Add camera preview

README.md

@@ -151,14 +151,14 @@ Controls: `Space` start the episode, `→` save it, `←` discard and re-record
 ./start_manual_record.sh -r   # force resume; fails if the dataset directory does not exist
 ```
 
-The record script (`uf-lerobot-record`) reads `dataset.root` from the config and creates the path with `mkdir -p` first, then:
+The record script (`uf-lerobot-record`) reads `dataset.root` from the config and checks the path before recording, then:
 
 - Directory does not exist → records a new dataset.
 - Directory already exists (valid LeRobot dataset) and no `-r` was given → asks interactively:
   - `o` overwrite: delete the existing dataset and record a new one
   - `r` resume: keep existing episodes and continue recording
   - `c` cancel
-- Directory exists but is not a valid LeRobot dataset (missing `meta/info.json`) → asks to overwrite it or cancel; non-interactive runs error out instead.
+- Directory exists but is incomplete (missing required metadata or data parquet files) → asks to overwrite it or cancel; non-interactive runs error out instead.
 
 Pass `-r` to resume directly without asking. Note that `./start_manual_record.sh` keeps its original launcher behavior — it automatically resumes an existing valid dataset (equivalent to `-r`), so run `uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml` directly if you want to see the overwrite/resume prompt.
 

README_ZH.md

@@ -150,14 +150,14 @@ uv run uf-lerobot-record --config_path config/gello/xarm7_gello_record_config.ya
 ./start_manual_record.sh -r   # 强制续录；数据集目录不存在时会报错
 ```
 
-录制脚本（`uf-lerobot-record`）会从配置读取 `dataset.root` 并先执行 `mkdir -p` 创建路径，然后：
+录制脚本（`uf-lerobot-record`）会从配置读取 `dataset.root` 并在录制前检查路径，然后：
 
 - 目录不存在：直接录制新数据集。
 - 目录已存在（有效 LeRobot 数据集）且未加 `-r`：交互询问：
   - `o` 覆盖：删除已有数据集，重新录制
   - `r` 续录：保留已有 episode，继续录制
   - `c` 取消
-- 目录存在但不是有效 LeRobot 数据集（缺少 `meta/info.json`）：询问覆盖或取消；非交互运行时直接报错。
+- 目录存在但不完整（缺少必要元数据或数据 parquet 文件）：询问覆盖或取消；非交互运行时直接报错。
 
 加 `-r` 可跳过询问直接续录。注意 `./start_manual_record.sh` 保持原有启动脚本行为——检测到有效数据集会自动续录（相当于 `-r`），如果想看到覆盖/续录的询问，请直接用 `uv run uf-lerobot-record --config_path config/manual_mode/xarm7_manual_record_config.yaml` 运行。
 
@@ -222,6 +222,31 @@ uv run uf-camera-view -l                # 列出所有摄像头
 uv run uf-camera-view -T realsense      # 查看 RealSense 摄像头
 ```
 
+网页预览会扫描所有 RealSense 摄像头，默认使用 `640x480`、`30fps`，页面中可勾选设备切换或同时显示多路画面：
+
+```bash
+uv run uf-realsense-view
+```
+
+脚本使用 LeRobot 的 `RealSenseCamera`。如果当前环境中的 OpenCV 是 LeRobot 默认的
+headless 版本，会自动启动网页预览。同一台机器上打开
+`http://127.0.0.1:8765/`；从其他机器访问时，请将 `127.0.0.1` 替换为运行脚本机器的实际 IP。
+网页服务默认监听 `0.0.0.0`，也可以用 `--host 127.0.0.1` 限制为本机访问；还可以通过
+`--backend opencv` 强制使用 OpenCV 窗口。
+
+也可以只打开指定设备；需要多个设备时重复 `--serial`：
+
+```bash
+uv run uf-realsense-view \
+  --serial 148522072685 --width 640 --height 480 --fps 30
+
+uv run uf-realsense-view \
+  --serial 148522072685 --serial SECOND_CAMERA_SERIAL
+```
+
+OpenCV 窗口按 `q` 或 `Esc` 退出；网页模式按 `Ctrl+C` 退出。无桌面环境时可以用
+`--no-display` 检查是否能持续取帧。
+
 ### LeRobot 数据集工具
 
