add model inference evaluation

2026-08-18 02:35:39 +00:00
17 changed files with 91 additions and 340 deletions
--- a/README.md
+++ b/README.md
@ -67,14 +67,11 @@ Predefined configs are provided under `config/`:

 - `robot.robot_ip` — xArm controller IP (e.g. `192.168.1.245`)
 - `robot.robot_dof` — `7`
- `robot.gripper_type` — `2` for the xArm Gripper G2
- `robot.gripper_speed` — G2 opening/closing speed in mm/s (`15`–`225`; configured as `100`)
- `robot.gripper_force` — G2 gripping force (`1`–`100`; configured as `50`)
+- `robot.gripper_type` — `1` for the xArm gripper
 - `teleop.port` — GELLO serial port (`/dev/serial/by-id/...`)
 - `teleop.joint_ids` / `teleop.joint_signs` — per-arm servo mapping and direction
 - `teleop.start_joints` — GELLO calibration reference, should match the xArm SDK initial point (degrees)
 - `teleop.gripper_id` — GELLO gripper servo ID (`8`; `-1` disables it)
- `teleop.gripper_open_deg` / `teleop.gripper_close_deg` — GELLO servo calibration angles; these are independent of the G2's 0–84 mm opening range
 - `teleop.realtime_control_fps` — independent GELLO-to-xArm command loop rate; it is separate from `dataset.fps`
 - `dataset.root` / `dataset.repo_id` — where the dataset is stored
 - `dataset.single_task` — task description saved with each frame
--- a/README_ZH.md
+++ b/README_ZH.md
@ -67,14 +67,11 @@ ls /dev/serial/by-id/

