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feat(project): 新增配置、udev 规则并完善文档结构

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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。
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Vinman 2026-06-16 13:13:21 +08:00
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commit e01fec8b91
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.gitignore vendored
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*.onnx *.onnx
*.engine *.engine
*.trt *.trt
third_party/ *.xvcd
ufactory_usage/

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LICENSE
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--------------------------------------------------------------------
This project includes code derived from the following third-party projects:
- LeRobot (https://github.com/huggingface/lerobot)
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Copyright UFACTORY Inc.
Licensed under the BSD 3-Clause License

198
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# 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 ## 功能特性
- 🤖 uFactory 机械臂控制接口 - 🤖 UFACTORY 机械臂控制（xArm 系列）
- 📷 多摄像头数据采集 - 🎮 多种遥操作方式：GELLO / Pika / UMI / SpaceMouse
- 🧠 模仿学习（行为克隆、ACT、扩散策略等） - 📷 多摄像头数据采集（RealSense / UMI 相机）
- 🚀 策略部署与实时推理 - 📊 数据集录制与管理（兼容 LeRobot 格式）
- 📊 训练过程可视化和日志记录 - 🧠 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 ## 环境要求
- Ubuntu 22.04 / 24.04
- Python >= 3.10 - Python >= 3.10
- CUDA >= 12.0（GPU 训练推荐） - 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 ## 安装
### 基础项目安装
```bash ```bash
# 克隆仓库 git clone https://github.com/xArm-Developer/ufactory_lerobot.git
git clone <repo-url>
cd ufactory_lerobot cd ufactory_lerobot
# 创建虚拟环境 # 创建 conda 环境
python -m venv .venv conda create -n uf_lerobot python=3.10 -y
source .venv/bin/activate # Linux/macOS conda activate uf_lerobot
# .venv\Scripts\activate # Windows
# 安装依赖 # 安装项目
pip install -e ".[dev]" 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 ### 外设模块安装
# TODO: 添加示例代码
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 ## 项目结构
``` ```
ufactory_lerobot/ ufactory_lerobot/
├── src/ # 源代码 ├── src/
├── configs/ # 配置文件 │ ├── ufactory_lerobot/
├── scripts/ # 脚本 │ │ ├── robots/ # 机器人控制
├── tests/ # 测试 │ │ │ ├── uf_robot/ # xArm 实体机器人
└── docs/ # 文档 │ │ │ ├── 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 ## 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。

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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/<user_name>/.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]

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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/<user_name>/.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]

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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/<user_name>/.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]

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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/<user_name>/.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]

38
config/pika/xarm7_pika_record_config.yaml Normal file
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@ -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/<user_name>/.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]

38
config/spacemouse/xarm7_spacemouse_record_config.yaml Normal file
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@ -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/<user_name>/.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

68
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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/<user_name>/.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

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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/<user_name>/.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

34
config/umi/umi_record_config.yaml Normal file
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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/<user_name>/.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

39
config/umi/xarm6_umi_record_config.yaml Normal file
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@ -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/<user_name>/.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

46
pyproject.toml
View File

@ -7,7 +7,7 @@ name = "ufactory_lerobot"
version = "0.1.0" version = "0.1.0"
description = "UFACTORY 机械臂与 LeRobot 框架集成" description = "UFACTORY 机械臂与 LeRobot 框架集成"
readme = "README.md" readme = "README.md"
license = { text = "MIT" } license = { text = "Apache-2.0" }
requires-python = ">=3.10" requires-python = ">=3.10"
authors = [ authors = [
{ name = "ufactory_lerobot Contributors" }, { name = "ufactory_lerobot Contributors" },
@ -23,8 +23,31 @@ classifiers = [
"Programming Language :: Python :: 3.12", "Programming Language :: Python :: 3.12",
"Topic :: Scientific/Engineering :: Artificial Intelligence", "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] [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 = [ dev = [
"pytest>=8.0", "pytest>=8.0",
"pytest-cov>=5.0", "pytest-cov>=5.0",
@ -32,22 +55,15 @@ dev = [
"mypy>=1.10", "mypy>=1.10",
"pre-commit>=3.7", "pre-commit>=3.7",
] ]
camera = [
"opencv-python>=4.9", [tool.setuptools]
"pyrealsense2>=2.55", include-package-data = true
]
lerobot = [
"lerobot==0.4.3",
]
train = [
"torch>=2.2",
"torchvision>=0.17",
"huggingface-hub>=0.25",
"wandb>=0.17",
]
[tool.setuptools.packages.find] [tool.setuptools.packages.find]
where = ["."] where = ["src"]
[tool.setuptools.package-data]
"ufactory_lerobot.devices.umi.xvlib" = ["*.so", "*.so.*"]
[tool.ruff] [tool.ruff]
line-length = 100 line-length = 100

