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docs: 更新 README — 包名重命名、CLI 参数修正、项目结构同步

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Vinman 2026-06-30 15:24:42 +08:00
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commit fece62dba1
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29
README.md
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@ -52,8 +52,8 @@ UFACTORY robot arm integration with the LeRobot framework for robot learning, da
### Base Install ### Base Install
```bash ```bash
git clone https://github.com/xArm-Developer/ufactory_lerobot.git git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
cd ufactory_lerobot cd lerobot_robot_ufactory
# Create conda environment # Create conda environment
conda create -n uf_lerobot python=3.10 -y conda create -n uf_lerobot python=3.10 -y
@ -151,11 +151,11 @@ Test teleop-to-robot control loop without recording.
```bash ```bash
# Generic usage # Generic usage
uf-robot-teleop -c path/to/config.yaml uf-robot-teleop --config_path path/to/config.yaml
uf-robot-teleop -c path/to/config.yaml -f 60 # specify frequency uf-robot-teleop --config_path path/to/config.yaml --fps 60 # specify frequency
# Example: xArm6 + UMI teleop # Example: xArm6 + UMI teleop
uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
``` ```
### 2. Data Collection ### 2. Data Collection
@ -164,11 +164,11 @@ Record datasets via teleop.
```bash ```bash
# Generic usage # Generic usage
uf-lerobot-record -c path/to/record_config.yaml uf-lerobot-record --config_path path/to/record_config.yaml
uf-lerobot-record -c path/to/config.yaml --resume # resume recording uf-lerobot-record --config_path path/to/config.yaml --resume true # resume recording
# Example: xArm6 + UMI data collection # Example: xArm6 + UMI data collection
uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
``` ```
### 3. Policy Training ### 3. Policy Training
@ -208,10 +208,10 @@ Run inference with a trained policy.
```bash ```bash
# Generic usage # Generic usage
uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
# Example: run inference with trained ACT policy # Example: run inference with trained ACT policy
uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/ uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
``` ```
## Tools ## Tools
@ -274,17 +274,18 @@ lerobot-edit-dataset \
## Project Structure ## Project Structure
``` ```
ufactory_lerobot/ lerobot_robot_ufactory/
├── src/ ├── src/
│ ├── ufactory_lerobot/ │ ├── lerobot_robot_ufactory/ # LeRobot plugin package
│ │ ├── robots/ # Robot control │ │ ├── robots/ # Robot control
│ │ │ ├── uf_robot/ # xArm physical robot │ │ │ ├── uf_robot/ # xArm physical robot
│ │ │ ├── uf_mock_robot/ # Mock robot simulator │ │ │ ├── uf_mock_robot/ # Mock robot simulator
│ │ ├── teleoperators/ # Teleop drivers │ │ ├── teleoperators/ # Teleop drivers
│ │ │ ├── base_teleop/ # Shared base class
│ │ │ ├── gello_teleop/ # GELLO (Dynamixel leader) │ │ │ ├── gello_teleop/ # GELLO (Dynamixel leader)
│ │ │ ├── pika_teleop/ # Pika Sense (handheld + Vive) │ │ │ ├── pika_teleop/ # Pika Sense (handheld + Vive)
│ │ │ ├── umi_teleop/ # UMI (dual-arm support) │ │ │ ├── umi_teleop/ # UMI (dual-arm support)
