From e01fec8b915157bef6fa2cb6546a1ea2942be2a7 Mon Sep 17 00:00:00 2001 From: Vinman Date: Tue, 16 Jun 2026 13:13:21 +0800 Subject: [PATCH] =?UTF-8?q?feat(project):=20=E6=96=B0=E5=A2=9E=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=E3=80=81udev=20=E8=A7=84=E5=88=99=E5=B9=B6=E5=AE=8C?= =?UTF-8?q?=E5=96=84=E6=96=87=E6=A1=A3=E7=BB=93=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 添加 GELLO/Pika/UMI/SpaceMouse 遥操作配置， 新增 udev 设备规则，更新 README 项目结构， 优化键盘提示格式。 --- .gitignore | 3 +- LICENSE | 236 ++++++++++++++++-- README.md | 198 +++++++++++++-- config/gello/xarm5_gello_record_config.yaml | 30 +++ config/gello/xarm6_gello_record_config.yaml | 30 +++ config/gello/xarm7_gello_record_config.yaml | 27 ++ config/pika/pika_record_config.yaml | 34 +++ config/pika/xarm7_pika_record_config.yaml | 38 +++ .../xarm7_spacemouse_record_config.yaml | 38 +++ config/umi/dual_umi_record_config.yaml | 68 +++++ config/umi/dual_xarm6_umi_record_config.yaml | 81 ++++++ config/umi/umi_record_config.yaml | 34 +++ config/umi/xarm6_umi_record_config.yaml | 39 +++ pyproject.toml | 46 ++-- src/rules/81-vive.rules | 41 +++ src/rules/99-realsense-libusb.rules | 81 ++++++ src/rules/99-xvisio.rules | 2 + src/rules/sensor_fisheye.rules | 1 + src/rules/sensor_serial.rules | 1 + .../cameras/umi_camera/camera_umi.py | 35 +-- .../robots/uf_mock_robot/uf_mock_robot.py | 7 +- .../uf_mock_robot/uf_mock_robot_config.py | 12 +- .../robots/uf_robot/uf_robot_config.py | 19 +- .../scripts/uf_lerobot_record.py | 19 +- .../scripts/uf_robot_teleop.py | 16 +- .../space_mouse/space_mouse_config.py | 2 +- .../teleoperators/umi_teleop/umi_teleop.py | 4 + 27 files changed, 996 insertions(+), 146 deletions(-) create mode 100644 config/gello/xarm5_gello_record_config.yaml create mode 100644 config/gello/xarm6_gello_record_config.yaml create mode 100644 config/gello/xarm7_gello_record_config.yaml create mode 100644 config/pika/pika_record_config.yaml create mode 100644 config/pika/xarm7_pika_record_config.yaml create mode 100644 config/spacemouse/xarm7_spacemouse_record_config.yaml create mode 100644 config/umi/dual_umi_record_config.yaml create mode 100644 config/umi/dual_xarm6_umi_record_config.yaml create mode 100644 config/umi/umi_record_config.yaml create mode 100644 config/umi/xarm6_umi_record_config.yaml create mode 100644 src/rules/81-vive.rules create mode 100644 src/rules/99-realsense-libusb.rules create mode 100644 src/rules/99-xvisio.rules create mode 100644 src/rules/sensor_fisheye.rules create mode 100644 src/rules/sensor_serial.rules diff --git a/.gitignore b/.gitignore index 37e2e71..dc24876 100644 --- a/.gitignore +++ b/.gitignore @@ -83,4 +83,5 @@ models/ *.onnx *.engine *.trt -third_party/ +*.xvcd +ufactory_usage/ diff --git a/LICENSE b/LICENSE index 328e35a..892f8b7 100644 --- a/LICENSE +++ b/LICENSE @@ -1,27 +1,217 @@ -Copyright (c) 2026, UFACTORY Inc. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -All rights reserved. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2026 UFACTORY Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + -------------------------------------------------------------------- + + This project includes code derived from the following third-party projects: + + - LeRobot (https://github.com/huggingface/lerobot) + Copyright 2024 The HuggingFace Inc. team + Licensed under the Apache License 2.0 + + - GELLO (https://github.com/wuphilipp/gello_software) + Copyright Philipp Wu + Licensed under the MIT License + + - xArm-Python-SDK (https://github.com/xArm-Developer/xArm-Python-SDK) + Copyright UFACTORY Inc. + Licensed under the BSD 3-Clause License diff --git a/README.md b/README.md index a107dbe..a16b837 100644 --- a/README.md +++ b/README.md @@ -1,54 +1,202 @@ -# uFactory LeRobot +# UFACTORY LeRobot -uFactory 机械臂与 LeRobot 框架集成项目，用于机器人学习、数据采集和策略部署。 +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。 ## 功能特性 -- 🤖 uFactory 机械臂控制接口 -- 📷 多摄像头数据采集 -- 🧠 模仿学习（行为克隆、ACT、扩散策略等） -- 🚀 策略部署与实时推理 -- 📊 训练过程可视化和日志记录 +- 🤖 UFACTORY 机械臂控制（xArm 系列） +- 🎮 多种遥操作方式：GELLO / Pika / UMI / SpaceMouse +- 📷 多摄像头数据采集（RealSense / UMI 相机） +- 📊 数据集录制与管理（兼容 LeRobot 格式） +- 🧠 模仿学习训练（ACT / Diffusion Policy 等） +- 🚀 策略评估与实时推理 +- 🔧 Mock 机器人模拟（只用遥操作设备采集数据） ## 环境要求 +- Ubuntu 22.04 / 24.04 - Python >= 3.10 - CUDA >= 12.0（GPU 训练推荐） -- uFactory 机械臂（xArm 系列） +- UFACTORY 机械臂（xArm 系列，可选） ## 安装 +### 基础项目安装 + ```bash -# 克隆仓库 -git clone +git clone https://github.com/xArm-Developer/ufactory_lerobot.git cd ufactory_lerobot -# 创建虚拟环境 -python -m venv .venv -source .venv/bin/activate # Linux/macOS -# .venv\Scripts\activate # Windows +# 创建 conda 环境 +conda create -n uf_lerobot python=3.10 -y +conda activate uf_lerobot -# 安装依赖 -pip install -e ".[dev]" +# 安装项目 +pip install -e . ``` -## 快速开始 +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）。 -```python -# TODO: 添加示例代码 +### 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 src/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 src/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 src/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/ # 源代码 -├── configs/ # 配置文件 -├── scripts/ # 脚本 -├── tests/ # 测试 -└── docs/ # 文档 +├── 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 +│ │ │ └── vive_calibrate.py # Vive Tracker 校准 +│ │ └── utils/ # 工具函数 +│ ├── rules/ # udev 设备规则 +│ └── xvsdk/ # XVSDK 系统依赖 +├── config/ # YAML 配置文件 +│ ├── gello/ +│ ├── pika/ +│ ├── umi/ +│ └── spacemouse/ +├── pyproject.toml +└── README.md ``` ## 许可证 -本项目基于 MIT 许可证发布。详见 [LICENSE](LICENSE) 文件。 +本项目基于 Apache License 2.0 发布，详见 [LICENSE](LICENSE) 文件。 diff --git a/config/gello/xarm5_gello_record_config.yaml b/config/gello/xarm5_gello_record_config.yaml new file mode 100644 index 0000000..93a560f --- /dev/null +++ b/config/gello/xarm5_gello_record_config.yaml @@ -0,0 +1,30 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 5 + control_space: "joint" + robot_ip: "192.168.1.75" + gripper_type: 1 + start_joints: [0, 0, -90, 90, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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: + _target_: ufactory_lerobot.teleoperators.gello_teleop.GelloTeleopConfig + 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] + start_joints: [0, 0, -90, 90, 0] + gripper_id: 8 + torque_joint_ids: [3, 5] + diff --git a/config/gello/xarm6_gello_record_config.yaml b/config/gello/xarm6_gello_record_config.yaml new file mode 100644 index 0000000..a4c7b0d --- /dev/null +++ b/config/gello/xarm6_gello_record_config.yaml @@ -0,0 +1,30 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 6 + control_space: "joint" + robot_ip: "192.168.1.68" + gripper_type: 1 + start_joints: [0, 0, -90, 0, 90, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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: + _target_: ufactory_lerobot.teleoperators.gello_teleop.GelloTeleopConfig + 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] + start_joints: [0, 0, -90, 0, 90, 0] + gripper_id: 8 + torque_joint_ids: [3] + diff --git a/config/gello/xarm7_gello_record_config.yaml b/config/gello/xarm7_gello_record_config.yaml new file mode 100644 index 0000000..a440d74 --- /dev/null +++ b/config/gello/xarm7_gello_record_config.yaml @@ -0,0 +1,27 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 7 + control_space: "joint" + robot_ip: "192.168.1.85" + gripper_type: 1 + start_joints: [0, 0, 0, 90, 0, 90, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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: + _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] + diff --git a/config/pika/pika_record_config.yaml b/config/pika/pika_record_config.yaml new file mode 100644 index 0000000..a028409 --- /dev/null +++ b/config/pika/pika_record_config.yaml @@ -0,0 +1,34 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig + id: "uf_mock_robot" + control_space: "cartesian" + gripper_type: 2 + state_offset_action: 3 + + cameras: + fisheye: + _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig + 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: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../lerobot_datas/record/ufactory/pika_datas" + repo_id: "ufactory/pika_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: + _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] diff --git a/config/pika/xarm7_pika_record_config.yaml