||||
|
import os
|
||||||
|
import sys
|
||||||
|
import cv2
|
||||||
|
import time
|
||||||
|
import argparse
|
||||||
|
import threading
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
# ---------- 屏蔽 OpenCV Qt 字体警告 ----------
|
||||||
|
os.environ["QT_LOGGING_RULES"] = "*=false"
|
||||||
|
_fake_stderr = open(os.devnull, "w")
|
||||||
|
_real_stderr = sys.stderr
|
||||||
|
sys.stderr = _fake_stderr
|
||||||
|
import cv2 as _cv2
|
||||||
|
sys.stderr = _real_stderr
|
||||||
|
_fake_stderr.close()
|
||||||
|
# ---------------------------------------------
|
||||||
|
|
||||||
|
BY_ID_DIR = Path("/dev/v4l/by-id")
|
||||||
|
BY_PATH_DIR = Path("/dev/v4l/by-path")
|
||||||
|
|
||||||
|
# camera type -> (keyword, default format)
|
||||||
|
CAMERA_TYPES = {
|
||||||
|
"xvisio": (1280, 1280, "YU12"),
|
||||||
|
"realsense": (640, 480, ""),
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
class Camera:
|
||||||
|
"""Generic camera."""
|
||||||
|
|
||||||
|
def __init__(self, device: str, serial: str = "", by_path: str = "",
|
||||||
|
by_id: str = "", width: int = 640, height: int = 480,
|
||||||
|
fourcc: str = ""):
|
||||||
|
self.device = device
|
||||||
|
self.by_path = by_path
|
||||||
|
self.by_id = by_id
|
||||||
|
self.serial = serial
|
||||||
|
self.width = width
|
||||||
|
self.height = height
|
||||||
|
self.fourcc = fourcc
|
||||||
|
self._cap: cv2.VideoCapture | None = None
|
||||||
|
|
||||||
|
def open(self) -> bool:
|
||||||
|
for b in [cv2.CAP_V4L2, cv2.CAP_ANY]:
|
||||||
|
cap = cv2.VideoCapture(self.device, b)
|
||||||
|
if cap.isOpened():
|
||||||
|
if self.fourcc:
|
||||||
|
cap.set(cv2.CAP_PROP_FOURCC,
|
||||||
|
cv2.VideoWriter_fourcc(*self.fourcc))
|
||||||
|
cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
|
||||||
|
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
|
||||||
|
rw = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
|
||||||
|
rh = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
|
||||||
|
if rw < 1 or rh < 1:
|
||||||
|
cap.release()
|
||||||
|
continue
|
||||||
|
self.width, self.height = rw, rh
|
||||||
|
self._cap = cap
|
||||||
|
return True
|
||||||
|
return False
|
||||||
|
|
||||||
|
def read(self):
|
||||||
|
if self._cap is None:
|
||||||
|
return None
|
||||||
|
ret, frame = self._cap.read()
|
||||||
|
return frame if ret else None
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
if self._cap:
|
||||||
|
self._cap.release()
|
||||||
|
self._cap = None
|
||||||
|
|
||||||
|
@property
|
||||||
|
def fps(self) -> float:
|
||||||
|
return self._cap.get(cv2.CAP_PROP_FPS) if self._cap else 0.0
|
||||||
|
|
||||||
|
@property
|
||||||
|
def current_fourcc(self) -> str:
|
||||||
|
if not self._cap:
|
||||||
|
return ""
|
||||||
|
code = int(self._cap.get(cv2.CAP_PROP_FOURCC))
|
||||||
|
try:
|
||||||
|
return "".join(chr((code >> (i * 8)) & 0xFF) for i in range(4))
|
||||||
|
except (ValueError, OverflowError):
|
||||||
|
return str(code)
|
||||||
|
|
||||||
|
@property
|
||||||
|
def is_open(self) -> bool:
|
||||||
|
return self._cap is not None and self._cap.isOpened()
|
||||||
|
|
||||||
|
|
||||||
|
class CameraManager:
|
||||||
|
"""Camera discovery."""