 - `robot.robot_ip` — xArm 控制器 IP（如 `192.168.1.245`）
 - `robot.robot_dof` — `7`
- `robot.gripper_type` — `2` 表示 xArm Gripper G2
- `robot.gripper_speed` — G2 开合速度，单位 mm/s（范围 `15`–`225`，当前配置为 `100`）
- `robot.gripper_force` — G2 夹持力（范围 `1`–`100`，当前配置为 `50`）
+- `robot.gripper_type` — `1` 表示 xArm 夹爪
 - `teleop.port` — GELLO 串口路径（`/dev/serial/by-id/...`）
 - `teleop.joint_ids` / `teleop.joint_signs` — 各型号机械臂的舵机映射与方向
 - `teleop.start_joints` — GELLO 校准参考值（角度），应与 xArm SDK 初始点一致
 - `teleop.gripper_id` — GELLO 夹爪舵机 ID（`8`；`-1` 表示无夹爪）
- `teleop.gripper_open_deg` / `teleop.gripper_close_deg` — GELLO 舵机的开闭标定角，与 G2 的 0–84 mm 行程相互独立
 - `teleop.realtime_control_fps` — GELLO 到 xArm 的独立实时控制频率，与 `dataset.fps` 分开
 - `dataset.root` / `dataset.repo_id` — 数据集保存位置
 - `dataset.single_task` — 随每一帧保存的任务描述
--- a/config/gello/xarm5_gello_record_config.yaml
+++ b/config/gello/xarm5_gello_record_config.yaml
@ -0,0 +1,28 @@
+robot:
+  type: uf::robot
+  id: "uf_robot"
+  robot_dof: 5
+  control_space: "joint"
+  robot_ip: "192.168.1.245"
+  gripper_type: 1
+  enable_logs: false
+
+# make sure to edit with your correct configurations!
+teleop:
+  type: uf::gello_teleop
+  realtime_control_fps: 60
+  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
+  joint_ids: [1, 2, 4, 6, 7]
+  joint_signs: [1, 1, -1, 1, 1]
+  start_joints: [0, 0, -90, 90, 0]
+  gripper_id: 8
+
+dataset:
+  # Dataset path relative to the directory where the command is started.
+  root: "datasets/xarm5_gello_datas"
+  repo_id: "ufactory/xarm5_gello_datas"
+  single_task: "Pick up the purple grape and drop into the box on the left."
+  fps: 30
+  episode_time_s: 60  # max duration for one episode
+  reset_time_s: 20    # time for resetting env between episodes
+  push_to_hub: False
--- a/config/gello/xarm6_gello_record_config.yaml
+++ b/config/gello/xarm6_gello_record_config.yaml
@ -0,0 +1,28 @@
+robot:
+  type: uf::robot
+  id: "uf_robot"
+  robot_dof: 6
+  control_space: "joint"
+  robot_ip: "192.168.1.245"
+  gripper_type: 1
+  enable_logs: false
+
+# make sure to edit with your correct configurations!
+teleop:
+  type: uf::gello_teleop
+  realtime_control_fps: 60
+  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAJZYC7-if00-port0"
+  joint_ids: [1, 2, 4, 5, 6, 7]
+  joint_signs: [1, 1, -1, 1, 1, 1]
+  start_joints: [0, 0, -90, 0, 90, 0]
+  gripper_id: 8
+
+dataset:
+  # Dataset path relative to the directory where the command is started.
+  root: "datasets/xarm6_gello_datas"
+  repo_id: "ufactory/xarm6_gello_datas"
+  single_task: "Pick up the purple grape and drop into the box on the left."
+  fps: 30
+  episode_time_s: 60  # max duration for one episode
+  reset_time_s: 20    # time for resetting env between episodes
+  push_to_hub: False
--- a/config/gello/xarm7_gello_cartesian_record_config.yaml
+++ b/config/gello/xarm7_gello_cartesian_record_config.yaml
@ -4,12 +4,7 @@ robot:
  robot_dof: 7
  control_space: "cartesian"
  robot_ip: "192.168.1.245"
-  # 2: xArm Gripper G2 (0-84 mm opening range).
-  gripper_type: 2
-  # xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
-  gripper_speed: 100
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
+  gripper_type: 1
  max_linear_velocity: 200
  min_tcp_z_mm: -2.0
  gripper_error_log_path: "logs/xarm7_gripper_errors.log"
--- a/config/gello/xarm7_gello_pick_potato_chips.yaml
+++ b/config/gello/xarm7_gello_pick_potato_chips.yaml
@ -1,76 +0,0 @@
-robot:
-  type: uf::robot
-  id: "uf_robot"
-  robot_dof: 7
-  control_space: "joint"
-  robot_ip: "192.168.1.245"
-  # 2: xArm Gripper G2 (0-84 mm opening range).
-  gripper_type: 2
-  enable_logs: false
-  # Up to 60 Hz goal updates; unchanged targets are filtered below.
-  gripper_command_interval_s: 0.0166667
-  # xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
-  gripper_speed: 50
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 1
-  # Use the high-frequency servo interface for lower-latency GELLO tracking.
-  joint_command_mode: 1
-  max_joint_velocity: 120
-  # TCP z floor in the xArm base coordinate system (mm).
-  min_tcp_z_mm: -2.0
-  # CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
-  tcp_z_guard_backend: "local_projection"
-  tcp_z_soft_margin_mm: 0.5
-  local_kinematics_max_error_mm: 2.0
-  controller_safety_boundary: true
-  # Append gripper initialization/read/write failures here.
-  gripper_error_log_path: "logs/xarm7_gripper_errors.log"
-  cameras:
-    camera:
-      type: intelrealsense
-      serial_number_or_name: "242622070583"
-      width: 640
-      height: 480
-      fps: 30
-    camera2:
-      type: intelrealsense
-      serial_number_or_name: "148522072685"
-      width: 640
-      height: 480
-      fps: 30
-  # Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
-  # start_joints: [0, -30, 0, 0, 0, 30, 0]
-# make sure to edit with your correct configurations!
-teleop:
-  type: uf::gello_teleop
-  id: "gello_teleop"
-  # Independent GELLO -> xArm command loop; dataset.fps remains the recording rate.
-  realtime_control_fps: 60
-  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
-  joint_ids: [1, 2, 3, 4, 5, 6, 7]
-  joint_signs: [1, 1, 1, 1, 1, 1, 1]
-  gripper_id: 8
-  gripper_open_deg: 198.28125
-  gripper_close_deg: 155.75
-
-# Lossy browser preview of the frames already captured for the dataset.
-# JPEG encoding and network I/O run in the background; preview frames are
-# dropped instead of delaying the 30 Hz recorder or 60 Hz GELLO control loop.
-web_preview:
-  enabled: false
-  host: "0.0.0.0"
-  port: 8765
-  fps: 8
-  width: 480
-  jpeg_quality: 65
-
-dataset:
-  # Dataset path relative to the directory where the command is started.
-  root: "datasets/xarm7_gello_pick_potato_chips"
-  repo_id: "ufactory/xarm7_gello_pick_potato_chips"
-  single_task: "Pick up the potato chips and drop."
-  # Cameras deliver 30 Hz; arm ServoJ remains independently fixed at 60 Hz.
-  fps: 30
-  episode_time_s: 60  # max duration for one episode
-  reset_time_s: 20    # time for resetting env between episodes
-  push_to_hub: False
--- a/config/gello/xarm7_gello_record_config.yaml
+++ b/config/gello/xarm7_gello_record_config.yaml
@ -4,15 +4,13 @@ robot:
  robot_dof: 7
  control_space: "joint"
  robot_ip: "192.168.1.245"
-  # 2: xArm Gripper G2 (0-84 mm opening range).
-  gripper_type: 2
+  gripper_type: 1
  enable_logs: false
-  # Up to 60 Hz goal updates; unchanged targets are filtered below.
+  # Up to 60 Hz goal updates; the first command after idle is immediate.
+  # Keeping the gripper below its 5000 maximum speed avoids C19 in testing.
  gripper_command_interval_s: 0.0166667
-  # xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
-  gripper_speed: 100
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
+  # Avoid the previous maximum-speed (5000) default on the tool RS485 device.
+  gripper_speed: 1500
  # Use the high-frequency servo interface for lower-latency GELLO tracking.
  joint_command_mode: 1
  max_joint_velocity: 120
@ -66,8 +64,8 @@ web_preview:

 dataset:
  # Dataset path relative to the directory where the command is started.
-  root: "datasets/xarm7_gello_joint_safe_datas1"
-  repo_id: "ufactory/xarm7_gello_joint_safe_datas1"
+  root: "datasets/xarm7_gello_joint_safe_datas"
+  repo_id: "ufactory/xarm7_gello_joint_safe_datas"
  single_task: "Pick up the purple grape and drop into the box on the left."
  # Cameras deliver 30 Hz; arm ServoJ remains independently fixed at 60 Hz.
  fps: 30
--- a/config/gello/xarm7_gello_test.yaml
+++ b/config/gello/xarm7_gello_test.yaml
@ -1,76 +0,0 @@
-robot:
-  type: uf::robot
-  id: "uf_robot"
-  robot_dof: 7
-  control_space: "joint"
-  robot_ip: "192.168.1.245"
-  # 2: xArm Gripper G2 (0-84 mm opening range).
-  gripper_type: 2
-  enable_logs: false
-  # Up to 60 Hz goal updates; unchanged targets are filtered below.
-  gripper_command_interval_s: 0.0166667
-  # xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
-  gripper_speed: 50
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 1
-  # Use the high-frequency servo interface for lower-latency GELLO tracking.
-  joint_command_mode: 1
-  max_joint_velocity: 120
-  # TCP z floor in the xArm base coordinate system (mm).
-  min_tcp_z_mm: -2.0
-  # CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
-  tcp_z_guard_backend: "local_projection"
-  tcp_z_soft_margin_mm: 0.5
-  local_kinematics_max_error_mm: 2.0
-  controller_safety_boundary: true
-  # Append gripper initialization/read/write failures here.
-  gripper_error_log_path: "logs/xarm7_gripper_errors.log"
-  cameras:
-    camera:
-      type: intelrealsense
-      serial_number_or_name: "242622070583"
-      width: 640
-      height: 480
-      fps: 30
-    camera2:
-      type: intelrealsense
-      serial_number_or_name: "148522072685"
-      width: 640
-      height: 480
-      fps: 30
-  # Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
-  # start_joints: [0, -30, 0, 0, 0, 30, 0]
-# make sure to edit with your correct configurations!
-teleop:
-  type: uf::gello_teleop
-  id: "gello_teleop"
-  # Independent GELLO -> xArm command loop; dataset.fps remains the recording rate.
-  realtime_control_fps: 60
-  port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB9HYVD-if00-port0"
-  joint_ids: [1, 2, 3, 4, 5, 6, 7]
-  joint_signs: [1, 1, 1, 1, 1, 1, 1]
-  gripper_id: 8
-  gripper_open_deg: 198.28125
-  gripper_close_deg: 155.75
-
-# Lossy browser preview of the frames already captured for the dataset.
-# JPEG encoding and network I/O run in the background; preview frames are
-# dropped instead of delaying the 30 Hz recorder or 60 Hz GELLO control loop.
-web_preview:
-  enabled: false
-  host: "0.0.0.0"
-  port: 8765
-  fps: 8
-  width: 480
-  jpeg_quality: 65
-
-dataset:
-  # Dataset path relative to the directory where the command is started.
-  root: "datasets/xarm7_gello_test"
-  repo_id: "ufactory/xarm7_gello_test"
-  single_task: "Test episode for GELLO control."
-  # Cameras deliver 30 Hz; arm ServoJ remains independently fixed at 60 Hz.
-  fps: 30
-  episode_time_s: 360  # max duration for one episode
-  reset_time_s: 20    # time for resetting env between episodes
-  push_to_hub: False
--- a/config/manual_mode/xarm7_manual_record_config.yaml
+++ b/config/manual_mode/xarm7_manual_record_config.yaml
@ -6,9 +6,7 @@ robot:
  # IP address of the xArm controller.
  robot_ip: "192.168.1.245"
  # Gripper type: 1 is the xArm gripper.
-  gripper_type: 2
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
+  gripper_type: 1
  enable_logs: false
  manual_mode: true
  # Normalized gripper position change per second while holding C/O.
--- a/config/pika/xarm7_pika_record_config.yaml
+++ b/config/pika/xarm7_pika_record_config.yaml
@ -5,8 +5,6 @@ robot:
  control_space: "cartesian"
  robot_ip: "192.168.1.85"
  gripper_type: 10
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
  enable_logs: false
  max_linear_velocity: 200
  cameras:
--- a/config/spacemouse/xarm7_spacemouse_record_config.yaml
+++ b/config/spacemouse/xarm7_spacemouse_record_config.yaml
@ -5,8 +5,6 @@ robot:
  control_space: "cartesian"
  robot_ip: "192.168.1.127"
  gripper_type: 0
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
  enable_logs: false