41
src/rules/81-vive.rules Normal file
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@ -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

81
src/rules/99-realsense-libusb.rules Normal file
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@ -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'"

2
src/rules/99-xvisio.rules Normal file
View File

@ -0,0 +1,2 @@
SUBSYSTEM=="usb", ATTR{idVendor}=="040e", MODE="0666", GROUP="plugdev"

1
src/rules/sensor_fisheye.rules Normal file
View File

@ -0,0 +1 @@
KERNEL=="video*", ATTRS{idVendor}=="1bcf", ATTRS{idProduct}=="2cd1", MODE:="0777", SYMLINK+="video50"

1
src/rules/sensor_serial.rules Normal file
View File

@ -0,0 +1 @@
KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7522", MODE:="0777", SYMLINK+="ttyUSB50"

35
src/ufactory_lerobot/cameras/umi_camera/camera_umi.py
View File

@ -18,13 +18,8 @@ Provides the RealSenseCamera class for capturing frames from Intel RealSense cam
import logging import logging
import time import time
from threading import Event, Lock, Thread
from typing import Any from typing import Any
import cv2 # type: ignore # TODO: add type stubs for OpenCV 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 lerobot.cameras.camera import Camera
from ufactory_lerobot.devices.umi.xvlib import XVLib from ufactory_lerobot.devices.umi.xvlib import XVLib
from .configuration_umi import UmiCameraConfig from .configuration_umi import UmiCameraConfig
@ -60,11 +55,6 @@ class UmiCamera(Camera):
self.last_frame = None self.last_frame = None
self.xvlib = XVLib(self.serial_number) self.xvlib = XVLib(self.serial_number)
self.xvlib.xv_color_camera_init() 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: def __str__(self) -> str:
return f"{self.__class__.__name__}({self.serial_number})" return f"{self.__class__.__name__}({self.serial_number})"
@ -83,18 +73,6 @@ class UmiCamera(Camera):
start_time = time.monotonic() start_time = time.monotonic()
while time.monotonic() - start_time < self.warmup_s: while time.monotonic() - start_time < self.warmup_s:
time.sleep(0.1) 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): def read(self, color_mode = None):
ret, img_data = self.xvlib.xv_get_color_image_rgb_data() ret, img_data = self.xvlib.xv_get_color_image_rgb_data()
@ -114,16 +92,11 @@ class UmiCamera(Camera):
return frame return frame
def async_read(self, timeout_ms: float = 200): def async_read(self, timeout_ms: float = 200):
if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0): frame = self.read()
thread_alive = self.thread is not None and self.thread.is_alive() if frame is not None:
raise TimeoutError( self.last_frame = frame
f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. " else:
f"Read thread alive: {thread_alive}."
)
with self.frame_lock:
frame = self.last_frame frame = self.last_frame
self.new_frame_event.clear()
return frame return frame
def disconnect(self) -> None: def disconnect(self) -> None:

7
src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot.py
View File

@ -24,11 +24,10 @@ class UFMockRobot(Robot):
super().__init__(config) super().__init__(config)
self.prefix = '' if not prefix else f"{prefix}." self.prefix = '' if not prefix else f"{prefix}."
self.config = config self.config = config
self._dof = config.robot_dof 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._control_space = self.config.control_space 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._jnt_obs_has_vel = config.observe_joint_vel if self._control_space == "joint" else False
self._is_connected = False self._is_connected = False
self._is_calibrated =True self._is_calibrated =True

12
src/ufactory_lerobot/robots/uf_mock_robot/uf_mock_robot_config.py
View File

@ -1,22 +1,12 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from lerobot.cameras import CameraConfig from lerobot.cameras import CameraConfig
from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.robots import RobotConfig from lerobot.robots import RobotConfig
@RobotConfig.register_subclass("uf::mock_robot") @RobotConfig.register_subclass("uf::mock_robot")
@dataclass @dataclass
class UFMockRobotConfig(RobotConfig): class UFMockRobotConfig(RobotConfig):
# cameras
cameras: dict[str, CameraConfig] = field( cameras: dict[str, CameraConfig] = field(
default_factory=lambda: { default_factory=lambda: {}
"fisheye": OpenCVCameraConfig(
index_or_path=6,
width=640,
height=480,
fps=30,
fourcc="MJPG"
)
}
) )
robot_dof: int | None = None # Set it correctly if controlling in joint space! robot_dof: int | None = None # Set it correctly if controlling in joint space!