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def find(cam_type: str = "other") -> list[dict]:
|
||||||
|
"""Scan cameras by type.
|
||||||
|
cam_type: xvisio / realsense / other (default, excludes known types)
|
||||||
|
Uses /dev/v4l/by-path/ (unique per port), gets serial from by-id.
|
||||||
|
video-index0 = Video Capture, index1+ = depth/IR/metadata.
|
||||||
|
"""
|
||||||
|
if not BY_PATH_DIR.exists():
|
||||||
|
return []
|
||||||
|
|
||||||
|
info = CAMERA_TYPES.get(cam_type)
|
||||||
|
if info:
|
||||||
|
keyword = cam_type
|
||||||
|
w, h, fc = info
|
||||||
|
else:
|
||||||
|
keyword = None
|
||||||
|
w, h, fc = (640, 480, "")
|
||||||
|
|
||||||
|
# 建立 by-id 映射: resolved device -> by-id path
|
||||||
|
id_map = {} # {'/dev/video0': '/dev/v4l/by-id/xxxx'}
|
||||||
|
if BY_ID_DIR.exists():
|
||||||
|
for p in BY_ID_DIR.iterdir():
|
||||||
|
id_map[str(p.resolve())] = str(p)
|
||||||
|
|
||||||
|
result = []
|
||||||
|
for p in sorted(BY_PATH_DIR.iterdir()):
|
||||||
|
name = p.name
|
||||||
|
if not name.endswith("-video-index0"):
|
||||||
|
continue
|
||||||
|
|
||||||
|
device = str(p.resolve())
|
||||||
|
by_id = id_map.get(device, "")
|
||||||
|
|
||||||
|
# use by-id name for type check (by-path does not contain vendor/model)
|
||||||
|
type_name = (by_id or name).lower()
|
||||||
|
if keyword and keyword not in type_name:
|
||||||
|
continue
|
||||||
|
if cam_type == 'other' and not keyword and any(k in type_name for k in CAMERA_TYPES.keys()):
|
||||||
|
continue
|
||||||
|
|
||||||
|
if by_id:
|
||||||
|
# serial = by_id.rsplit("-video-index0", 1)[0]
|
||||||
|
# parts = serial.split("_", 2)
|
||||||
|
# serial = parts[-1] if len(parts) > 2 else serial
|
||||||
|
serial = by_id.rsplit('/', 1)[-1].split('-', 1)[-1].rsplit("-video-index0", 1)[0]
|
||||||
|
tmp = serial.split("_")
|
||||||
|
serial = '_'.join(list({val: val for val in tmp if val}.values()))
|
||||||
|
else:
|
||||||
|
serial = name.rsplit("-video-index0", 1)[0]
|
||||||
|
|
||||||
|
result.append({
|
||||||
|
"device": device,
|
||||||
|
"serial": serial,
|
||||||
|
"by_path": str(p),
|
||||||
|
"by_id": by_id,
|
||||||
|
"default_w": w,
|
||||||
|
"default_h": h,
|
||||||
|
"default_fourcc": fc,
|
||||||
|
})
|
||||||
|
return result
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def find_by_serial(serial: str, cam_type: str = "other") -> list[dict]:
|
||||||
|
all_devs = CameraManager.find(cam_type)
|
||||||
|
return [d for d in all_devs if serial in d["by_id"] or serial in d["by_path"] or serial in d["serial"]]
|
||||||
|
# return [d for d in all_devs if serial in d["serial"]]
|
||||||
|
|
||||||
|
|
||||||
|
class MultiCameraViewer:
|
||||||
|
"""Multi-camera stitched viewer."""