 ```bash

config/manual_mode/xarm7_manual_record_config.yaml

@@ -24,10 +24,10 @@ robot:
       fps: 30
 
 dataset:
-  root: "/home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay_pick_pen"
+  root: "/home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay_pick_bottle"
-  repo_id: "ufactory/xarm7_manual_datas"
+  repo_id: "zjuscl/xarm7_manual_replay_pick_bottle"
   # Task description stored with each recorded frame.
-  single_task: "Describe the task being demonstrated."
+  single_task: "Pick up the black bottle and place it on the blue bag"
   fps: 30
   episode_time_s: 60
   # Reserved reset duration between episodes in seconds.

pyproject.toml

@@ -39,6 +39,7 @@ uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
 uf-lerobot-replay = "lerobot_robot_ufactory.scripts.uf_lerobot_replay:main"
 uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
 uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"
+uf-realsense-view = "lerobot_robot_ufactory.scripts.uf_realsense_view:main"
 uf-camera-test = "lerobot_robot_ufactory.scripts.uf_camera_test:main"
 
 [project.optional-dependencies]

src/lerobot_robot_ufactory/scripts/uf_realsense_view.py

@@ -0,0 +1,570 @@
+#!/usr/bin/env python3
+"""Web viewer for one or more Intel RealSense color streams."""
+
+from __future__ import annotations
+
+import argparse
+import http.server
+import json
+import threading
+import time
+from dataclasses import dataclass
+from typing import Any
+from urllib.parse import parse_qs, urlsplit
+
+import cv2
+import pyrealsense2 as rs
+
+from lerobot.cameras import ColorMode
+from lerobot.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
+
+
+DEFAULT_SERIAL = None
+DEFAULT_WIDTH = 640
+DEFAULT_HEIGHT = 480
+DEFAULT_FPS = 30
+DEFAULT_HOST = "0.0.0.0"
+DEFAULT_PORT = 8765
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Preview one or more Intel RealSense color streams in a browser"
+    )
+    parser.add_argument(
+        "-s",
+        "--serial",
+        action="append",
+        default=DEFAULT_SERIAL,
+        help="camera serial number; repeat to limit the device list to selected cameras",
+    )
+    parser.add_argument("-W", "--width", type=int, default=DEFAULT_WIDTH, help="color width")
+    parser.add_argument("-H", "--height", type=int, default=DEFAULT_HEIGHT, help="color height")
+    parser.add_argument(
+        "-F", "--fps", type=int, default=DEFAULT_FPS, help="capture and preview FPS (default: 30)"
+    )
+    parser.add_argument(
+        "--backend",
+        choices=("auto", "opencv", "web"),
+        default="web",
+        help="preview backend (default: web; web provides device selection)",
+    )
+    parser.add_argument(
+        "--host",
+        default=DEFAULT_HOST,
+        help="web server bind address (default: 0.0.0.0; use 127.0.0.1 for local-only access)",
+    )
+    parser.add_argument("--port", type=int, default=DEFAULT_PORT, help="web server port")
+    parser.add_argument(
+        "--no-display",
+        action="store_true",
+        help="capture frames without opening a preview",
+    )
+    return parser.parse_args(argv)
+
+
+def opencv_has_gui() -> bool:
+    return next(
+        ("NONE" not in line for line in cv2.getBuildInformation().splitlines() if "GUI:" in line),
+        False,
+    )
+
+
+@dataclass(frozen=True)
+class RealSenseDevice:
+    serial: str
+    name: str
+    product_line: str
+
+
+def discover_devices() -> list[RealSenseDevice]:
+    """Discover connected RealSense devices without opening their streams."""
+    devices: list[RealSenseDevice] = []
+    context = rs.context()
+    for device in context.query_devices():
+        devices.append(
+            RealSenseDevice(
+                serial=device.get_info(rs.camera_info.serial_number),
+                name=device.get_info(rs.camera_info.name),
+                product_line=device.get_info(rs.camera_info.product_line),
+            )
+        )
+    return devices
+
+
+class _CameraFeed:
+    """Own one camera connection and publish its latest JPEG frame."""
+
+    def __init__(self, device: RealSenseDevice, width: int, height: int, fps: int) -> None:
+        self.device = device
+        self.width = width
+        self.height = height
+        self.fps = fps
+        self.camera = RealSenseCamera(
+            RealSenseCameraConfig(
+                serial_number_or_name=device.serial,
+                width=width,
+                height=height,
+                fps=fps,
+                color_mode=ColorMode.BGR,
+            )
+        )
+        self.condition = threading.Condition()
+        self.jpeg: bytes | None = None
+        self.frame: Any | None = None
+        self.frame_id = 0
+        self.frame_count = 0
+        self.error: str | None = None
+        self.connected = False
+        self.stopped = False
+        self._stop_event = threading.Event()
+        self._thread: threading.Thread | None = None
+
+    def connect(self) -> None:
+        self.camera.connect()
+        self.connected = True
+        self._thread = threading.Thread(
+            target=self._capture_loop,
+            name=f"realsense-{self.device.serial}",
+            daemon=True,
+        )
+        self._thread.start()
+
+    def _set_error(self, error: Exception) -> None:
+        with self.condition:
+            self.error = f"{type(error).__name__}: {error}"
+            self.condition.notify_all()
+
+    def _capture_loop(self) -> None:
+        period = 1.0 / self.fps
+        next_deadline = time.monotonic()
+        while not self._stop_event.is_set():
+            try:
+                frame = self.camera.read()
+                encoded, buffer = cv2.imencode(".jpg", frame)
+                if not encoded:
+                    raise RuntimeError("JPEG encoding failed")
+                with self.condition:
+                    self.frame = frame
+                    self.jpeg = buffer.tobytes()
+                    self.frame_id += 1
+                    self.frame_count += 1
+                    self.error = None
+                    self.condition.notify_all()
+            except Exception as exc:
+                self._set_error(exc)
+                if self._stop_event.wait(0.1):
+                    break
+
+            next_deadline += period
+            delay = next_deadline - time.monotonic()
+            if delay > 0:
+                self._stop_event.wait(delay)
+            elif -delay > period * 2:
+                next_deadline = time.monotonic()
+
+    def wait_for_frame(self, last_frame_id: int) -> tuple[bytes | None, int, bool]:
+        with self.condition:
+            self.condition.wait_for(
+                lambda: self.frame_id > last_frame_id or self.stopped,
+                timeout=1.0,
+            )
+            return self.jpeg, self.frame_id, self.stopped
+
+    def latest_frame(self) -> Any | None:
+        with self.condition:
+            return None if self.frame is None else self.frame.copy()
+
+    def status(self, selected: bool) -> dict[str, Any]:
+        with self.condition:
+            return {
+                "serial": self.device.serial,
+                "name": self.device.name,
+                "product_line": self.device.product_line,
+                "width": self.width,
+                "height": self.height,
+                "fps": self.fps,
+                "connected": self.connected,
+                "selected": selected,
+                "frame_count": self.frame_count,
+                "error": self.error,
+            }
+
+    def stop(self) -> None:
+        self._stop_event.set()
+        with self.condition:
+            self.stopped = True
+            self.condition.notify_all()
+        if self._thread is not None:
+            self._thread.join(timeout=2.0)
+        if self.connected:
+            try:
+                self.camera.disconnect()
+            except Exception as exc:
+                self._set_error(exc)
+            self.connected = False
+
+
+class _PreviewState:
+    def __init__(self, feeds: list[_CameraFeed], selected: list[str], fps: int) -> None:
+        self.feeds = {feed.device.serial: feed for feed in feeds}
+        self.selected = set(selected)
+        self.fps = fps
+
+    def get_feed(self, serial: str | None) -> _CameraFeed | None:
+        return self.feeds.get(serial) if serial else None
+
+    def device_status(self) -> list[dict[str, Any]]:
+        return [
+            feed.status(feed.device.serial in self.selected)
+            for feed in self.feeds.values()
+        ]
+
+    def stop(self) -> None:
+        for feed in self.feeds.values():
+            feed.stop()
+
+
+WEB_PAGE = """<!doctype html>
+<html lang="en">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<title>RealSense Viewer</title>
+<style>
+:root { color-scheme: dark; font-family: system-ui, sans-serif; }
+* { box-sizing: border-box; }
+body { margin: 0; background: #101214; color: #e8eaed; }
+header { position: sticky; top: 0; z-index: 2; padding: 14px 18px; background: #191c20; border-bottom: 1px solid #30343a; }
+h1 { margin: 0 0 10px; font-size: 20px; font-weight: 600; }
+#status { color: #9da5af; font-size: 13px; }
+.toolbar { display: flex; flex-wrap: wrap; gap: 8px; align-items: center; margin-top: 12px; }
+button { border: 1px solid #4a515b; border-radius: 5px; padding: 7px 11px; color: #e8eaed; background: #262b31; cursor: pointer; }
+button:hover { background: #323941; }
+#devices { display: flex; flex-wrap: wrap; gap: 8px; margin-top: 12px; }
+.device { display: flex; align-items: center; gap: 7px; padding: 7px 9px; border: 1px solid #3b4149; border-radius: 5px; background: #20242a; font-size: 13px; }
+.device input { width: 16px; height: 16px; accent-color: #4da3ff; }
+.device small { color: #9da5af; }
+.device.error { border-color: #a44d4d; }
+#grid { display: grid; grid-template-columns: repeat(auto-fit, minmax(360px, 1fr)); gap: 12px; padding: 14px; }
+.tile { min-width: 0; overflow: hidden; background: #191c20; border: 1px solid #30343a; border-radius: 6px; }
+.tile h2 { margin: 0; padding: 9px 11px; font-size: 14px; font-weight: 500; }
+.tile img { display: block; width: 100%; height: auto; background: #08090a; }
+.empty { padding: 36px 18px; color: #9da5af; text-align: center; }
+</style>
+</head>
+<body>
+<header>
+  <h1>RealSense Viewer</h1>
+  <div id="status">Loading devices...</div>
+  <div class="toolbar">
+    <button id="all" type="button">Select all</button>
+    <button id="none" type="button">Clear</button>
+  </div>
+  <div id="devices"></div>
+</header>
+<main id="grid"><div class="empty">Loading...</div></main>
+<script>