│ │ │ ├── space_mouse/ # SpaceMouse (3D mouse) │ │ │ └── space_mouse/ # SpaceMouse (3D mouse)
│ │ ├── cameras/ # Camera modules │ │ ├── cameras/ # Camera modules
│ │ │ └── umi_camera/ # UMI camera │ │ │ └── umi_camera/ # UMI camera
│ │ ├── devices/ # External device drivers │ │ ├── devices/ # External device drivers
@ -296,6 +297,7 @@ ufactory_lerobot/
│ │ │ ├── uf_lerobot_eval.py # Policy evaluation │ │ │ ├── uf_lerobot_eval.py # Policy evaluation
│ │ │ ├── uf_camera_view.py # Camera viewer tool │ │ │ ├── uf_camera_view.py # Camera viewer tool
│ │ │ └── vive_calibrate.py # Vive Tracker calibration │ │ │ └── vive_calibrate.py # Vive Tracker calibration
│ │ ├── context.py # Teleop context registry
│ │ └── utils/ # Utilities │ │ └── utils/ # Utilities
├── config/ # YAML config files ├── config/ # YAML config files
│ ├── gello/ │ ├── gello/
@ -303,7 +305,6 @@ ufactory_lerobot/
│ ├── umi/ │ ├── umi/
│ └── spacemouse/ │ └── spacemouse/
├── rules/ # udev device rules ├── rules/ # udev device rules
├── xvsdk/ # XVSDK system dependency
├── pyproject.toml ├── pyproject.toml
└── README.md └── README.md
``` ```

33
README_ZH.md
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@ -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
### 基础项目安装 ### 基础项目安装
```bash ```bash
git clone https://github.com/xArm-Developer/ufactory_lerobot.git git clone https://github.com/xArm-Developer/lerobot_robot_ufactory.git
cd ufactory_lerobot cd lerobot_robot_ufactory
# 创建 conda 环境 # 创建 conda 环境
conda create -n uf_lerobot python=3.10 -y conda create -n uf_lerobot python=3.10 -y
@ -150,11 +150,11 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
```bash ```bash
# 通用格式 # 通用格式
uf-robot-teleop -c path/to/config.yaml uf-robot-teleop --config_path path/to/config.yaml
uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率 uf-robot-teleop --config_path path/to/config.yaml --fps 60 # 指定频率
# 示例：xArm6 + UMI 遥操作 # 示例: xArm6 + UMI 遥操作
uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml uf-robot-teleop --config_path config/umi/xarm6_umi_record_config.yaml
``` ```
### 2. 数据采集 ### 2. 数据采集
@ -163,11 +163,11 @@ uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
```bash ```bash
# 通用格式 # 通用格式
uf-lerobot-record -c path/to/record_config.yaml uf-lerobot-record --config_path path/to/record_config.yaml
uf-lerobot-record -c path/to/config.yaml --resume # 续录 uf-lerobot-record --config_path path/to/config.yaml --resume true # 续录
# 示例：xArm6 + UMI 数据采集 # 示例: xArm6 + UMI 数据采集
uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml uf-lerobot-record --config_path config/umi/xarm6_umi_record_config.yaml
``` ```
### 3. Lerobot训练 ### 3. Lerobot训练
@ -204,10 +204,10 @@ lerobot-train \
```bash ```bash
# 通用格式 # 通用格式
uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path uf-lerobot-eval --config_path path/to/config.yaml --policy.path your_train_path
# 示例：使用训练好的 ACT 策略进行推理 # 示例：使用训练好的 ACT 策略进行推理
uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/ uf-lerobot-eval --config_path config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
``` ```
## 工具集 ## 工具集
@ -270,17 +270,18 @@ lerobot-edit-dataset \
## 项目结构 ## 项目结构
``` ```
ufactory_lerobot/ lerobot_robot_ufactory/
├── src/ ├── src/
│ ├── ufactory_lerobot/ │ ├── lerobot_robot_ufactory/ # LeRobot 插件包