|
||||||
|
|
||||||
|
FONT = cv2.FONT_HERSHEY_SIMPLEX
|
||||||
|
FONT_SCALE = 1.2
|
||||||
|
FONT_THICK = 2
|
||||||
|
LABEL_H = 66
|
||||||
|
|
||||||
|
def __init__(self, cameras: list[Camera], seconds: int = 0):
|
||||||
|
self.cameras = cameras
|
||||||
|
self.seconds = seconds
|
||||||
|
self._max_w = int(os.environ.get("DISPLAY_W", 3840))
|
||||||
|
self._max_h = int(os.environ.get("DISPLAY_H", 2160))
|
||||||
|
|
||||||
|
def _stitch_frames(self, frames: list, start_monotonic: float = 0):
|
||||||
|
valid = [(cam, f) for cam, f in zip(self.cameras, frames) if f is not None]
|
||||||
|
if not valid:
|
||||||
|
return None
|
||||||
|
|
||||||
|
resized = []
|
||||||
|
seconds = int(time.monotonic() - start_monotonic)
|
||||||
|
for cam, frame in valid:
|
||||||
|
h, w = frame.shape[:2]
|
||||||
|
max_per_cam = self._max_h * 0.8
|
||||||
|
if h > max_per_cam:
|
||||||
|
scale = max_per_cam / h
|
||||||
|
frame = cv2.resize(frame, (int(w * scale), int(h * scale)))
|
||||||
|
|
||||||
|
label1 = cam.serial
|
||||||
|
label2 = f"{w}x{h} | {cam.fps:.0f}fps | {cam.current_fourcc} | #{seconds}"
|
||||||
|
padded = cv2.copyMakeBorder(frame, self.LABEL_H, 0, 0, 0,
|
||||||
|
cv2.BORDER_CONSTANT, value=(40, 40, 40))
|
||||||
|
cv2.putText(padded, label1, (10, 30),
|
||||||
|
self.FONT, self.FONT_SCALE, (0, 255, 255), self.FONT_THICK, cv2.LINE_AA)
|
||||||
|
cv2.putText(padded, label2, (10, 80),
|
||||||
|
self.FONT, self.FONT_SCALE, (0, 200, 255), self.FONT_THICK, cv2.LINE_AA)
|
||||||
|
resized.append(padded)
|
||||||
|
|
||||||
|
max_h = max(f.shape[0] for f in resized)
|
||||||
|
aligned = []
|
||||||
|
for i, f in enumerate(resized):
|
||||||
|
if f.shape[0] != max_h:
|
||||||
|
f = cv2.resize(f, (int(f.shape[1] * max_h / f.shape[0]), max_h))
|
||||||
|
# 加右边分隔线（100, 100, 100 灰色，4px 宽）
|
||||||
|
f = cv2.copyMakeBorder(f, 0, 0, 0, 4,
|
||||||
|
cv2.BORDER_CONSTANT, value=(100, 100, 100))
|
||||||
|
aligned.append(f)
|
||||||
|
|
||||||
|
result = cv2.hconcat(aligned)
|
||||||
|
rh, rw = result.shape[:2]
|
||||||
|
scale = min(self._max_w / rw, self._max_h / rh, 1.0)
|
||||||
|
if scale < 1.0:
|
||||||
|
result = cv2.resize(result, (int(rw * scale), int(rh * scale)))
|
||||||
|
return result
|
||||||
|
|
||||||
|
def run(self):
|
||||||
|
has_gui = bool(os.environ.get("DISPLAY", ""))
|
||||||
|
if not has_gui:
|
||||||
|
print("No GUI, press Ctrl+C to exit.")