  cameras:
--- a/config/umi/dual_xarm6_umi_record_config.yaml
+++ b/config/umi/dual_xarm6_umi_record_config.yaml
@ -12,8 +12,6 @@ robot:
      control_space: "cartesian"
      robot_ip: "192.168.1.29"
      gripper_type: 2
-      # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-      gripper_force: 50
      enable_logs: false
      max_linear_velocity: 200
      cameras:
@ -31,8 +29,6 @@ robot:
      control_space: "cartesian"
      robot_ip: "192.168.1.83"
      gripper_type: 2
-      # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-      gripper_force: 50
      enable_logs: false
      max_linear_velocity: 200
      cameras:
--- a/config/umi/xarm6_umi_record_config.yaml
+++ b/config/umi/xarm6_umi_record_config.yaml
@ -5,8 +5,6 @@ robot:
  control_space: "cartesian"
  robot_ip: "192.168.1.83"
  gripper_type: 2
-  # xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
-  gripper_force: 50
  enable_logs: false
  max_linear_velocity: 250
  cameras:
--- a/docs/gello_xarm7_smooth_safe_recording_zh.md
+++ b/docs/gello_xarm7_smooth_safe_recording_zh.md
@ -12,7 +12,7 @@
 - 控制器 Safety Boundary 仍然开启，作为本地保护之外的最后一道硬保护。
 - 相机和数据集按真实的 30 Hz 记录，机械臂控制仍保持独立的 60 Hz。
 - 每条 action 带发送时刻；每次 RT joint state 采样也带时刻。写入数据集时，为 state 选择当时已经发送的最近 action，绝不拿“未来的 action”配较早的 state。
- xArm Gripper G2 使用 SDK 专用接口和物理单位；目标最多按 60 Hz 检查，但只有变化超过阈值才真正发送。初始速度采用 SDK 默认的 100 mm/s。
+- xArm Gripper 保持 60 Hz 的目标检查能力，但只有变化超过阈值才真正发送；夹爪速度从最大值 5000 降到 1500，解决 Error 19。