+const devicesEl = document.getElementById('devices');
+const gridEl = document.getElementById('grid');
+const statusEl = document.getElementById('status');
+let devices = [];
+let selected = new Set();
+
+function deviceLabel(device) {
+  return `${device.name} (${device.serial})`;
+}
+
+function streamUrl(serial) {
+  return `/stream?serial=${encodeURIComponent(serial)}`;
+}
+
+function renderGrid() {
+  gridEl.replaceChildren();
+  const visible = devices.filter(device => selected.has(device.serial) && device.connected);
+  if (!visible.length) {
+    const empty = document.createElement('div');
+    empty.className = 'empty';
+    empty.textContent = 'Select a connected device to display.';
+    gridEl.appendChild(empty);
+    return;
+  }
+  for (const device of visible) {
+    const tile = document.createElement('section');
+    tile.className = 'tile';
+    const title = document.createElement('h2');
+    title.textContent = deviceLabel(device);
+    const image = document.createElement('img');
+    image.alt = deviceLabel(device);
+    image.src = streamUrl(device.serial);
+    tile.append(title, image);
+    gridEl.appendChild(tile);
+  }
+}
+
+function renderDevices() {
+  devicesEl.replaceChildren();
+  for (const device of devices) {
+    const label = document.createElement('label');
+    label.className = `device${device.error ? ' error' : ''}`;
+    const checkbox = document.createElement('input');
+    checkbox.type = 'checkbox';
+    checkbox.checked = selected.has(device.serial);
+    checkbox.disabled = !device.connected;
+    checkbox.addEventListener('change', () => {
+      if (checkbox.checked) selected.add(device.serial);
+      else selected.delete(device.serial);
+      renderGrid();
+    });
+    const text = document.createElement('span');
+    text.textContent = deviceLabel(device);
+    const details = document.createElement('small');
+    details.textContent = device.connected ? `${device.width}x${device.height} @ ${device.fps} Hz` : (device.error || 'offline');
+    label.append(checkbox, text, details);
+    devicesEl.appendChild(label);
+  }
+}
+
+async function refresh() {
+  try {
+    const response = await fetch('/api/devices', { cache: 'no-store' });
+    const payload = await response.json();
+    devices = payload.devices;
+    if (!selected.size) {
+      for (const device of devices.filter(device => device.selected && device.connected)) selected.add(device.serial);
+    }
+    statusEl.textContent = `${devices.filter(device => device.connected).length}/${devices.length} devices connected · ${payload.fps} Hz`;
+    renderDevices();
+    renderGrid();
+  } catch (error) {
+    statusEl.textContent = `Device service unavailable: ${error}`;
+  }
+}
+
+document.getElementById('all').addEventListener('click', () => {
+  for (const device of devices) if (device.connected) selected.add(device.serial);
+  renderDevices(); renderGrid();
+});
+document.getElementById('none').addEventListener('click', () => {
+  selected.clear(); renderDevices(); renderGrid();
+});
+refresh();
+</script>
+</body>
+</html>
+""".encode("utf-8")
+
+
+class _PreviewHandler(http.server.BaseHTTPRequestHandler):
+    state: _PreviewState
+
+    def _send_bytes(self, status: int, content_type: str, body: bytes) -> None:
+        try:
+            self.send_response(status)
+            self.send_header("Content-Type", content_type)
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+            self.wfile.flush()
+        except (BrokenPipeError, ConnectionResetError):
+            pass
+
+    def do_GET(self) -> None:
+        parsed = urlsplit(self.path)
+        path = parsed.path
+
+        if path == "/":
+            self._send_bytes(200, "text/html; charset=utf-8", WEB_PAGE)
+            return
+        if path == "/favicon.ico":
+            self._send_bytes(204, "text/plain; charset=utf-8", b"")
+            return
+        if path == "/health":
+            self._send_bytes(200, "application/json; charset=utf-8", self._json(self.state.device_status()))
+            return
+        if path == "/api/devices":
+            self._send_bytes(
+                200,
+                "application/json; charset=utf-8",
+                self._json(self.state.device_status(), include_fps=True),
+            )
+            return
+        if path == "/stream":
+            serial = parse_qs(parsed.query).get("serial", [None])[0]
+            self._stream(serial)
+            return
+        try:
+            self.send_error(404)
+        except (BrokenPipeError, ConnectionResetError):
+            pass
+
+    def _json(self, devices: list[dict[str, Any]], include_fps: bool = False) -> bytes:
+        payload: dict[str, Any] = {"ok": True, "devices": devices}
+        if include_fps:
+            payload["fps"] = self.state.fps
+        return json.dumps(payload, ensure_ascii=False).encode("utf-8")
+
+    def _stream(self, serial: str | None) -> None:
+        feed = self.state.get_feed(serial)
+        if feed is None:
+            self._send_bytes(404, "text/plain; charset=utf-8", b"Unknown camera serial\n")
+            return
+        if not feed.connected:
+            self._send_bytes(503, "text/plain; charset=utf-8", b"Camera is not connected\n")
+            return
+
+        try:
+            self.send_response(200)