|
||||||
|
|
||||||
|
if has_gui:
|
||||||
|
cv2.namedWindow("Camera Viewer", cv2.WINDOW_NORMAL)
|
||||||
|
|
||||||
|
# 用 pynput 全局监听键盘（不依赖 OpenCV 窗口焦点）
|
||||||
|
stop_event = threading.Event()
|
||||||
|
if has_gui:
|
||||||
|
from pynput import keyboard
|
||||||
|
def _on_press(key):
|
||||||
|
try:
|
||||||
|
if key == keyboard.Key.esc or (hasattr(key, 'char') and key.char == 'q'):
|
||||||
|
stop_event.set()
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
kb_listener = keyboard.Listener(on_press=_on_press)
|
||||||
|
kb_listener.daemon = True
|
||||||
|
kb_listener.start()
|
||||||
|
|
||||||
|
print(f"\nConnected {len(self.cameras)} cameras:\n")
|
||||||
|
for i, cam in enumerate(self.cameras):
|
||||||
|
print(f"[{i+1}] {cam.serial} ({cam.width}x{cam.height} {cam.fourcc or 'default'})")
|
||||||
|
print(f" video_path: {cam.device}")
|
||||||
|
print(f" v4l_path: {cam.by_path}")
|
||||||
|
if cam.by_id:
|
||||||
|
print(f" v4l_id: {cam.by_id}")
|
||||||
|
print()
|
||||||
|
print("\nPress q or Esc to exit.\n")
|
||||||
|
|
||||||
|
expired = 0 if self.seconds <= 0 else time.monotonic() + self.seconds
|
||||||
|
frame_count = 0
|
||||||
|
start_monotonic = time.monotonic()
|
||||||
|
|
||||||
|
try:
|
||||||
|
while not stop_event.is_set() and (expired == 0 or time.monotonic() < expired):
|
||||||
|
frames = [cam.read() for cam in self.cameras]
|
||||||
|
frame_count += 1
|
||||||
|
|
||||||
|
if has_gui:
|
||||||
|
stitched = self._stitch_frames(frames, start_monotonic)
|
||||||
|
if stitched is not None:
|
||||||
|
if frame_count == 1:
|
||||||
|
cv2.resizeWindow("Camera Viewer",
|
||||||
|
stitched.shape[1], stitched.shape[0])
|
||||||
|
cv2.imshow("Camera Viewer", stitched)
|
||||||
|
cv2.waitKey(1)
|
||||||
|
# exit if window was closed
|
||||||
|
try:
|
||||||
|
if cv2.getWindowProperty("Camera Viewer", cv2.WND_PROP_VISIBLE) < 1:
|
||||||
|
break
|
||||||
|
except cv2.error:
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
if frame_count % 30 == 0:
|
||||||
|
parts = []
|
||||||
|
for cam, f in zip(self.cameras, frames):
|
||||||
|
status = "OK" if f is not None else "FAIL"
|
||||||
|
parts.append(f"{cam.device}:{status}")
|
||||||
|
print(f"[{time.strftime('%H:%M:%S')}] #{frame_count} | "
|
||||||
|
+ " | ".join(parts), end="\r")
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
pass
|
||||||
|
finally:
|
||||||
|
stop_event.set()
|
||||||
|
if has_gui:
|
||||||
|
cv2.destroyAllWindows()
|
||||||
|
for cam in self.cameras:
|
||||||
|
cam.close()
|
||||||
|
print("\nExited.")
