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增加配置文件忽略

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This commit is contained in:
1002142102@qq.com
2025-12-09 17:06:15 +08:00
parent 7eb48bfa8f
commit 4e29a3926d
5 changed files with 10 additions and 6 deletions
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3
config/.gitignore vendored Normal file
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@@ -0,0 +1,3 @@
*
!.gitignore
!*.example.yml

0
realman.yml → config/realman.example.yml
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3
record.yml → config/record.example.yml
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@@ -5,4 +5,5 @@ dataset:
single_task: test single_task: test
repo_id: yehao/realman-test repo_id: yehao/realman-test
num_episodes: 2 num_episodes: 2
fps: 2 fps: 30
push_to_hub: false

2
record.py
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@@ -412,7 +412,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
else: else:
# Create empty dataset or load existing saved episodes # Create empty dataset or load existing saved episodes
sanity_check_dataset_name(cfg.dataset.repo_id, cfg.policy) sanity_check_dataset_name(cfg.dataset.repo_id, cfg.policy)
dataset = LeRobotDataset.create( dataset = LeRobotDataset.create(g
cfg.dataset.repo_id, cfg.dataset.repo_id,
cfg.dataset.fps, cfg.dataset.fps,
root=cfg.dataset.root, root=cfg.dataset.root,

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