+            self.send_header("Cache-Control", "no-cache, private")
+            self.send_header("Pragma", "no-cache")
+            self.send_header("Content-Type", "multipart/x-mixed-replace; boundary=frame")
+            self.end_headers()
+            last_frame_id = 0
+            while True:
+                jpeg, frame_id, stopped = feed.wait_for_frame(last_frame_id)
+                if stopped:
+                    return
+                if jpeg is None or frame_id == last_frame_id:
+                    continue
+                last_frame_id = frame_id
+                self.wfile.write(
+                    b"--frame\r\nContent-Type: image/jpeg\r\n"
+                    + f"Content-Length: {len(jpeg)}\r\n\r\n".encode()
+                    + jpeg
+                    + b"\r\n"
+                )
+                self.wfile.flush()
+        except (BrokenPipeError, ConnectionResetError):
+            pass
+
+    def log_message(self, format: str, *args: Any) -> None:
+        pass
+
+
+def start_web_server(
+    state: _PreviewState, host: str, port: int
+) -> http.server.ThreadingHTTPServer:
+    handler = type("RealSensePreviewHandler", (_PreviewHandler,), {"state": state})
+    server = http.server.ThreadingHTTPServer((host, port), handler)
+    server.daemon_threads = True
+    thread = threading.Thread(target=server.serve_forever, daemon=True)
+    thread.start()
+    if host == "0.0.0.0":
+        print(f"Open http://127.0.0.1:{port}/ on this machine to view the streams.")
+        print(f"For another machine, use http://<server-ip>:{port}/")
+    else:
+        print(f"Open http://{host}:{port}/ in a browser to view the streams.")
+    print("Press Ctrl+C to exit.")
+    return server
+
+
+def _make_mosaic(feeds: list[_CameraFeed]) -> Any | None:
+    tiles = []
+    for feed in feeds:
+        frame = feed.latest_frame()
+        if frame is None:
+            continue
+        cv2.putText(
+            frame,
+            f"{feed.device.name} {feed.device.serial}",
+            (10, 28),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.65,
+            (0, 255, 255),
+            2,
+            cv2.LINE_AA,
+        )
+        tiles.append(frame)
+    if not tiles:
+        return None
+    height = max(tile.shape[0] for tile in tiles)
+    aligned = [
+        cv2.resize(tile, (int(tile.shape[1] * height / tile.shape[0]), height))
+        if tile.shape[0] != height
+        else tile
+        for tile in tiles
+    ]
+    return cv2.hconcat(aligned)
+
+
+def main() -> None:
+    args = parse_args()
+    if args.fps <= 0:
+        raise SystemExit("FPS must be positive")
+
+    if args.no_display:
+        backend = "none"
+    elif args.backend == "auto":
+        backend = "opencv" if opencv_has_gui() else "web"
+    else:
+        backend = args.backend
+
+    devices = discover_devices()
+    requested = list(dict.fromkeys(args.serial or []))
+    if requested:
+        requested_set = set(requested)
+        devices = [device for device in devices if device.serial in requested_set]
+        missing = sorted(requested_set - {device.serial for device in devices})
+        if missing:
+            print(f"Requested cameras not found: {', '.join(missing)}")
+    if not devices:
+        raise SystemExit("No RealSense cameras found.")
+
+    feeds: list[_CameraFeed] = []
+    for device in devices:
+        feed = _CameraFeed(device, args.width, args.height, args.fps)
+        try:
+            print(f"Opening RealSense {device.name} {device.serial}: {args.width}x{args.height} @ {args.fps} FPS")
+            feed.connect()
+            print(f"Connected {device.serial}")
+        except Exception as exc:
+            feed.error = f"{type(exc).__name__}: {exc}"
+            print(f"Failed to connect {device.serial}: {feed.error}")
+        feeds.append(feed)
+
+    initially_selected = requested or ([feeds[0].device.serial] if feeds else [])
+    state = _PreviewState(feeds, initially_selected, args.fps)
+    web_server = None
+
+    if backend == "web":
+        web_server = start_web_server(state, args.host, args.port)
+    elif backend == "opencv":
+        print("Press q or Esc to exit.")
+
+    try:
+        if backend == "web":
+            while True:
+                time.sleep(1.0)
+        elif backend == "none":
+            while True:
+                time.sleep(1.0)
+                statuses = [
+                    f"{feed.device.serial}:{'OK' if feed.connected and feed.error is None else 'ERROR'}"
+                    for feed in feeds
+                ]
+                print(" | ".join(statuses), flush=True)
+        else:
+            while True:
+                mosaic = _make_mosaic(feeds)
+                if mosaic is not None:
+                    cv2.imshow("RealSense Color", mosaic)
+                key = cv2.waitKey(1) & 0xFF
+                if key in (ord("q"), 27):
+                    break
+    except KeyboardInterrupt:
+        pass
+    finally:
+        state.stop()
+        if web_server is not None:
+            web_server.shutdown()
+            web_server.server_close()
+        if backend == "opencv":
+            try:
+                cv2.destroyAllWindows()
+            except cv2.error:
+                pass
+        print("RealSense preview stopped.")
+
+
+if __name__ == "__main__":
+    main()