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
parser = argparse.ArgumentParser(
|
||||||
|
description="Multi-camera stitched viewer",
|
||||||
|
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||||
|
epilog="""Examples:
|
||||||
|
uf-camera-view -l # list all cameras
|
||||||
|
uf-camera-view -T xvisio -l # list all XVisio vSLAM
|
||||||
|
uf-camera-view -T realsense -l # list all RealSense
|
||||||
|
uf-camera-view -T xvisio # show all XVisio (default 1280x1280 YU12)
|
||||||
|
uf-camera-view -T xvisio -s 250801DR48 # filter by serial number
|
||||||
|
uf-camera-view -T xvisio -W 1280 -H 1280 -F YU12 # specify format (main camera)
|
||||||
|
uf-camera-view -T xvisio -W 640 -H 1920 -F NV12 # specify format (aux cameras)
|
||||||
|
uf-camera-view -T other # show other cameras
|
||||||
|
uf-camera-view -T other -t 30 # preview 30 seconds
|
||||||
|
DISPLAY_W=2560 DISPLAY_H=1440 uf-camera-view -T xvisio # set window size limit""")
|
||||||
|
parser.add_argument("-T", "--type", type=str, default=None,
|
||||||
|
choices=["xvisio", "realsense", "other", "all"],
|
||||||
|
help="camera type")
|
||||||
|
parser.add_argument("-s", "--serial", type=str, default=None,
|
||||||
|
help="filter by serial number")
|
||||||
|
parser.add_argument("-l", "--list", action="store_true",
|
||||||
|
help="list devices of the given type")
|
||||||
|
parser.add_argument("-t", "--time", type=int, default=0,
|
||||||
|
help="preview seconds, 0 = infinite (default: 0)")
|
||||||
|
parser.add_argument("-W", "--width", type=int, default=None,
|
||||||
|
help="capture width")
|
||||||
|
parser.add_argument("-H", "--height", type=int, default=None,
|
||||||
|
help="capture height")
|
||||||
|
parser.add_argument("-F", "--fourcc", type=str, default=None,
|
||||||
|
help="pixel format (e.g. YU12, NV12, MJPG)")
|
||||||
|
if len(sys.argv) == 1:
|
||||||
|
parser.print_help()
|
||||||
|
return
|
||||||
|
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
# -l without -T defaults to all; no -l and no -T is an error
|
||||||
|
if args.list and not args.type:
|
||||||
|
args.type = "all"
|
||||||
|
elif not args.list and not args.type:
|
||||||
|
parser.error("-T/--type is required (xvisio, realsense, other, all)")
|
||||||
|
|
||||||
|
devices = CameraManager.find(args.type)
|
||||||
|
|
||||||
|
if args.list:
|
||||||
|
if devices:
|
||||||
|
type_label = {"all": "", "other": "Other "}.get(args.type, f'{args.type} ')
|
||||||
|
print(f"Found {len(devices)} {type_label}camera(s):\n")
|
||||||
|
for i, d in enumerate(devices):
|
||||||
|
print(f"[{i+1}] {d['serial']}")
|
||||||
|
print(f" video_path: {d['device']}")
|
||||||
|
print(f" v4l_path: {d['by_path']}")
|
||||||
|
if d.get("by_id"):
|
||||||
|
print(f" v4l_id: {d['by_id']}")
|
||||||
|
print()
|
||||||
|
else:
|
||||||
|
print(f"No {args.type} cameras found")
|
||||||
|
return
|
||||||
|
|
||||||
|
if args.serial:
|
||||||
|
devices = CameraManager.find_by_serial(args.serial, args.type)
|
||||||
|
|
||||||
|
if not devices:
|
||||||
|
print(f"No {args.type} cameras found. Use -l to list available devices.")
|
||||||
|
return
|
||||||
|
|
||||||
|
cameras = []
|
||||||
|
for d in devices:
|
||||||
|
w = args.width if args.width else d["default_w"]
|
||||||
|
h = args.height if args.height else d["default_h"]
|
||||||
|
fc = args.fourcc if args.fourcc else d["default_fourcc"]
|
||||||
|
cam = Camera(d["device"], serial=d["serial"],
|
||||||
|
by_path=d["by_path"], by_id=d.get("by_id", ""),
|
||||||
|
width=w, height=h, fourcc=fc)
|
||||||
|
if cam.open():
|
||||||
|
cameras.append(cam)
|
||||||
|
else:
|
||||||
|
print(f"WARNING: cannot open {d['device']}")
|
||||||
|
|
||||||
|
if not cameras:
|
||||||
|
print("No available cameras.")
|
||||||
|
return
|
||||||
|
|
||||||
|
viewer = MultiCameraViewer(cameras, seconds=args.time)
|
||||||
|
viewer.run()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
Loading…
Reference in New Issue
Block a user