e2632889b3
删除 uf_lerobot_eval.py 中的调试 print/exit 代码， 清理 dual_xarm6_umi_record_config.yaml 中废弃的 teleop_id 和注释配置。 TeleopConfig 新增 __post_init__ 将 cameras 初始化为空字典，避免下游空值报错。
70 lines
2.0 KiB
YAML
70 lines
2.0 KiB
YAML
robot:
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type: uf::multiple_mock_robot
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id: "multiple_uf_mock_robots"
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robots:
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left:
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type: uf::mock_robot
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id: "left_uf_mock_robot"
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control_space: "cartesian"
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gripper_type: 1
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state_offset_action: 3
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teleop_id: "umi_250801DR48FP26001318"
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cameras:
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fisheye:
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type: uf::umi_camera
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serial_number: "250801DR48FP26001318"
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width: 1280
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height: 1280
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fps: 30
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right:
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type: uf::mock_robot
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id: "right_uf_mock_robot"
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control_space: "cartesian"
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gripper_type: 1
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state_offset_action: 3
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teleop_id: "umi_250801DR48FP26001295"
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cameras:
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fisheye:
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type: uf::umi_camera
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serial_number: "250801DR48FP26001295"
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width: 1280
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height: 1280
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fps: 30
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# make sure to edit with your correct configurations!
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teleop:
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type: uf::multiple_umi_teleop
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id: "multiple_teleops"
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teleops:
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left:
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type: uf::umi_teleop
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id: "umi_250801DR48FP26001318"
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serial_number: "250801DR48FP26001318"
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use_vive_tracker: False
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vive_tracker_id: "LHR-555DC7BF"
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use_gripper: True
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tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
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robot_base_pose: [400, 0, 150, -90, 0, 0]
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right:
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type: uf::umi_teleop
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id: "umi_250801DR48FP26001295"
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serial_number: "250801DR48FP26001295"
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use_vive_tracker: False
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vive_tracker_id: "LHR-2425BAD3"
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use_gripper: True
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tracker_to_robot_eef: [0, 0, 0, 0, 0, -90]
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robot_base_pose: [400, 0, 150, 90, 0, 0]
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dataset:
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# root of local repo: /home/<user_name>/.cache/huggingface/lerobot (default)
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root: "/home/uf/Data/lerobot_datas/record/ufactory/dual_umi_datas"
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repo_id: "ufactory/dual_umi_datas"
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single_task: "Pick up the purple grape and drop into the box on the left."
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fps: 60
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episode_time_s: 60 # max duration for one episode
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reset_time_s: 20 # time for resetting env between episodes
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num_episodes: 100
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push_to_hub: False
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