b/config/pika/xarm7_pika_record_config.yaml new file mode 100644 index 0000000..f895542 --- /dev/null +++ b/config/pika/xarm7_pika_record_config.yaml @@ -0,0 +1,38 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 7 + control_space: "cartesian" + robot_ip: "192.168.1.85" + gripper_type: 10 + 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 + 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: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../lerobot_datas/record/ufactory/xarm7_pika_datas" + repo_id: "ufactory/xarm7_pika_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: + _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] diff --git a/config/spacemouse/xarm7_spacemouse_record_config.yaml b/config/spacemouse/xarm7_spacemouse_record_config.yaml new file mode 100644 index 0000000..1718bd7 --- /dev/null +++ b/config/spacemouse/xarm7_spacemouse_record_config.yaml @@ -0,0 +1,38 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 7 + control_space: "cartesian" + robot_ip: "192.168.1.127" + gripper_type: 0 + + cameras: + overhead: + _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig + serial_number_or_name: "Intel RealSense D435I" + width: 640 + height: 480 + fps: 30 + tool: + _target_: lerobot.cameras.realsense.configuration_realsense.RealSenseCameraConfig + serial_number_or_name: "Intel RealSense D435" + width: 640 + height: 480 + fps: 30 + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root: /home//.cache/huggingface/lerobot (default) + root: "../lerobot_datas/record/ufactory/xarm7_pushT" + repo_id: "ufactory/xarm7_pushT" + single_task: "Push the T-block into the specified zone then go to reset position." + fps: 10 + 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 \ No newline at end of file diff --git a/config/umi/dual_umi_record_config.yaml b/config/umi/dual_umi_record_config.yaml new file mode 100644 index 0000000..f0566da --- /dev/null +++ b/config/umi/dual_umi_record_config.yaml @@ -0,0 +1,68 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_mock_robot.MultipleUFMockRobotConfig + id: "multiple_uf_mock_robots" + robots: + left: + _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig + id: "left_uf_mock_robot" + control_space: "cartesian" + gripper_type: 1 + state_offset_action: 3 + cameras: + fisheye: + _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig + serial_number: "250801DR48FP26001318" + width: 1280 + height: 1280 + fps: 30 + right: + _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig + id: "right_uf_mock_robot" + control_space: "cartesian" + gripper_type: 1 + state_offset_action: 3 + cameras: + fisheye: + _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig + serial_number: "250801DR48FP26001295" + width: 1280 + height: 1280 + fps: 30 + +# make sure to edit with your correct configurations! +TeleoperatorConfig: + _target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig + id: "multiple_teleops" + teleops: + left: + _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig + id: "left_teleop" + serial_number: "250801DR48FP26001318" + use_vive_tracker: False + vive_tracker_id: "LHR-555DC7BF" + use_gripper: True + 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 + id: "right_teleop" + serial_number: "250801DR48FP26001295" + use_vive_tracker: False + vive_tracker_id: "LHR-2425BAD3" + use_gripper: True + tracker_to_robot_eef: [0, 0, 0, 0, 0, -90] + robot_base_pose: [400, 0, 150, 90, 0, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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 + num_episodes: 100 + push_to_hub: False + + diff --git a/config/umi/dual_xarm6_umi_record_config.yaml b/config/umi/dual_xarm6_umi_record_config.yaml new file mode 100644 index 0000000..42eb0d4 --- /dev/null +++ b/config/umi/dual_xarm6_umi_record_config.yaml @@ -0,0 +1,81 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.MultipleUFRobotConfig + id: "multiple_uf_robots" + async_connect: True + async_configure: True + async_action: False + robots: + left: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "left_uf_robot" + robot_dof: 6 + control_space: "cartesian" + robot_ip: "192.168.1.29" + gripper_type: 2 + 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] + cameras: + fisheye: + _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig + 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 + id: "right_uf_robot" + robot_dof: 6 + control_space: "cartesian" + robot_ip: "192.168.1.83" + gripper_type: 2 + 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] + cameras: + fisheye: + _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig + index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0" + width: 1280 + height: 1280 + fps: 100 + fourcc: "YUYV" + +# make sure to edit with your correct configurations! +TeleoperatorConfig: + _target_: ufactory_lerobot.teleoperators.umi_teleop.MultipleUmiTeleopConfig + id: "multiple_teleops" + teleops: + left: + _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig + id: "left_teleop" + serial_number: "250801DR48FP26001318" + use_vive_tracker: False + vive_tracker_id: "LHR-555DC7BF" + use_gripper: True + 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 + id: "right_teleop" + serial_number: "250801DR48FP26001295" + use_vive_tracker: False + vive_tracker_id: "LHR-2425BAD3" + use_gripper: True + tracker_to_robot_eef: [0, 0, 0, 0, 0, -90] + robot_base_pose: [400, 0, 150, 90, 0, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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 + num_episodes: 100 + push_to_hub: False + + diff --git a/config/umi/umi_record_config.yaml b/config/umi/umi_record_config.yaml new file mode 100644 index 0000000..e6bab09 --- /dev/null +++ b/config/umi/umi_record_config.yaml @@ -0,0 +1,34 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_mock_robot.UFMockRobotConfig + id: "uf_mock_robot" + control_space: "cartesian" + gripper_type: 1 + state_offset_action: 3 + cameras: + fisheye: + _target_: ufactory_lerobot.cameras.umi_camera.configuration_umi.UmiCameraConfig + serial_number: "250801DR48FP26001295" + width: 1280 + height: 1280 + fps: 100 + +TeleoperatorConfig: + _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig + serial_number: "250801DR48FP26001295" + use_vive_tracker: False + vive_tracker_id: "LHR-2425BAD3" + use_gripper: True + tracker_to_robot_eef: [0, 0, 0, 0, 0, -90] + robot_base_pose: [400, 0, 400, 180, 0, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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 + num_episodes: 100 + push_to_hub: False \ No newline at end of file diff --git a/config/umi/xarm6_umi_record_config.yaml b/config/umi/xarm6_umi_record_config.yaml new file mode 100644 index 0000000..01e0f66 --- /dev/null +++ b/config/umi/xarm6_umi_record_config.yaml @@ -0,0 +1,39 @@ +RobotConfig: + _target_: ufactory_lerobot.robots.uf_robot.UFRobotConfig + id: "uf_robot" + robot_dof: 6 + control_space: "cartesian" + robot_ip: "192.168.1.83" + gripper_type: 2 + max_linear_velocity: 250 + start_joints: [0, -14.8, -52.6, 0, 67.4, 0] + start_tcp_pose: [400, 0, 400, 180, 0, 0] + cameras: + fisheye: + _target_: lerobot.cameras.opencv.configuration_opencv.OpenCVCameraConfig + index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0" + width: 1280 + height: 1280 + fps: 100 + fourcc: "YUYV" + +TeleoperatorConfig: + _target_: ufactory_lerobot.teleoperators.umi_teleop.UmiTeleopConfig + serial_number: "250801DR48FP26001295" + use_vive_tracker: False + vive_tracker_id: "LHR-2425BAD3" + use_gripper: True + tracker_to_robot_eef: [0, 0, 0, 0, 0, -90] + robot_base_pose: [400, 0, 400, 180, 0, 0] + +DatasetRecordConfig: + _target_: lerobot.scripts.lerobot_record.DatasetRecordConfig + # root of local repo: /home//.cache/huggingface/lerobot (default) + root: "../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 + num_episodes: 100 + push_to_hub: False \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index fc1449c..def47c4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -7,7 +7,7 @@ name = "ufactory_lerobot" version = "0.1.0" description = "UFACTORY 机械臂与 LeRobot 框架集成" readme = "README.md" -license = { text = "MIT" } +license = { text = "Apache-2.0" } requires-python = ">=3.10" authors = [ { name = "ufactory_lerobot