19
src/ufactory_lerobot/robots/uf_robot/uf_robot_config.py
View File

@ -1,31 +1,14 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from typing import Tuple from typing import Tuple
from lerobot.cameras import CameraConfig from lerobot.cameras import CameraConfig
from lerobot.cameras.realsense import RealSenseCameraConfig
from lerobot.robots import RobotConfig from lerobot.robots import RobotConfig
@RobotConfig.register_subclass("uf::robot") @RobotConfig.register_subclass("uf::robot")
@dataclass @dataclass
class UFRobotConfig(RobotConfig): class UFRobotConfig(RobotConfig):
# cameras
cameras: dict[str, CameraConfig] = field( cameras: dict[str, CameraConfig] = field(
default_factory=lambda: { 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
),
}
) )
robot_ip: str = "192.168.1.127" robot_ip: str = "192.168.1.127"
robot_dof: int | None = None # Set it correctly if controlling in joint space! robot_dof: int | None = None # Set it correctly if controlling in joint space!
control_space: str = "joint" control_space: str = "joint"

19
src/ufactory_lerobot/scripts/uf_lerobot_record.py
View File

@ -276,9 +276,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
try: try:
if key == keyboard.Key.enter: if key == keyboard.Key.enter:
if not is_recorded: if not is_recorded:
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET, <RIGH ARROW>: SAVE') print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save')
else: else:
print('[HELP] <ESC>: EXIT, <LEFT ARROW>: RESET, <RIGH ARROW>: SAVE') print('⌨ [ESC] Exit [←] Reset [→] Save')
# is_recorded = True # is_recorded = True
except Exception as e: except Exception as e:
print(f"Error handling key release: {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) listener, events = init_keyboard_listener(events=events, on_press=on_press, on_release=on_release)
print("\n********** Episode Record Loop Start **********") print("\n********** Episode Record Loop Start **********")
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET, <RIGH ARROW>: SAVE') print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save')
else: else:
input('[HELP] Enter to to start record >>> ') input('⌨ Press Enter to start record >>> ')
if is_uf_teleop: if is_uf_teleop:
teleop.set_teleop_enabled(True) teleop.set_teleop_enabled(True)
is_recorded = True is_recorded = True
@ -312,7 +312,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
if events["rerecord_episode"]: if events["rerecord_episode"]:
events["rerecord_episode"] = False events["rerecord_episode"] = False
events["exit_early"] = False events["exit_early"] = False
input('\nPress Enter to regenerate random target location >>>>> ') input('\n⌨ Press Enter to regenerate random target location >>>>> ')
continue continue
if events["stop_recording"]: if events["stop_recording"]:
continue continue
@ -357,9 +357,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
dataset.clear_episode_buffer() dataset.clear_episode_buffer()
is_recorded = False is_recorded = False
if is_evt: if is_evt:
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET, <RIGH ARROW>: SAVE') print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save')
else: else:
input('\nPress Enter to rerecord this episode >>>>> ') input('\n⌨ Press Enter to rerecord this episode >>>>> ')
is_recorded = True is_recorded = True
continue continue
@ -368,12 +368,13 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
if is_uf_teleop: if is_uf_teleop:
teleop.set_teleop_enabled(False) teleop.set_teleop_enabled(False)
dataset.save_episode() dataset.save_episode()
log_say(f"[Finish] Save episode {dataset.num_episodes}", cfg.play_sounds)
recorded_episodes += 1 recorded_episodes += 1
is_recorded = False is_recorded = False
if is_evt: if is_evt:
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET, <RIGH ARROW>: SAVE') print('⌨ [ESC] Exit [Space] Start [←] Reset [→] Save')
else: else:
input('Press Enter to record at the next episode >>>>> ') input('⌨ Press Enter to record at the next episode >>>>> ')
is_recorded = True is_recorded = True
print("\n********** Episode Record Loop Exit **********") print("\n********** Episode Record Loop Exit **********")