 当前使用的配置是：

@ -28,9 +28,7 @@ robot:

  gripper_command_interval_s: 0.0166667
  gripper_command_threshold: 0.01
-  gripper_type: 2
-  gripper_speed: 100
-  gripper_force: 50
+  gripper_speed: 1500

 teleop:
  realtime_control_fps: 60
@ -120,7 +118,7 @@ logs/gello_record_sync_<时间>.csv

 30 Hz 数据集每帧记录的是该采样时刻有效的 60 Hz 控制命令，这是正常的降采样，不是不同步。

-## 四、xArm Gripper G2 配置与 Error 19 排查
+## 四、夹爪 Error 19 是怎么消除的

 现象是只要连续控制夹爪，就出现：

@ -129,16 +127,18 @@ set_rs485_data -> code=1
 controller_error=19
 ```

-旧配置将实际安装的 G2 错写成了 `gripper_type: 1`，因此走的是老款 xArm Gripper 的 0–800 pulse、50–5000 r/min 参数和 `set_gripper_position` 路径。旧实验中“5000 降到 1500”的结论不适用于 G2，不能继续作为 G2 的速度依据。
+排查过程里先试过降低夹爪命令频率：2 Hz、5 Hz、6.7 Hz 都不报错，但低频带来明显跟手延迟。继续对照实验后发现，真正与故障一致的变量不是频率，而是夹爪速度：

-现在使用 `gripper_type: 2`。G2 的位置范围是 0–84 mm，速度范围是 15–225 mm/s，夹持力范围是 1–100。运行期直接调用 SDK 的非阻塞 `set_gripper_g2_position`，由 SDK 完成几何换算和 Modbus 帧构造；持续 ServoJ 时关闭 `wait_motion`，避免等待机械臂停止。
+- 报错时使用默认最大速度 5000。
+- 速度降到 1500 后，从 2 Hz 一直提高到 20 Hz 都稳定。
+- 最后恢复到最高 60 Hz，仍然稳定。
+
+运行期发送也改成 SDK 专用的非阻塞 `set_gripper_position`，不再手工拼通用 RS485 数据包；持续 ServoJ 时关闭 `wait_motion`，否则 SDK 会等待机械臂停止。

 最终参数为：

 ```yaml
-gripper_type: 2
-gripper_speed: 100
-gripper_force: 50
+gripper_speed: 1500
 gripper_command_interval_s: 0.0166667
 gripper_command_threshold: 0.01
 ```
@ -151,9 +151,9 @@ gripper_command_threshold: 0.01
 logs/xarm7_gripper_errors.log
 ```

-成功记录包含归一化目标、G2 开口位置、调用耗时和返回码。由于旧日志来自错误的夹爪类型配置，切换到 G2 后必须重新进行连续开合实机验收，确认没有新增 Error 19。
+成功记录包含目标值、脉冲位置、调用耗时和返回码。最终实验中单次调用通常只需要约 1.3–2.2 ms，60 Hz、速度 1500 时没有再次出现 C19。

