docs: 更新 README — 包名重命名、CLI 参数修正、项目结构同步
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README.md
29
README.md
@ -52,8 +52,8 @@ UFACTORY robot arm integration with the LeRobot framework for robot learning, da
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### Base Install
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```bash
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git clone https://github.com/xArm-Developer/ufactory_lerobot.git
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cd ufactory_lerobot
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git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
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cd lerobot_robot_ufactory
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# Create conda environment
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conda create -n uf_lerobot python=3.10 -y
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@ -151,11 +151,11 @@ Test teleop-to-robot control loop without recording.
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```bash
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# Generic usage
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uf-robot-teleop -c path/to/config.yaml
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uf-robot-teleop -c path/to/config.yaml -f 60 # specify frequency
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uf-robot-teleop --config_path path/to/config.yaml
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uf-robot-teleop --config_path path/to/config.yaml --fps 60 # specify frequency
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# Example: xArm6 + UMI teleop
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uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
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uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 2. Data Collection
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@ -164,11 +164,11 @@ Record datasets via teleop.
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```bash
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# Generic usage
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uf-lerobot-record -c path/to/record_config.yaml
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uf-lerobot-record -c path/to/config.yaml --resume # resume recording
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uf-lerobot-record --config_path path/to/record_config.yaml
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uf-lerobot-record --config_path path/to/config.yaml --resume true # resume recording
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# Example: xArm6 + UMI data collection
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uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml
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uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 3. Policy Training
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@ -208,10 +208,10 @@ Run inference with a trained policy.
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```bash
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# Generic usage
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uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path
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uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
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# Example: run inference with trained ACT policy
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uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
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uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
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```
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## Tools
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@ -274,17 +274,18 @@ lerobot-edit-dataset \
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## Project Structure
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```
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ufactory_lerobot/
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lerobot_robot_ufactory/
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├── src/
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│ ├── ufactory_lerobot/
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│ ├── lerobot_robot_ufactory/ # LeRobot plugin package
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│ │ ├── robots/ # Robot control
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│ │ │ ├── uf_robot/ # xArm physical robot
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│ │ │ ├── uf_mock_robot/ # Mock robot simulator
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│ │ ├── teleoperators/ # Teleop drivers
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│ │ │ ├── base_teleop/ # Shared base class
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│ │ │ ├── gello_teleop/ # GELLO (Dynamixel leader)
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│ │ │ ├── pika_teleop/ # Pika Sense (handheld + Vive)
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│ │ │ ├── umi_teleop/ # UMI (dual-arm support)
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│ │ │ ├── space_mouse/ # SpaceMouse (3D mouse)
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│ │ │ └── space_mouse/ # SpaceMouse (3D mouse)
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│ │ ├── cameras/ # Camera modules
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│ │ │ └── umi_camera/ # UMI camera
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│ │ ├── devices/ # External device drivers
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@ -296,6 +297,7 @@ ufactory_lerobot/
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│ │ │ ├── uf_lerobot_eval.py # Policy evaluation
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│ │ │ ├── uf_camera_view.py # Camera viewer tool
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│ │ │ └── vive_calibrate.py # Vive Tracker calibration
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│ │ ├── context.py # Teleop context registry
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│ │ └── utils/ # Utilities
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├── config/ # YAML config files
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│ ├── gello/
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@ -303,7 +305,6 @@ ufactory_lerobot/
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│ ├── umi/
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│ └── spacemouse/
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├── rules/ # udev device rules
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├── xvsdk/ # XVSDK system dependency
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├── pyproject.toml
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└── README.md
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```
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33
README_ZH.md
33
README_ZH.md
@ -52,8 +52,8 @@ UFACTORY(深圳市众为创造科技有限公司) 机械臂与 LeRobot 框架集
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### 基础项目安装
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```bash
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git clone https://github.com/xArm-Developer/ufactory_lerobot.git
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cd ufactory_lerobot
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git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
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cd lerobot_robot_ufactory
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# 创建 conda 环境
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conda create -n uf_lerobot python=3.10 -y
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@ -150,11 +150,11 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
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```bash
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# 通用格式
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uf-robot-teleop -c path/to/config.yaml
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uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率
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uf-robot-teleop --config_path path/to/config.yaml
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uf-robot-teleop --config_path path/to/config.yaml --fps 60 # 指定频率
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# 示例：xArm6 + UMI 遥操作
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uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
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# 示例: xArm6 + UMI 遥操作
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uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 2. 数据采集
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@ -163,11 +163,11 @@ uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
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```bash
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# 通用格式