16
src/ufactory_lerobot/scripts/uf_robot_teleop.py
View File

@ -85,11 +85,11 @@ def teleop_loop(cfg: TeleopConfig):
if key == keyboard.Key.enter: if key == keyboard.Key.enter:
if is_paused: if is_paused:
if is_reset: if is_reset:
print('[HELP] <ESC>: EXIT, <SPACE>: RESET AND START, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Reset / Start [←] Reset')
else: else:
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Start [←] Reset')
else: else:
print('[HELP] <ESC>: EXIT, <SPACE>: PAUSE, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Pause [←] Pause / Reset')
except Exception as e: except Exception as e:
print(f"Error handling key release: {e}") print(f"Error handling key release: {e}")
if key in key_dict: 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) listener, events = init_keyboard_listener(events=events, on_press=on_press, on_release=on_release)
print("\n********** Teleop Control Loop Start **********") print("\n********** Teleop Control Loop Start **********")
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Start [←] Reset')
else: else:
input('[HELP] Enter to control robot with teleop >>> ') input('⌨ Press Enter to start teleop >>> ')
if is_uf_teleop: if is_uf_teleop:
obs = robot.get_observation() obs = robot.get_observation()
teleop.set_teleop_enabled(True, obs) teleop.set_teleop_enabled(True, obs)
@ -121,7 +121,7 @@ def teleop_loop(cfg: TeleopConfig):
is_paused = True is_paused = True
if is_uf_teleop: if is_uf_teleop:
teleop.set_teleop_enabled(False) teleop.set_teleop_enabled(False)
print('[HELP] <ESC>: EXIT, <SPACE>: RESET AND START, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Reset / Start [←] Reset')
elif not key_dict[keyboard.Key.left] and key_left_pressed: elif not key_dict[keyboard.Key.left] and key_left_pressed:
key_left_pressed = False key_left_pressed = False
@ -132,7 +132,7 @@ def teleop_loop(cfg: TeleopConfig):
if is_uf_teleop: if is_uf_teleop:
teleop.set_teleop_enabled(False) teleop.set_teleop_enabled(False)
# print('========== Teleop is paused ==========') # print('========== Teleop is paused ==========')
print('[HELP] <ESC>: EXIT, <SPACE>: START, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Start [←] Reset')
else: else:
if is_reset: if is_reset:
is_reset = False is_reset = False
@ -141,7 +141,7 @@ def teleop_loop(cfg: TeleopConfig):
if is_uf_teleop: if is_uf_teleop:
obs = robot.get_observation() obs = robot.get_observation()
teleop.set_teleop_enabled(True, obs) teleop.set_teleop_enabled(True, obs)
print('[HELP] <ESC>: EXIT, <SPACE>: PAUSE, <LEFT ARROW>: RESET') print('⌨ [ESC] Exit [Space] Pause [←] Reset')
continue continue
elif not key_dict[keyboard.Key.space] and key_space_pressed: elif not key_dict[keyboard.Key.space] and key_space_pressed:
key_space_pressed = False key_space_pressed = False

2
src/ufactory_lerobot/teleoperators/space_mouse/space_mouse_config.py
View File

@ -24,7 +24,7 @@ from lerobot.teleoperators import TeleoperatorConfig
class SpaceMouseTeleopConfig(TeleoperatorConfig): class SpaceMouseTeleopConfig(TeleoperatorConfig):
# Port to connect to the arm # Port to connect to the arm
max_value: int = 300 max_value: int = 300
deadzone: tuple = (0,0,0,0,0,0) deadzone: tuple = (0, 0, 0, 0, 0, 0)
use_gripper: bool = False use_gripper: bool = False
frequency: int = 10 # hz frequency: int = 10 # hz
max_pos_speed: int = 250 # mm/s max_pos_speed: int = 250 # mm/s

4
src/ufactory_lerobot/teleoperators/umi_teleop/umi_teleop.py
View File

@ -86,6 +86,10 @@ class UmiTeleop(UFBaseTeleop):
def connect(self, calibrate: bool = False) -> None: def connect(self, calibrate: bool = False) -> None:
self.tracker = ViveTracker() if self.config.use_vive_tracker else 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) 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 self._is_connected = True
def disconnect(self): def disconnect(self):