│ │ ├── robots/ # 机器人控制 │ │ ├── robots/ # 机器人控制
│ │ │ ├── uf_robot/ # xArm 实体机器人 │ │ │ ├── uf_robot/ # xArm 实体机器人
│ │ │ ├── uf_mock_robot/ # 仿真 Mock 机器人 │ │ │ ├── uf_mock_robot/ # 仿真 Mock 机器人
│ │ ├── teleoperators/ # 遥操作器 │ │ ├── teleoperators/ # 遥操作器
│ │ │ ├── base_teleop/ # 共享基类
│ │ │ ├── gello_teleop/ # GELLO (Dynamixel 示教臂) │ │ │ ├── gello_teleop/ # GELLO (Dynamixel 示教臂)
│ │ │ ├── pika_teleop/ # Pika Sense (手持示教器 + Vive) │ │ │ ├── pika_teleop/ # Pika Sense (手持示教器 + Vive)
│ │ │ ├── umi_teleop/ # UMI (含双机械臂) │ │ │ ├── umi_teleop/ # UMI (含双机械臂)
│ │ │ ├── space_mouse/ # SpaceMouse (3D 鼠标) │ │ │ └── space_mouse/ # SpaceMouse (3D 鼠标)
│ │ ├── cameras/ # 摄像头模块 │ │ ├── cameras/ # 摄像头模块
│ │ │ └── umi_camera/ # UMI 相机 │ │ │ └── umi_camera/ # UMI 相机
│ │ ├── devices/ # 外部设备驱动 │ │ ├── devices/ # 外部设备驱动
@ -292,6 +293,7 @@ ufactory_lerobot/
│ │ │ ├── uf_lerobot_eval.py # 策略评估 │ │ │ ├── uf_lerobot_eval.py # 策略评估
│ │ │ ├── uf_camera_view.py # 摄像头查看工具 │ │ │ ├── uf_camera_view.py # 摄像头查看工具
│ │ │ └── vive_calibrate.py # Vive Tracker 校准 │ │ │ └── vive_calibrate.py # Vive Tracker 校准
│ │ ├── context.py # Teleop 上下文注册
│ │ └── utils/ # 工具函数 │ │ └── utils/ # 工具函数
├── config/ # YAML 配置文件 ├── config/ # YAML 配置文件
│ ├── gello/ │ ├── gello/
@ -299,7 +301,6 @@ ufactory_lerobot/
│ ├── umi/ │ ├── umi/
│ └── spacemouse/ │ └── spacemouse/
├── rules/ # udev 设备规则 ├── rules/ # udev 设备规则
├── xvsdk/ # XVSDK 系统依赖
├── pyproject.toml ├── pyproject.toml
└── README.md └── README.md
``` ```

66
src/lerobot_robot_ufactory/scripts/uf_download_resources.py
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@ -1,66 +0,0 @@
#!/usr/bin/env python
"""Download XVSDK binaries and UMI shared libraries after install."""
import os
import sys
import urllib.request
import subprocess
import site
RESOURCES = "https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/main/fastumi"
FILES = [
# (url_path, subdir)
("libxvlib.so", ""),
("opencv/libopencv_core.so.4.2", ""),
("opencv/libopencv_imgproc.so.4.2", ""),
]
DEB_FILE = "sdk/XVSDK_focal_amd64.deb"
def get_pkg_dir():
"""Find the installed ufactory_lerobot package directory."""
for sp in site.getsitepackages():
path = os.path.join(sp, "ufactory_lerobot", "devices", "umi", "xvlib")
if os.path.isdir(path):
return path
# fallback: try user site
usp = site.getusersitepackages()
if usp:
return os.path.join(usp, "ufactory_lerobot", "devices", "umi", "xvlib")
sys.exit("Error: cannot find installed ufactory_lerobot package.")
def download(url, dest):
print(f" -> {dest}")
os.makedirs(os.path.dirname(dest), exist_ok=True)
urllib.request.urlretrieve(url, dest)
def main():
pkg_dir = get_pkg_dir()
print(f"Installing to: {pkg_dir}\n")
for name, subdir in FILES:
url = f"{RESOURCES}/{name}"
dest = os.path.join(pkg_dir, os.path.basename(name))
print(f"Downloading {name} ...")
download(url, dest)
# .deb: download to /tmp and install
deb_url = f"{RESOURCES}/{DEB_FILE}"
deb_path = "/tmp/XVSDK_focal_amd64.deb"
print(f"\nDownloading {DEB_FILE} ...")
download(deb_url, deb_path)
print("\nInstalling XVSDK ...")
ret = subprocess.run(["sudo", "dpkg", "-i", deb_path]).returncode
if ret != 0:
subprocess.run(["sudo", "apt", "install", "-y", "--fix-broken"])
os.unlink(deb_path)
print("\nDone.")
if __name__ == "__main__":
main()