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youhuaxiangji

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yutang
2025-12-10 09:36:49 +08:00
parent 4e29a3926d
commit 450383cabb
4 changed files with 18 additions and 2 deletions
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1
pyproject.toml
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@@ -8,4 +8,5 @@ dependencies = [
"lerobot>=0.4.2",
"Robotic_Arm==1.0.4.1",
"pygame==2.6.1",
"pyrealsense2>=2.56.5.9235",
]

4
record.py
View File

@@ -126,6 +126,8 @@ from lerobot.utils.utils import (
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
from robot_client.robots.realman import RealmanRobot,RealmanRobotConfig
from robot_client.teleoperators.xbox import Xbox,XboxConfig
from robot_client.teleoperators.flight_stick import FlightStick,FlightStickConfig
@dataclass
@@ -412,7 +414,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
else:
# Create empty dataset or load existing saved episodes
sanity_check_dataset_name(cfg.dataset.repo_id, cfg.policy)
dataset = LeRobotDataset.create(g
dataset = LeRobotDataset.create(
cfg.dataset.repo_id,
cfg.dataset.fps,
root=cfg.dataset.root,

2
robot_client/teleoperators/flight_stick/flight_stick.py
View File

@@ -10,7 +10,7 @@ class FlightStick(Xbox):
def get_action(self):
pygame.event.pump()
pose_speeds = [0.0] * 6
pose_speeds = {}
"""更新末端位姿控制"""
# 根据控制模式调整步长
current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)

13
uv.lock generated
View File

@@ -1716,6 +1716,17 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/4d/a6/708a55f3ff7a18c403b30a29a11dccfed0410485a7548c60a4b6d4cc0676/pyobjc_framework_quartz-12.1-cp314-cp314t-macosx_10_15_universal2.whl", hash = "sha256:0cc08fddb339b2760df60dea1057453557588908e42bdc62184b6396ce2d6e9a", size = 224580, upload-time = "2025-11-14T10:01:00.091Z" },
]
[[package]]
name = "pyrealsense2"
version = "2.56.5.9235"
source = { registry = "https://pypi.org/simple" }
wheels = [
{ url = "https://files.pythonhosted.org/packages/fc/20/a46e60a496a17f1cf0cbdffb45e66dc015756e4dbce83580fd569e53e178/pyrealsense2-2.56.5.9235-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:ba2c22981111adbefb169c39e023af4352a2409dfbff59f02c2404c68b82064b", size = 11062766, upload-time = "2025-07-28T14:59:26.551Z" },
{ url = "https://files.pythonhosted.org/packages/22/b5/dd8349abac780aed774f65825fc2ed3ca832b0ad2bf3293262bfa9a517b2/pyrealsense2-2.56.5.9235-cp312-cp312-win_amd64.whl", hash = "sha256:e9c64b94cf6170a3ad60416ff1bf969df8aafe383d4bff14e0fa10b2459d885b", size = 7801788, upload-time = "2025-07-28T14:59:28.303Z" },
{ url = "https://files.pythonhosted.org/packages/a8/66/fa706f1d906a06d5e7015d5b412a48de9914549792eb5cb53c1854e06427/pyrealsense2-2.56.5.9235-cp313-cp313-manylinux1_x86_64.whl", hash = "sha256:c203bc8c79d5958889681408f1038ee69b0021fd8cba7ff2d4532fc90295c4fc", size = 11062717, upload-time = "2025-07-28T14:59:30.072Z" },
{ url = "https://files.pythonhosted.org/packages/b2/88/19425ce6fa809d31a8d23f46dfa6aed9b16a881e8a00e0162d4b97ba1e64/pyrealsense2-2.56.5.9235-cp313-cp313-win_amd64.whl", hash = "sha256:ad8012f7fec843c3c6ec8904bfff048806dc7b4c7709e021c6ea75e83d8d5096", size = 7802471, upload-time = "2025-07-28T14:59:31.985Z" },
]
[[package]]
name = "pyserial"
version = "3.5"
@@ -1935,6 +1946,7 @@ source = { virtual = "." }
dependencies = [
{ name = "lerobot" },
{ name = "pygame" },
{ name = "pyrealsense2" },
{ name = "robotic-arm" },
]
@@ -1942,6 +1954,7 @@ dependencies = [
requires-dist = [
{ name = "lerobot", specifier = ">=0.4.2" },
{ name = "pygame", specifier = "==2.6.1" },
{ name = "pyrealsense2", specifier = ">=2.56.5.9235" },
{ name = "robotic-arm", specifier = "==1.0.4.1" },
]