-如果仍出现 C19，应先降低 G2 的 mm/s 速度并降低发送频率做对照；低速低频仍报错时，再检查腕部线缆、接头、末端供电和末端 IO 板固件。
+如果以后更换夹爪、线缆或固件后 C19 再次出现，应先把速度降下来验证。如果低速也报错，就应该检查腕部线缆、接头、末端供电和末端 IO 板固件，而不是无限降低控制频率。

 ## 五、运行和验收

--- a/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py
+++ b/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py
@ -154,9 +154,6 @@ class UFRobot(Robot, Thread):
        elif self._gripper_type == GripperType.xArmGripperG2:
            speed = 225 if self.config.gripper_speed < 0 else min(max(15, self.config.gripper_speed), 225)
            gripper_speed = int(((speed * 60) / 9.88235 + 140) / 0.4)
-            # Keep the SDK-facing speed in mm/s. GripperParam.speed retains
-            # the original low-level register conversion used by this repo.
-            self._gripper_g2_speed = speed
            gripper_force = 50 if self.config.gripper_force < 0 else min(max(1, self.config.gripper_force), 100)
            self._gripper_param = GripperParam('xArmGripperG2', open_pos=84, close_pos=0, speed=gripper_speed, force=gripper_force)
        elif self._gripper_type == GripperType.BioGripperG2:
@ -735,19 +732,10 @@ class UFRobot(Robot, Thread):
                        ),
                    )
            elif self._gripper_type == GripperType.xArmGripperG2:
-                self._check_gripper_code("set_gripper_enable", self.real_arm.set_gripper_enable(True))
-                self._check_gripper_code("set_gripper_mode", self.real_arm.set_gripper_mode(0))
+                self.real_arm.set_gripper_enable(True)
+                self.real_arm.set_gripper_mode(0)
                if move_to_open:
-                    self._check_gripper_code(
-                        "set_gripper_g2_position",
-                        self.real_arm.set_gripper_g2_position(
-                            self._gripper_param.open_pos,
-                            speed=self._gripper_g2_speed,
-                            force=self._gripper_param.force,
-                            wait=True,
-                            check_baud=False,
-                        ),
-                    )
+                    self.real_arm.set_gripper_g2_position(self._gripper_param.open_pos)
            elif self._gripper_type == GripperType.BioGripperG2:
                _, mode = self.real_arm.get_bio_gripper_control_mode()
                if mode != 1:
@ -821,9 +809,6 @@ class UFRobot(Robot, Thread):
                grippos_norm = self._gripper_param.get_gripper_norm(grippos)
            elif self._gripper_type == GripperType.xArmGripperG2:
                code, grippos = self.real_arm.get_gripper_g2_position()
-                if code != 0 or not isinstance(grippos, (int, float, np.number)):
-                    self._log_gripper_error("get_gripper_g2_position", code, f"position={grippos}")
-                    grippos = None
                grippos_norm = self._gripper_param.get_gripper_norm(grippos)
            elif self._gripper_type == GripperType.BioGripperG2:
                code, grippos = self.real_arm.get_bio_gripper_g2_position()
@ -957,15 +942,12 @@ class UFRobot(Robot, Thread):
            )
        elif self._gripper_type == GripperType.xArmGripperG2:
            grippos = self._gripper_param.get_grippos(gripper_norm)
-            result = self.real_arm.set_gripper_g2_position(
-                grippos,
-                speed=self._gripper_g2_speed,
-                force=self._gripper_param.force,
-                wait=False,
-                wait_motion=False,
-                check_baud=False,
-                check_err=False,
-            )
+            grippos = int((math.degrees(math.asin((grippos - 16) / 110)) + 8.33) * 18.28)
+            modbus_datas = [0x08, 0x10, 0x0C, 0x00, 0x00, 0x05, 0x0A, 0x00, 0x01]
+            modbus_datas.extend(list(struct.pack('>h', self._gripper_param.speed)))
+            modbus_datas.extend(list(struct.pack('>h', self._gripper_param.force)))
+            modbus_datas.extend(list(struct.pack('>i', grippos)))
+            result = self.real_arm.getset_tgpio_modbus_data(modbus_datas)
        elif self._gripper_type == GripperType.BioGripperG2:
            grippos = self._gripper_param.get_grippos(gripper_norm)
            grippos = int(grippos * 3.7342 - 265.13)
@ -990,7 +972,7 @@ class UFRobot(Robot, Thread):
            else None
        )
        if code not in (None, 0):
-            detail = f"target={gripper_norm:.6f}, position={grippos}"
+            detail = f"target={gripper_norm:.6f}, pulse={grippos}"
            if command_dt_ms is not None:
                detail += f", dt_ms={command_dt_ms:.3f}"
            self._log_gripper_error(
@ -1003,7 +985,7 @@ class UFRobot(Robot, Thread):
            self._log_gripper_command(gripper_norm, grippos, command_dt_ms)
        self._last_gripper_command = gripper_norm

