update readme

README.md

@@ -164,6 +164,8 @@ Pass `-r` to resume directly without asking. Note that `./start_manual_record.sh
 
 During recording the arm is in teach mode: the actual joint state is written as both the observation and the action. Hold `C` to slowly close the gripper and `O` to slowly open it. Controls: `Space` start, `→` save, `←` discard & re-record, `Esc` stop. Reset the arm manually between episodes.
 
+> **IMPORTANT: At the start of every episode, wait until the arm has finished resetting and then wait another 5 seconds before operating it, or wait until the console prints `Start Recording` before operating it.** This prevents reset commands from conflicting with operation commands and causing errors.
+
 ### 4. Policy training
 
 ```bash
@@ -214,6 +216,20 @@ uv run uf-lerobot-replay --dataset-root /path/to/xarm7_manual_datas --robot-ip 1
 
 The robot first moves to the xArm SDK initial point, then replays the episode and stays at the last state. Make sure the workspace is clear and the recorded initial pose matches the current arm setup.
 
+## IMPORTANT: Robot Power-On and Power-Off
+
+### Power-on
+
+1. **Connect the computer to the robot controller with an Ethernet cable.**
+2. **Configure the computer's Ethernet interface to the same IP subnet as the robot IP shown on the controller** (for example, `192.168.1.xxx`).
+3. **Open `http://192.168.1.245:18333/` in a browser.** The controller console should be displayed.
+4. **Release the emergency-stop button before operating the robot.**
+
+### Power-off
+
+1. **Press the emergency-stop button.**
+2. **Turn off the controller power.**
+
 ## Tools
 
 ### Camera viewer

README_ZH.md

@@ -163,6 +163,8 @@ uv run uf-lerobot-record --config_path config/gello/xarm7_gello_record_config.ya
 
 录制时机械臂处于示教模式，实际关节状态会同时作为 observation 和 action 写入数据集。按住 `C` 缓慢闭合夹爪，按住 `O` 缓慢张开。按键控制：`Space` 开始，`→` 保存，`←` 放弃并重录，`Esc` 停止。episode 之间手动复位机械臂。
 
+> **重要：每个 episode 开始时，必须等待机械臂复位完成后再等待 5 秒，然后才能开始操作；或者确认控制台打印 `Start Recording` 后再开始操作。** 这样可以避免机械臂复位控制指令与操作指令冲突导致报错。
+
 ### 4. 策略训练
 
 ```bash
@@ -200,6 +202,7 @@ uv run uf-lerobot-eval \
 将手动拖拽数据集的绝对关节状态（`observation.state`）回放到 xArm7。脚本按数据集 FPS（默认 30）将状态作为**绝对目标值**发送，不做差分或累加，因此运动轨迹与录制时一致：
 
 ```bash
+# 默认回放第一条
 uv run uf-lerobot-replay \
   --dataset-root /path/to/xarm7_manual_datas \
   --robot-ip 192.168.1.245
@@ -213,6 +216,20 @@ uv run uf-lerobot-replay --dataset-root /path/to/xarm7_manual_datas --robot-ip 1
 
 回放开始前机械臂会先移动到 xArm SDK 初始点，播放结束后保持最后一帧姿态并断开连接。执行前请确认工作空间无障碍物，且数据中的初始姿态与当前设备一致。
 
+## 重要：机械臂开关机事项
+
+### 开机
+
+1. **使用网线将电脑连接到机械臂控制器。**
+2. **参考控制器上标注的机械臂 IP，将电脑以太网接口配置到同一网段**（例如 `192.168.1.xxx`）。
+3. **在浏览器中访问 `http://192.168.1.245:18333/`**，应出现控制台界面。
+4. **操作机械臂前，抬起急停按钮。**
+
+### 关机
+
+1. **先按下急停按钮。**
+2. **关闭控制器电源。**
+
 ## 工具
 
 ### 摄像头查看器