Contributors" }, @@ -23,8 +23,31 @@ classifiers = [ "Programming Language :: Python :: 3.12", "Topic :: Scientific/Engineering :: Artificial Intelligence", ] +dependencies = [ + "numpy>=1.24", + "pyyaml", + "lerobot==0.4.3", + "xarm-python-sdk", + "opencv-python", +] + +[project.scripts] +uf-robot-teleop = "ufactory_lerobot.scripts.uf_robot_teleop:main" +uf-lerobot-record = "ufactory_lerobot.scripts.uf_lerobot_record:main" +uf-lerobot-eval = "ufactory_lerobot.scripts.uf_lerobot_eval:main" +uf-vive-calibrate = "ufactory_lerobot.scripts.vive_calibrate:main" [project.optional-dependencies] +# GELLO 遥操作 +gello = [ + "gello @ git+https://github.com/xArm-Developer/gello_software.git", + "dynamixel-sdk @ git+https://github.com/ROBOTIS-GIT/DynamixelSDK.git#subdirectory=python", +] +# SpaceMouse 遥操作 +spacemouse = [ + "spnav @ git+https://github.com/kazoo-osaro/spnav", +] +# 开发工具 dev = [ "pytest>=8.0", "pytest-cov>=5.0", @@ -32,22 +55,15 @@ dev = [ "mypy>=1.10", "pre-commit>=3.7", ] -camera = [ - "opencv-python>=4.9", - "pyrealsense2>=2.55", -] -lerobot = [ - "lerobot==0.4.3", -] -train = [ - "torch>=2.2", - "torchvision>=0.17", - "huggingface-hub>=0.25", - "wandb>=0.17", -] + +[tool.setuptools] +include-package-data = true [tool.setuptools.packages.find] -where = ["."] +where = ["src"] + +[tool.setuptools.package-data] +"ufactory_lerobot.devices.umi.xvlib" = ["*.so", "*.so.*"] [tool.ruff] line-length = 100 diff --git a/src/rules/81-vive.rules b/src/rules/81-vive.rules new file mode 100644 index 0000000..7a8016e --- /dev/null +++ b/src/rules/81-vive.rules @@ -0,0 +1,41 @@ +# HTC Vive HID Sensor naming and permissioning +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="2c87", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="030e", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2101", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2000", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="1043", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2050", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2011", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2012", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2022", TAG+="uaccess" +KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2300", TAG+="uaccess" + +SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="2c87", TAG+="uaccess" +SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="030e", TAG+="uaccess" +# HTC Camera USB Node +SUBSYSTEM=="usb", ATTRS{idVendor}=="114d", ATTRS{idProduct}=="8328", TAG+="uaccess" +# HTC Mass Storage Node +SUBSYSTEM=="usb", ATTRS{idVendor}=="114d", ATTRS{idProduct}=="8200", TAG+="uaccess" +SUBSYSTEM=="usb", ATTRS{idVendor}=="114d", ATTRS{idProduct}=="8a12", TAG+="uaccess" + + +#libsurvive +# HTC HMD +SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="2c87", MODE="0666" +# HTC HMD Pro(?) +SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", ATTRS{idProduct}=="030e", MODE="0666" +# Light input +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2000", MODE="0666" +# Watchman +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2101", MODE="0666" +# Watchman wired +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2012", MODE="0666" +# Tracker wired +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2022", MODE="0666" +# Tracker 2018 wired +SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", ATTRS{idProduct}=="2300", MODE="0666" + +#KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="0bb4", ATTR{idProduct}=="2c87", MODE="0666" # HTC +#KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="0bb4", ATTR{idProduct}=="030e", MODE="0666" # HTC +#KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTR{idProduct}=="2000", MODE="0666" # Valve +#KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="28de", ATTR{idProduct}=="2101", MODE="0666" # Valve diff --git a/src/rules/99-realsense-libusb.rules b/src/rules/99-realsense-libusb.rules new file mode 100644 index 0000000..ca9dd16 --- /dev/null +++ b/src/rules/99-realsense-libusb.rules @@ -0,0 +1,81 @@ +##Version=1.1## +# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense recovery