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uf-lerobot-record -c path/to/record_config.yaml
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uf-lerobot-record -c path/to/config.yaml --resume # 续录
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uf-lerobot-record --config_path path/to/record_config.yaml
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uf-lerobot-record --config_path path/to/config.yaml --resume true # 续录
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# 示例：xArm6 + UMI 数据采集
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uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml
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# 示例: xArm6 + UMI 数据采集
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uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
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```
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### 3. Lerobot训练
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@ -204,10 +204,10 @@ lerobot-train \
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```bash
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# 通用格式
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uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path
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uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
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# 示例：使用训练好的 ACT 策略进行推理
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uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
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uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
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```
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## 工具集
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@ -270,17 +270,18 @@ lerobot-edit-dataset \
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## 项目结构
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```
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ufactory_lerobot/
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lerobot_robot_ufactory/
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├── src/
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│ ├── ufactory_lerobot/
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│ ├── lerobot_robot_ufactory/ # LeRobot 插件包
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│ │ ├── robots/ # 机器人控制
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│ │ │ ├── uf_robot/ # xArm 实体机器人
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│ │ │ ├── uf_mock_robot/ # 仿真 Mock 机器人
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│ │ ├── teleoperators/ # 遥操作器
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│ │ │ ├── base_teleop/ # 共享基类
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│ │ │ ├── gello_teleop/ # GELLO (Dynamixel 示教臂)
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│ │ │ ├── pika_teleop/ # Pika Sense (手持示教器 + Vive)
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│ │ │ ├── umi_teleop/ # UMI (含双机械臂)
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│ │ │ ├── space_mouse/ # SpaceMouse (3D 鼠标)
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│ │ │ └── space_mouse/ # SpaceMouse (3D 鼠标)
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│ │ ├── cameras/ # 摄像头模块
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│ │ │ └── umi_camera/ # UMI 相机
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│ │ ├── devices/ # 外部设备驱动
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@ -292,6 +293,7 @@ ufactory_lerobot/
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│ │ │ ├── uf_lerobot_eval.py # 策略评估
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│ │ │ ├── uf_camera_view.py # 摄像头查看工具
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│ │ │ └── vive_calibrate.py # Vive Tracker 校准
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│ │ ├── context.py # Teleop 上下文注册
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│ │ └── utils/ # 工具函数
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├── config/ # YAML 配置文件
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│ ├── gello/
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@ -299,7 +301,6 @@ ufactory_lerobot/
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│ ├── umi/
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│ └── spacemouse/
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├── rules/ # udev 设备规则
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├── xvsdk/ # XVSDK 系统依赖
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├── pyproject.toml
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└── README.md
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```
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@ -1,66 +0,0 @@
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#!/usr/bin/env python
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"""Download XVSDK binaries and UMI shared libraries after install."""
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import os
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import sys
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import urllib.request
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import subprocess
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import site
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RESOURCES = "https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/main/fastumi"
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FILES = [
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# (url_path, subdir)
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("libxvlib.so", ""),
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("opencv/libopencv_core.so.4.2", ""),
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("opencv/libopencv_imgproc.so.4.2", ""),
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]
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DEB_FILE = "sdk/XVSDK_focal_amd64.deb"
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def get_pkg_dir():
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"""Find the installed ufactory_lerobot package directory."""
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for sp in site.getsitepackages():
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path = os.path.join(sp, "ufactory_lerobot", "devices", "umi", "xvlib")
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if os.path.isdir(path):
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return path
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# fallback: try user site
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usp = site.getusersitepackages()
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if usp:
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return os.path.join(usp, "ufactory_lerobot", "devices", "umi", "xvlib")
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sys.exit("Error: cannot find installed ufactory_lerobot package.")
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def download(url, dest):
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print(f" -> {dest}")
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os.makedirs(os.path.dirname(dest), exist_ok=True)
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urllib.request.urlretrieve(url, dest)
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def main():
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pkg_dir = get_pkg_dir()
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print(f"Installing to: {pkg_dir}\n")
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for name, subdir in FILES:
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url = f"{RESOURCES}/{name}"
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dest = os.path.join(pkg_dir, os.path.basename(name))
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print(f"Downloading {name} ...")
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download(url, dest)
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# .deb: download to /tmp and install
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deb_url = f"{RESOURCES}/{DEB_FILE}"
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deb_path = "/tmp/XVSDK_focal_amd64.deb"
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print(f"\nDownloading {DEB_FILE} ...")
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download(deb_url, deb_path)
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print("\nInstalling XVSDK ...")
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ret = subprocess.run(["sudo", "dpkg", "-i", deb_path]).returncode
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if ret != 0:
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subprocess.run(["sudo", "apt", "install", "-y", "--fix-broken"])
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os.unlink(deb_path)
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print("\nDone.")
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if __name__ == "__main__":
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main()
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