-    def _log_gripper_command(self, target: float, position: int, dt_ms: float) -> None:
+    def _log_gripper_command(self, target: float, pulse: int, dt_ms: float) -> None:
        log_path = self.config.gripper_error_log_path
        if not log_path:
            return
@ -1014,7 +996,7 @@ class UFRobot(Robot, Thread):
            with path.open("a", encoding="utf-8") as stream:
                stream.write(
                    f"{timestamp} gripper command: target={target:.6f}, "
-                    f"position={position}, dt_ms={dt_ms:.3f}, code=0\n"
+                    f"pulse={pulse}, dt_ms={dt_ms:.3f}, code=0\n"
                )
        except OSError:
            logging.exception("Failed to write gripper command log to %s", log_path)
--- a/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot_config.py
+++ b/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot_config.py
@ -59,11 +59,6 @@ class UFRobotConfig(RobotConfig):
            raise ValueError("gripper_command_threshold must be between 0 and 1")
        if not math.isfinite(self.gripper_command_interval_s) or self.gripper_command_interval_s < 0:
            raise ValueError("gripper_command_interval_s must be finite and non-negative")
-        if self.gripper_type == 2:
-            if self.gripper_speed != -1 and not 15 <= self.gripper_speed <= 225:
-                raise ValueError("xArm Gripper G2 gripper_speed must be -1 or between 15 and 225 mm/s")
-            if self.gripper_force != -1 and not 1 <= self.gripper_force <= 100:
-                raise ValueError("xArm Gripper G2 gripper_force must be -1 or between 1 and 100")
        if self.control_space == "joint" and self.joint_command_mode not in (1, 6):
            raise ValueError("joint_command_mode must be 1 or 6 for joint control")
        if self.min_tcp_z_mm is not None and not math.isfinite(self.min_tcp_z_mm):
--- a/tests/test_manual_mode.py
+++ b/tests/test_manual_mode.py
@ -4,7 +4,6 @@ from types import SimpleNamespace

 import numpy as np
 import pytest
-import yaml
 from lerobot.datasets.lerobot_dataset import LeRobotDataset

 from lerobot_robot_ufactory.robots.uf_robot.uf_robot_config import UFRobotConfig
@ -29,7 +28,6 @@ class FakeXArm:
        self.initial_point = [0.0, -30.0, 0.0, 0.0, 0.0, 30.0]
        self._arm = type("FakeArmTransport", (), {"_baud_checkset": False})()
        self.gripper_position = 800
-        self.gripper_g2_position = 84
        self.calls = []

    def motion_enable(self, **kwargs):
@ -87,15 +85,6 @@ class FakeXArm:
        self.calls.append(("get_gripper_position",))
        return 0, self.gripper_position

-    def set_gripper_g2_position(self, position, **kwargs):
-        self.calls.append(("set_gripper_g2_position", position, kwargs))
-        self.gripper_g2_position = position
-        return 0
-
-    def get_gripper_g2_position(self):
-        self.calls.append(("get_gripper_g2_position",))
-        return 0, self.gripper_g2_position
-
    def getset_tgpio_modbus_data(self, data):
        self.calls.append(("getset_tgpio_modbus_data", data))
        return 0, []
@ -274,100 +263,6 @@ def test_gripper_rs485_commands_are_rate_limited(monkeypatch, tmp_path):
    robot.disconnect()