devices (DFU) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense devices (Movidius, T265) +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev" + +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" + +# For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64|0b68", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" diff --git a/src/rules/99-xvisio.rules b/src/rules/99-xvisio.rules new file mode 100644 index 0000000..2dec8ae --- /dev/null +++ b/src/rules/99-xvisio.rules @@ -0,0 +1,2 @@ +SUBSYSTEM=="usb", ATTR{idVendor}=="040e", MODE="0666", GROUP="plugdev" + diff --git a/src/rules/sensor_fisheye.rules b/src/rules/sensor_fisheye.rules new file mode 100644 index 0000000..7742389 --- /dev/null +++ b/src/rules/sensor_fisheye.rules @@ -0,0 +1 @@ +KERNEL=="video*", ATTRS{idVendor}=="1bcf", ATTRS{idProduct}=="2cd1", MODE:="0777", SYMLINK+="video50" diff --git a/src/rules/sensor_serial.rules b/src/rules/sensor_serial.rules new file mode 100644 index 0000000..e318709 --- /dev/null +++ b/src/rules/sensor_serial.rules @@ -0,0 +1 @@ +KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7522", MODE:="0777", SYMLINK+="ttyUSB50" diff --git a/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py b/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py index 157d0c2..c129f03 100644 --- a/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py +++ b/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py @@ -18,13 +18,8 @@ Provides the RealSenseCamera class for capturing frames from Intel RealSense cam import logging import time -from threading import Event, Lock, Thread from typing import Any - import cv2 # type: ignore # TODO: add type stubs for OpenCV -import numpy as np # type: ignore # TODO: add type stubs for numpy -from numpy.typing import NDArray # type: ignore # TODO: add type stubs for numpy.typing -from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError from lerobot.cameras.camera import Camera from ufactory_lerobot.devices.umi.xvlib import XVLib from .configuration_umi import UmiCameraConfig @@ -60,11 +55,6 @@ class UmiCamera(Camera): self.last_frame = None self.xvlib = XVLib(self.serial_number) self.xvlib.xv_color_camera_init() - self.xvlib.xv_set_color_camera_framerate(self.config.fps) - self.frame_lock = Lock() - self.new_frame_event: Event = Event() - self.thread = Thread(target=self._read_loop, daemon=True) - self.thread.start() def __str__(self) -> str: return f"{self.__class__.__name__}({self.serial_number})" @@ -83,18 +73,6 @@ class UmiCamera(Camera): start_time = time.monotonic() while time.monotonic() - start_time < self.warmup_s: time.sleep(0.1) - - def _read_loop(self): - while True: - try: - frame = self.read() - if frame is not None: - with self.frame_lock: - self.last_frame = frame - self.new_frame_event.set() - except Exception as e: - print('Read Frame Ex: {}'.format(e)) - time.sleep(0.01) def read(self, color_mode = None): ret, img_data = self.xvlib.xv_get_color_image_rgb_data() @@ -114,16 +92,11 @@ class UmiCamera(Camera): return frame def async_read(self, timeout_ms: float = 200): - if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0): - thread_alive = self.thread is not None and self.thread.is_alive() - raise TimeoutError( - f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. " - f"Read thread alive: {thread_alive}." - ) - - with self.frame_lock: + frame = self.read() + if frame is not None: + self.last_frame = frame + else: frame = self.last_frame - self.new_frame_event.clear() return frame def disconnect(self) -> None: diff --git a/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py index 72b2e20..9048598 100644 --- a/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py +++ b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py @@ -24,11 +24,10 @@ class UFMockRobot(Robot): super().