223 lines
6.5 KiB
Markdown
223 lines
6.5 KiB
Markdown
# UFACTORY LeRobot
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> [中文版本](README_ZH.md)
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UFACTORY robot arm integration with the LeRobot framework for robot learning, data collection, and policy deployment.
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Reference project: [ufactory_teleop](https://github.com/xArm-Developer/ufactory_teleop)
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## Features
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- xArm robot control (xArm series)
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- Multiple teleop modes: GELLO / Pika / UMI / SpaceMouse
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- Multi-camera data collection (RealSense / UMI camera)
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- Dataset recording & management (LeRobot-compatible)
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- Imitation learning training (ACT / Diffusion Policy / etc.)
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- Policy evaluation & real-time inference
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- Mock mode (no physical robot needed)
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## Requirements
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- Ubuntu 22.04 / 24.04
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- Python >= 3.10
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- CUDA >= 12.0 (recommended for GPU training)
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- UFACTORY xArm (optional)
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## Installation
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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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# Create conda environment
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conda create -n uf_lerobot python=3.10 -y
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conda activate uf_lerobot
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# Install project
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pip install -e .
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```
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Includes: `lerobot==0.4.3`, `xarm-python-sdk`, `numpy`, `pyyaml`. LeRobot already pulls in torch, opencv, wandb, etc.
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### Peripheral Modules
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Peripheral dependencies are available as optional extras via `[module]` install.
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#### GELLO Teleop
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Dynamixel-based leader arm, joint-space control.
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```bash
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# 1. Install GELLO module
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pip install -e ".[gello]"
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# 2. Add serial port permissions (re-login required)
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sudo usermod -aG dialout $USER
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```
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#### Pika Teleop
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Pika Sense handheld + Vive Tracker, task-space control.
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```bash
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# 1. Install peripheral deps (skip transitive deps)
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pip install pysurvive agx-pypika --no-deps
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# 2. Install udev rules (re-plug devices afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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> Calibrate Vive Tracker before first use: `uf-vive-calibrate`
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#### UMI Teleop
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Universal Manipulation Interface + Vive Tracker, supports dual-arm.
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```bash
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# 1. Install XVSDK (system-level, Ubuntu Focal only)
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curl -sL https://raw.githubusercontent.com/xArm-Developer/ufactory_resources/main/fastumi/sdk/XVSDK_focal_amd64.deb -o /tmp/xvsdk.deb && sudo dpkg -i /tmp/xvsdk.deb
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sudo apt install -y --fix-broken
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# 2. Install peripheral deps
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pip install pysurvive --no-deps
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# 3. Install udev rules (re-plug devices afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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> Calibrate Vive Tracker before first use: `uf-vive-calibrate`
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**Multi-UMI device configuration** (two or more devices):
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```bash
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# Increase USB buffer size
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sudo sed -i '/GRUB_CMDLINE_LINUX_DEFAULT/s/quiet splash/quiet splash usbcore.usbfs_memory_mb=128/' /etc/default/grub
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sync
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sudo update-grub
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sudo reboot
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```
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#### SpaceMouse Teleop
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3Dconnexion SpaceMouse / SpaceNavigator.
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```bash
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# 1. Install SpaceMouse module
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pip install -e ".[spacemouse]"
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# 2. Install udev rules (re-plug device afterwards)
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sudo cp src/rules/*.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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## Usage
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### 1. Teleop Testing
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Test teleop-to-robot control loop without recording.
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```bash
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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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```
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### 2. Data Collection
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Record datasets via teleop.
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```bash
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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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```
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### 3. Policy Training
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Train imitation learning policies on collected data.
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```bash
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lerobot-train --policy act --dataset your_dataset_name
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```
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### 4. Policy Evaluation
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Evaluate trained policies.
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```bash
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uf-lerobot-eval -c path/to/eval_config.yaml
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```
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### 5. Camera Viewer
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View and stitch multiple camera feeds.
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```bash
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uf-camera-view -l # list all cameras
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uf-camera-view -l -T xvisio # list XVisio cameras only
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uf-camera-view -T xvisio # view XVisio cameras (default 1280x1280 YU12)
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uf-camera-view -T xvisio -W 640 -H 1920 -F NV12 # specify format
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uf-camera-view -T other # view other camera types
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```
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### Mock Mode (no physical robot)
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```yaml
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type: "uf::mock_robot" # single arm simulation
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type: "uf::multiple_mock_robot" # dual arm simulation
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```
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## Teleop Comparison
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| Feature | GELLO | Pika | UMI | SpaceMouse |
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|---------|-------|------|-----|------------|
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| Control space | Joint space | Task space | Task space | Task space |
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| Tracking | Dynamixel servos | Vive Tracker | UMI SLAM / Vive | 3D mouse |
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| Dual-arm | ❌ | ❌ | ✅ | ❌ |
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| System dep | dialout group | — | XVSDK deb | — |
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## Project Structure
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```
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ufactory_lerobot/
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├── src/
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│ ├── ufactory_lerobot/
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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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│ │ │ └── utils.py # make_robot_from_config patch
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│ │ ├── teleoperators/ # Teleop drivers
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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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│ │ ├── cameras/ # Camera modules
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│ │ │ └── umi_camera/ # UMI camera
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│ │ ├── devices/ # External device drivers
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│ │ │ ├── pika/ # Pika serial driver
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│ │ │ └── umi/ # XVLib / Vive Tracker
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│ │ ├── scripts/ # Entry-point scripts
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│ │ │ ├── uf_robot_teleop.py # Teleop testing
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│ │ │ ├── uf_lerobot_record.py # Data recording
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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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│ │ └── utils/ # Utilities
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│ ├── rules/ # udev device rules
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│ └── xvsdk/ # XVSDK system dependency
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├── config/ # YAML config files
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│ ├── gello/
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│ ├── pika/
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│ ├── umi/
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│ └── spacemouse/
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├── pyproject.toml
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└── LICENSE
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```
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## License
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This project is released under the Apache License 2.0. See [LICENSE](LICENSE).
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