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use image datasets and change ui

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This commit is contained in:
croissant
2025-11-24 17:18:37 +01:00
committed by Michel Aractingi
parent bf08733068
commit 76ddd8b948
2 changed files with 12 additions and 72 deletions
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examples/openarms_web_interface/App.jsx
+10 -70
View File
@@ -47,11 +47,6 @@ function App() {
const saved = localStorage.getItem('openarms_config');
if (saved) {
const loadedConfig = JSON.parse(saved);
// If OpenArms Mini is selected, ensure followers are set to can0/can1
if (loadedConfig.leader_type === 'openarms_mini') {
loadedConfig.follower_left = 'can0';
loadedConfig.follower_right = 'can1';
}
setConfig(prev => ({ ...prev, ...loadedConfig }));
}
} catch (e) {
@@ -93,11 +88,6 @@ function App() {
if (!localStorage.getItem('openarms_config')) {
setConfig(prev => {
const merged = { ...data.config, ...prev };
// If OpenArms Mini is selected, ensure followers are set to can0/can1
if (merged.leader_type === 'openarms_mini') {
merged.follower_left = 'can0';
merged.follower_right = 'can1';
}
localStorage.setItem('openarms_config', JSON.stringify(merged));
return merged;
});
@@ -360,14 +350,6 @@ function App() {
// Update config and save
const updateConfig = (key, value) => {
const updated = { ...config, [key]: value };
if (key === 'leader_type') {
if (value === 'openarms_mini') {
updated.follower_left = 'can0';
updated.follower_right = 'can1';
}
}
setConfig(updated);
saveConfig(updated);
};
@@ -398,27 +380,6 @@ function App() {
useEffect(() => {
if (config.leader_type === 'openarms_mini') {
discoverUsbPorts();
// Explicitly set follower CAN interfaces when using OpenArms Mini
// Followers MUST use can0 = left arm, can1 = right arm
// Force these values even if they were previously different
const updated = {
...config,
follower_left: 'can0', // Explicitly set left follower to can0
follower_right: 'can1' // Explicitly set right follower to can1
};
setConfig(updated);
saveConfig(updated);
} else {
// When switching back to OpenArms, restore CAN interface defaults
const updated = {
...config,
leader_left: canInterfaces.includes(config.leader_left) ? config.leader_left : 'can0',
leader_right: canInterfaces.includes(config.leader_right) ? config.leader_right : 'can1',
follower_left: 'can2', // OpenArms standard: followers on can2/can3
follower_right: 'can3'
};
setConfig(updated);
saveConfig(updated);
}
// eslint-disable-next-line react-hooks/exhaustive-deps
}, [config.leader_type]);
@@ -563,51 +524,30 @@ function App() {
<div className="config-section">
<h3>Follower Interfaces (CAN)</h3>
{config.leader_type === 'openarms_mini' && (
<div style={{
backgroundColor: '#fff4e6',
padding: '0.75rem',
borderRadius: '4px',
marginBottom: '0.75rem',
fontSize: '0.9rem',
border: '1px solid #ffd699'
}}>
🔒 <strong>Auto-assigned:</strong> Follower ports are fixed as can0 (left) and can1 (right) when using OpenArms Mini
</div>
)}
<div className="config-grid">
<label>
Follower Left
<select
value={config.leader_type === 'openarms_mini' ? 'can0' : config.follower_left}
value={config.follower_left}
onChange={(e) => updateConfig('follower_left', e.target.value)}
disabled={isRecording || robotsReady || config.leader_type === 'openarms_mini'}
disabled={isRecording || robotsReady}
>
{config.leader_type === 'openarms_mini' ? (
<option value="can0">can0 (Auto-assigned)</option>
) : (
canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))
)}
{canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))}
</select>
</label>
<label>
Follower Right
<select
value={config.leader_type === 'openarms_mini' ? 'can1' : config.follower_right}
value={config.follower_right}
onChange={(e) => updateConfig('follower_right', e.target.value)}
disabled={isRecording || robotsReady || config.leader_type === 'openarms_mini'}
disabled={isRecording || robotsReady}
>
{config.leader_type === 'openarms_mini' ? (
<option value="can1">can1 (Auto-assigned)</option>
) : (
canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))
)}
{canInterfaces.map((iface) => (
<option key={iface} value={iface}>{iface}</option>
))}
</select>
</label>
</div>
examples/openarms_web_interface/web_record_server.py
+2 -2
View File
@@ -410,8 +410,8 @@ def initialize_robot_systems(config: RecordingConfig):
if key.endswith(".pos"):
action_features_hw[key] = value
action_features = hw_to_dataset_features(action_features_hw, "action")
obs_features = hw_to_dataset_features(follower.observation_features, "observation")
action_features = hw_to_dataset_features(action_features_hw, "action", use_video=False)
obs_features = hw_to_dataset_features(follower.observation_features, "observation", use_video=False)
dataset_features = {**action_features, **obs_features}
# Create dataset