__init__(config) self.prefix = '' if not prefix else f"{prefix}." self.config = config - self._dof = config.robot_dof - if self._dof == None or (not self._dof in (5, 6, 7)): - raise ValueError(f"Please specify the correct DOF uf_robot!, got {self._dof}") - + self._dof = config.robot_dof self._control_space = self.config.control_space + if self._control_space == "joint" and (self._dof == None or (not self._dof in (5, 6, 7))): + raise ValueError(f"Please specify the correct DOF uf_robot!, got {self._dof}") self._jnt_obs_has_vel = config.observe_joint_vel if self._control_space == "joint" else False self._is_connected = False self._is_calibrated =True diff --git a/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py index a91c410..492b216 100644 --- a/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py +++ b/src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py @@ -1,22 +1,12 @@ from dataclasses import dataclass, field from lerobot.cameras import CameraConfig -from lerobot.cameras.opencv import OpenCVCameraConfig from lerobot.robots import RobotConfig @RobotConfig.register_subclass("uf::mock_robot") @dataclass class UFMockRobotConfig(RobotConfig): - # cameras cameras: dict[str, CameraConfig] = field( - default_factory=lambda: { - "fisheye": OpenCVCameraConfig( - index_or_path=6, - width=640, - height=480, - fps=30, - fourcc="MJPG" - ) - } + default_factory=lambda: {} ) robot_dof: int | None = None # Set it correctly if controlling in joint space! diff --git a/src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py b/src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py index 16bc495..f0720df 100644 --- a/src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py +++ b/src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py @@ -1,31 +1,14 @@ from dataclasses import dataclass, field from typing import Tuple from lerobot.cameras import CameraConfig -from lerobot.cameras.realsense import RealSenseCameraConfig from lerobot.robots import RobotConfig @RobotConfig.register_subclass("uf::robot") @dataclass class UFRobotConfig(RobotConfig): - # cameras cameras: dict[str, CameraConfig] = field( - default_factory=lambda: { - "overhead": RealSenseCameraConfig( - serial_number_or_name="Intel RealSense D435I", - fps=30, - width=640, # 1280 - height=480, # 720 - # rotation=90, - ), - "tool": RealSenseCameraConfig( - serial_number_or_name="Intel RealSense D435", - fps=30, - width=640, # 1280 - height=480, # 720 - ), - } + default_factory=lambda: {} ) - robot_ip: str = "192.168.1.127" robot_dof: int | None = None # Set it correctly if controlling in joint space! control_space: str = "joint" diff --git a/src/ufactory_lerobot/scripts/uf_lerobot_record.py b/src/ufactory_lerobot/scripts/uf_lerobot_record.py index 3ec75b0..6f0e7ce 100644 --- a/src/ufactory_lerobot/scripts/uf_lerobot_record.py +++ b/src/ufactory_lerobot/scripts/uf_lerobot_record.py @@ -276,9 +276,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset: try: if key == keyboard.Key.enter: if not is_recorded: - print('[HELP] : EXIT, : START, : RESET, : SAVE') + print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save') else: - print('[HELP] : EXIT, : RESET, : SAVE') + print('⌨ [ESC] Exit [←] Reset [→] Save') # is_recorded = True except Exception as e: print(f"Error handling key release: {e}") @@ -287,9 +287,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset: listener, events = init_keyboard_listener(events=events, on_press=on_press, on_release=on_release) print("\n********** Episode Record Loop Start **********") - print('[HELP] : EXIT, : START, : RESET, : SAVE') + print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save') else: - input('[HELP] Enter to to start record >>> ') + input('⌨ Press Enter to start record >>> ') if is_uf_teleop: teleop.set_teleop_enabled(True) is_recorded = True @@ -312,7 +312,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset: if events["rerecord_episode"]: events["rerecord_episode"] = False events["exit_early"] = False - input('\nPress Enter to regenerate random target location >>>>> ') + input('\n⌨ Press Enter to regenerate random target location >>>>> ') continue if events["stop_recording"]: continue @@ -357,9 +357,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset: dataset.clear_episode_buffer() is_recorded = False if is_evt: - print('[HELP] : EXIT, : START, : RESET, : SAVE') + print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save') else: - input('\nPress Enter to rerecord this episode >>>>> ') + input('\n⌨ Press Enter to rerecord this episode >>>>> ') is_recorded = True continue @@ -368,12 +368,13 @@ def record(cfg: RecordConfig) -> LeRobotDataset: if is_uf_teleop: teleop.set_teleop_enabled(False) dataset.save_episode() + log_say(f"[Finish] Save episode {dataset.num_episodes}", cfg.play_sounds) recorded_episodes += 1 is_recorded = False if is_evt: - print('[HELP] : EXIT, : START, : RESET, : SAVE') + print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save') else: - input('Press Enter to record at the next episode >>>>> ') + input('⌨ Press Enter to record at the next episode >>>>> ') is_recorded = True print("\n********** Episode Record Loop Exit **********") diff --git a/src/ufactory_lerobot/scripts/uf_robot_teleop.py b/src/ufactory_lerobot/scripts/uf_robot_teleop.py index 7c760e3..a0fa902 100644 --- a/src/ufactory_lerobot/scripts/uf_robot_teleop.py +++ b/src/ufactory_lerobot/scripts/uf_robot_teleop.py @@ -85,11 +85,11 @@ def teleop_loop(cfg: TeleopConfig): if key == keyboard.Key.enter: if is_paused: if is_reset: - print('[HELP] : EXIT, : RESET AND START, : RESET') + print('⌨ [ESC] Exit [Space] Reset / Start [←] Reset') else: - print('[HELP] : EXIT, : START, : RESET') + print('⌨ [ESC] Exit [Space] Start [←] Reset') else: - print('[HELP] : EXIT, : PAUSE, : RESET') + print('⌨ [ESC] Exit [Space] Pause [←] Pause / Reset') except Exception as e: print(f"Error handling key release: {e}") if key in key_dict: @@ -97,9 +97,9 @@ def teleop_loop(cfg: TeleopConfig): listener, events = init_keyboard_listener(events=events, on_press=on_press, on_release=on_release) print("\n********** Teleop Control Loop Start **********") - print('[HELP] : EXIT, : START, : RESET') + print('⌨ [ESC] Exit [Space] Start [←] Reset') else: - input('[HELP] Enter to control robot with teleop >>> ') + input('⌨ Press Enter to start teleop >>> ') if is_uf_teleop: obs = robot.get_observation() teleop.set_teleop_enabled(True, obs) @@ -121,7 +121,7 @@ def teleop_loop(cfg: TeleopConfig): is_paused = True if is_uf_teleop: teleop.set_teleop_enabled(False) - print('[HELP] : EXIT, : RESET AND START, : RESET') + print('⌨ [ESC] Exit [Space] Reset / Start [←] Reset') elif not key_dict[keyboard.Key.left] and key_left_pressed: key_left_pressed = False @@ -132,7 +132,7 @@ def teleop_loop(cfg: TeleopConfig): if is_uf_teleop: teleop.set_teleop_enabled(False) # print('========== Teleop is paused ==========') - print('[HELP] : EXIT, : START, : RESET') + print('⌨ [ESC] Exit [Space] Start [←] Reset') else: if is_reset: is_reset = False @@ -141,7 +141,7 @@ def teleop_loop(cfg: TeleopConfig): if is_uf_teleop: obs = robot.get_observation() teleop.set_teleop_enabled(True, obs) - print('[HELP] : EXIT, : PAUSE, : RESET') + print('⌨ [ESC] Exit [Space] Pause [←] Reset') continue elif not key_dict[keyboard.Key.space] and key_space_pressed: key_space_pressed = False diff --git a/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py b/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py index 9b39769..a5e6860 100644 --- a/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py +++ b/src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py @@ -24,7 +24,7 @@ from lerobot.teleoperators import TeleoperatorConfig class SpaceMouseTeleopConfig(TeleoperatorConfig): # Port to connect to the arm max_value: int = 300 - deadzone: tuple = (0,0,0,0,0,0) + deadzone: tuple = (0, 0, 0, 0, 0, 0) use_gripper: bool = False frequency: int = 10 # hz max_pos_speed: int = 250 # mm/s diff --git a/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py b/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py index 2da100c..52313b3 100644 --- a/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py +++ b/src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py @@ -86,6 +86,10 @@ class UmiTeleop(UFBaseTeleop): def connect(self, calibrate: bool = False) -> None: 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: + self.xvlib.xv_slam_init() + if self.config.use_gripper: + self.xvlib.xv_clamp_stream_init() self._is_connected = True def disconnect(self):