采集数据集一个腕部摄像头lerobot-record \ --robot.typeso101_follower \ --robot.port/dev/tty.usbmodem5B415317841 \ --robot.idzihao_follower_arm \ --robot.cameras{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 60, fourcc: MJPG}} \ --teleop.typeso101_leader \ --teleop.port/dev/tty.usbmodem5B415315171 \ --teleop.idzihao_leader_arm \ --display_datatrue \ --dataset.repo_idLIUYUYAO/lerobot_zihao_dataset_a \ --dataset.num_episodes40 \ --dataset.single_taskGrab Oranges \ --dataset.push_to_hubfalse \ --dataset.episode_time_s10 \ --dataset.reset_time_s2采集数据集两个摄像头一个腕部一个mac自带的lerobot-record \ --robot.typeso101_follower \ --robot.port/dev/tty.usbmodem5B415317841 \ --robot.idzihao_follower_arm \ --robot.cameras{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 60, fourcc: MJPG}, side: {type: opencv, index_or_path: 1, width: 1920, height: 1080, fps: 30, fourcc: MJPG}} \ --teleop.typeso101_leader \ --teleop.port/dev/tty.usbmodem5B415315171 \ --teleop.idzihao_leader_arm \ --display_datatrue \ --dataset.repo_idLIUYUYAO/lerobot_zihao_dataset_a \ --dataset.num_episodes40 \ --dataset.single_taskGrab Oranges \ --dataset.push_to_hubtrue \ --dataset.episode_time_s10 \ --dataset.reset_time_s2数据采集中→右箭头提前终止当前episode进入下一个episode←左箭头取消当前episode重新录制ESC立即停止编码视频并上传数据集采集完毕的数据集的保存目录/Users/yuyaoliu/.cache/huggingface/lerobot/LIUYUYAO/lerobot_zihao_dataset_a用从动臂进行握手lerobot-record \ --robot.typeso101_follower \ --robot.port/dev/tty.usbmodem5B415317841 \ --robot.idzihao_follower_arm \ --robot.cameras{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 60, fourcc: MJPG}} \ --teleop.typeso101_leader \ --teleop.port/dev/tty.usbmodem5B415315171 \ --teleop.idzihao_leader_arm \ --display_datatrue \ --dataset.repo_idLIUYUYAO/lerobot_zihao_dataset_shake_hands \ --dataset.num_episodes30 \ --dataset.single_taskShanke Hands \ --dataset.push_to_hubfalse \ --dataset.episode_time_s12 \ --dataset.reset_time_s1so_arm_101_shake200删除同名数据集sudo rm -rf /Users/yuyaoliu/.cache/huggingface/lerobot/LIUYUYAO/lerobot_zihao_dataset_shake200一个摄像头检测用从动臂进行握手lerobot-record \ --robot.typeso101_follower \ --robot.port/dev/tty.usbmodem5B415317841 \ --robot.idzihao_follower_arm \ --robot.cameras{ front: {type: opencv, index_or_path: 0, width: 1920, height: 1080, fps: 60, fourcc: MJPG}} \ --teleop.typeso101_leader \ --teleop.port/dev/tty.usbmodem5B415315171 \ --teleop.idzihao_leader_arm \ --display_datatrue \ --dataset.repo_idLIUYUYAO/lerobot_zihao_dataset_shake200 \ --dataset.num_episodes200 \ --dataset.single_taskShanke Hands \ --dataset.push_to_hubfalse \ --dataset.episode_time_s12 \ --dataset.reset_time_s1数据采集键盘方向键操作→右箭头提前终止当前episode进入下一个episode←左箭头取消当前episode重新录制ESC立即停止编码视频并上传数据集采集完毕保存数据集/Users/yuyaoliu/.cache/huggingface/lerobot/LIUYUYAO/lerobot_zihao_dataset_shake200数据集上传huggingface数据集的上传自动本地上传push_to_hubtrue数据集的上传手动本地上传push_to_hubfalsehf upload LIUYUYAO/lerobot_zihao_dataset_a /Users/yuyaoliu/.cache/huggingface/lerobot/LIUYUYAO/lerobot_zihao_dataset_a / --repo-typedatasethf upload LIUYUYAO/lerobot_zihao_dataset_shake200 /Users/yuyaoliu/.cache/huggingface/lerobot/LIUYUYAO/lerobot_zihao_dataset_shake200 / --repo-typedataset