增加配置文件忽略

config/.gitignore

@@ -0,0 +1,3 @@
+*
+!.gitignore
+!*.example.yml

config/record.example.yml

@@ -5,4 +5,5 @@ dataset:
   single_task: test
   repo_id: yehao/realman-test
   num_episodes: 2
-  fps: 2
+  fps: 30
+  push_to_hub: false

record.py

@@ -412,7 +412,7 @@ 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(
+        dataset = LeRobotDataset.create(g
             cfg.dataset.repo_id,
             cfg.dataset.fps,
             root=cfg.dataset.root,

robot_client/robots/realman/motors_bus.py

@@ -175,8 +175,8 @@ class RealmanMotorsBus(MotorsBus):
     
     def write_arm(self, target_joint: list):
         ret = self.rmarm.rm_movej_follow(target_joint[:-1])
-        if ret != None: 
-            print("movej error:", ret[1])
+        if ret != 0: 
+            print("movej error:", ret)
             return ret
         
         ret = self.rmarm.rm_set_gripper_position(target_joint[-1], block=False, timeout=2)
@@ -225,8 +225,8 @@ class RealmanMotorsBus(MotorsBus):
             for k,v in enumerate(self.init_pose):
                 self.init_pose[k]+=values[k]
             self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
-            self.init_pose[6]+=actionData['gripper']
-            self.rmarm.rm_set_gripper_position(self.init_pose[6]*1000, False)
+            # self.init_pose[6]+=actionData['gripper']
+            # self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0)
     
     def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0):
         if data_name == "Present_Position":