-def test_xarm_gripper_g2_uses_sdk_units_and_dedicated_api(monkeypatch, tmp_path, caplog):
-    from lerobot_robot_ufactory.robots.uf_robot import uf_robot as uf_robot_module
-
-    arm = FakeXArm("192.168.1.245")
-    monkeypatch.setattr(uf_robot_module, "XArmAPI", lambda robot_ip: arm)
-    monkeypatch.setattr(uf_robot_module.time, "sleep", lambda _: None)
-    config = UFRobotConfig(
-        id="test_gripper_g2",
-        calibration_dir=tmp_path,
-        robot_ip=arm.robot_ip,
-        robot_dof=6,
-        control_space="joint",
-        gripper_type=2,
-        gripper_speed=100,
-        gripper_force=50,
-        gripper_command_interval_s=0.0,
-        gripper_error_log_path=None,
-    )
-    robot = uf_robot_module.UFRobot(config)
-    assert robot._gripper_g2_speed == 100
-    assert robot._gripper_param.speed == int(((100 * 60) / 9.88235 + 140) / 0.4)
-    robot.connect()
-
-    g2_writes = [call for call in arm.calls if call[0] == "set_gripper_g2_position"]
-    assert g2_writes == [
-        (
-            "set_gripper_g2_position",
-            84,
-            {
-                "speed": 100,
-                "force": 50,
-                "wait": True,
-                "check_baud": False,
-            },
-        )
-    ]
-
-    robot._send_gripper_action(0.5)
-    assert [call for call in arm.calls if call[0] == "set_gripper_g2_position"][-1] == (
-        "set_gripper_g2_position",
-        42,
-        {
-            "speed": 100,
-            "force": 50,
-            "wait": False,
-            "wait_motion": False,
-            "check_baud": False,
-            "check_err": False,
-        },
-    )
-    assert not any(call[0] == "getset_tgpio_modbus_data" for call in arm.calls)
-
-    observation = robot.get_observation()
-    assert observation["gripper.pos"] == pytest.approx(0.5)
-
-    arm.get_gripper_g2_position = lambda: (1, None)
-    observation = robot.get_observation()
-    assert observation["gripper.pos"] == pytest.approx(0.5)
-    assert "get_gripper_g2_position" in caplog.text
-    robot.disconnect()
-
-
-def test_xarm_gripper_g2_rejects_legacy_speed_and_invalid_force(tmp_path):
-    with pytest.raises(ValueError, match="15 and 225 mm/s"):
-        UFRobotConfig(
-            id="test_gripper_g2_speed",
-            calibration_dir=tmp_path,
-            robot_dof=6,
-            gripper_type=2,
-            gripper_speed=1500,
-        )
-
-    with pytest.raises(ValueError, match="between 1 and 100"):
-        UFRobotConfig(
-            id="test_gripper_g2_force",
-            calibration_dir=tmp_path,
-            robot_dof=6,
-            gripper_type=2,
-            gripper_force=0,
-        )
-
-
-def test_gello_configs_select_xarm_gripper_g2():
-    config_dir = Path("config/gello")
-    config_paths = sorted(config_dir.glob("*.yaml"))
-    assert config_paths
-
-    for config_path in config_paths:
-        config = yaml.safe_load(config_path.read_text(encoding="utf-8"))
-        assert config["robot"]["gripper_type"] == 2, config_path
-        assert 15 <= config["robot"]["gripper_speed"] <= 225, config_path
-        assert 1 <= config["robot"]["gripper_force"] <= 100, config_path
-
-
 def test_manual_mode_config_rejects_cartesian_control(tmp_path):
    with pytest.raises(ValueError, match="control_space='joint'"):
        UFRobotConfig(