bdc8ef05ab
1. 重命名 ufactory_lerobot → lerobot_robot_ufactory 以独立插件包形式支持 lerobot 加载，pyproject.toml 同步更新 2. 配置文件迁移至 draccus 格式 所有 YAML config 从 _target_ 格式迁移至 ChoiceRegistry type 格式 dict 值类型从具体类改为抽象基类（RobotConfig/TeleoperatorConfig） 确保嵌套 dict 中的 type 选择器能被 draccus 正确解析 3. teleop 上下文注册替代属性注入 新增 context.py（contextvars 实现），支持多 teleop 按 id 存取 UFBaseTeleop.connect/disconnect 自动注册/注销活跃 teleop UFMockRobot.get_observation 从上下文获取 teleop action 移除 record() 对 cfg.robot.teleop 的注入 4. 部分导入延迟加载 pika_device: serial/list_ports 延迟导入 gello_teleop: gello 依赖延迟导入 umi_teleop/camera_umi: XVLib 延迟导入 space_mouse: spnav 延迟导入 5. Pika 设备实例复用 PIKA_DEVICE_MAP 共享已连接的 Sense/Gripper，防止多实例化抢占端口 修复 pika_gripper 属性误用 _pika_sense_port 的 bug 6. 修复 multiple_uf_mock_robot robots 从 list 改为 dict[str, UFMockRobot]，移除 keys 列表 send_action 改用 dict items 遍历 新增 MultipleUFMockRobot.cameras 聚合属性
38 lines
1.1 KiB
YAML
38 lines
1.1 KiB
YAML
robot:
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type: uf::robot
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id: "uf_robot"
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robot_dof: 6
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control_space: "cartesian"
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robot_ip: "192.168.1.83"
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gripper_type: 2
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max_linear_velocity: 250
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start_joints: [0, -14.8, -52.6, 0, 67.4, 0]
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start_tcp_pose: [400, 0, 400, 180, 0, 0]
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cameras:
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fisheye:
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type: opencv
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index_or_path: "/dev/v4l/by-id/usb-XVisio_Technology_XVisio_vSLAM_250801DR48FB26001396-video-index0"
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width: 1280
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height: 1280
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fps: 100
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fourcc: "YUYV"
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teleop:
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type: uf::umi_teleop
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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, 400, 180, 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/xarm6_umi_datas"
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repo_id: "ufactory/xarm6_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 |