From e2632889b30b392d28a2131e525571db00e76a25 Mon Sep 17 00:00:00 2001
From: Vinman <vinman.cub@gmail.com>
Date: Thu, 2 Jul 2026 14:08:08 +0800
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删除 uf_lerobot_eval.py 中的调试 print/exit 代码，
清理 dual_xarm6_umi_record_config.yaml 中废弃的 teleop_id 和注释配置。
TeleopConfig 新增 __post_init__ 将 cameras 初始化为空字典，避免下游空值报错。
---
 config/umi/dual_umi_record_config.yaml           |  2 +-
 config/umi/dual_xarm6_umi_record_config.yaml     | 16 ----------------
 .../scripts/uf_lerobot_eval.py                   |  6 ------
 .../scripts/uf_robot_teleop.py                   |  4 +++-
 4 files changed, 4 insertions(+), 24 deletions(-)

diff --git a/config/umi/dual_umi_record_config.yaml b/config/umi/dual_umi_record_config.yaml
index 354b10f..a43a9f4 100644
--- a/config/umi/dual_umi_record_config.yaml
+++ b/config/umi/dual_umi_record_config.yaml
@@ -57,7 +57,7 @@ teleop:
 
 dataset:
   # root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
-  root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_xarm6_umi_datas"
+  root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_umi_datas"
   repo_id: "ufactory/dual_umi_datas"
   single_task: "Pick up the purple grape and drop into the box on the left."
   fps: 60
diff --git a/config/umi/dual_xarm6_umi_record_config.yaml b/config/umi/dual_xarm6_umi_record_config.yaml
index aefd464..5ed1343 100644
--- a/config/umi/dual_xarm6_umi_record_config.yaml
+++ b/config/umi/dual_xarm6_umi_record_config.yaml
@@ -15,15 +15,8 @@ robot:
       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]
-      teleop_id: "umi_250801DR48FP26001318"
-      # no_action: True
       cameras:
         fisheye:
-          # type: uf::umi_camera
-          # serial_number: "250801DR48FB26001379"
-          # width: 1280
-          # height: 1280
-          # fps: 30
           type: opencv
           index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001379-video-index0"
           width: 1280
@@ -40,15 +33,8 @@ robot:
       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]
-      teleop_id: "umi_250801DR48FP26001295"
-      # no_action: True
       cameras:
         fisheye:
-          # type: uf::umi_camera
-          # serial_number: "250801DR48FB26001396"
-          # width: 1280
-          # height: 1280
-          # fps: 30
           type: opencv
           index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
           width: 1280
@@ -63,7 +49,6 @@ teleop:
   teleops:
     left:
       type: uf::umi_teleop
-      id: "umi_250801DR48FP26001318"
       serial_number: "250801DR48FP26001318"
       use_vive_tracker: False
       vive_tracker_id: "LHR-555DC7BF"
@@ -72,7 +57,6 @@ teleop:
       robot_base_pose: [400, 0, 150, -90, 0, 0]
     right:
       type: uf::umi_teleop
-      id: "umi_250801DR48FP26001295"
       serial_number: "250801DR48FP26001295"
       use_vive_tracker: False
       vive_tracker_id: "LHR-2425BAD3"
diff --git a/src/lerobot_robot_ufactory/scripts/uf_lerobot_eval.py b/src/lerobot_robot_ufactory/scripts/uf_lerobot_eval.py
index 17234ed..07d1f0f 100644
--- a/src/lerobot_robot_ufactory/scripts/uf_lerobot_eval.py
+++ b/src/lerobot_robot_ufactory/scripts/uf_lerobot_eval.py
@@ -124,12 +124,6 @@ def eval_loop(cfg: EvalConfig, relative=False, rx_continuous=False):
     init_logging()
     logging.info(pformat(asdict(cfg)))
 
-    # print(cfg.robot)
-    print(type(cfg.robot))
-    if hasattr(cfg.robot, 'robots'):
-        print(cfg.robot.robots.keys())
-    exit(1)
-
     robot = make_robot_from_config(cfg.robot)
 
     teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
diff --git a/src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py b/src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py
index f11f36d..091bf98 100644
--- a/src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py
+++ b/src/lerobot_robot_ufactory/scripts/uf_robot_teleop.py
@@ -32,9 +32,11 @@ from lerobot_robot_ufactory.teleoperators.base_teleop import UFBaseTeleop
 class TeleopConfig:
     robot: RobotConfig
     teleop: TeleoperatorConfig
-    dataset: dict = None # no use
     fps: int = 30
 
+    def __post_init__(self):
+        self.robot.cameras = {}
+
 
 def teleop_loop(cfg: TeleopConfig):
     init_logging()