tests/test_manual_mode.py

@@ -1,5 +1,6 @@
 import sys
 from pathlib import Path
+from types import SimpleNamespace
 
 import numpy as np
 import pytest
@@ -11,6 +12,7 @@ from lerobot_robot_ufactory.scripts.uf_lerobot_record import (
     _manual_action_from_observation,
     _update_manual_gripper_key_state,
     _update_manual_gripper_target,
+    _prepare_dataset_root,
     _prepare_recording_episode,
     get_cfg,
 )
@@ -294,6 +296,25 @@ def test_manual_record_config_has_no_teleop(monkeypatch):
     assert config.dataset.fps == 30
 
 
+def test_prepare_dataset_root_leaves_new_root_for_lerobot_create(tmp_path):
+    root = tmp_path / "nested" / "dataset"
+    cfg = SimpleNamespace(dataset=SimpleNamespace(root=root), resume=False)
+
+    _prepare_dataset_root(cfg)
+
+    assert not root.exists()
+
+
+def test_prepare_dataset_root_rejects_incomplete_resume(tmp_path):
+    root = tmp_path / "dataset"
+    (root / "meta").mkdir(parents=True)
+    (root / "meta" / "info.json").write_text("{}")
+    cfg = SimpleNamespace(dataset=SimpleNamespace(root=root), resume=True)
+
+    with pytest.raises(RuntimeError, match="meta/tasks.parquet"):
+        _prepare_dataset_root(cfg)
+
+
 def test_manual_record_loop_writes_actual_state_as_action(tmp_path):
     class FakeRobot:
         name = "fake_manual_robot"