Sync and Layout

Sync & Repo Layout

Sync

Workstation / Mac (have rsync):

rsync -az --exclude=__pycache__ --exclude='._*' ur5e_lerobot/ scripts/ assets/ gpu:~/VLA/

If a machine has no rsync, use tar-over-ssh:

tar czf - --exclude=__pycache__ --exclude='._*' ur5e_lerobot scripts | ssh rd@192.168.11.80 'tar xzf - -C ~/VLA'

Saved episodes also auto-upload from the robot PC to the GPU (see Hardware Teleop & Recording).

Layout

• scripts/ — setup, eval, merge, sim-grasp diagnostics; hw_preflight.py (staged hardware bring-up); eval_hw.py (deploy ACT|SmolVLA, local or --remote); infer_server.py (GPU-side remote-inference server for SmolVLA).
• ur5e_lerobot/ — integration package.
  • remote.py — remote-inference bridge (framed-pickle TCP): RemotePolicyClient + serve(), so SmolVLA runs on the GPU box and streams actions to the robot PC.
  • schema.py — action/obs contract: v1 10-D / 16-D state (live) + v2 14-D / 20-D (8-DOF hand, opt-in).
  • hand/amazing_hand_client.py — TCP client for the AmazingHand ESP32 (.117:8765): curls + flex/abduct + read_state.
  • robot/ — LeRobot adapter URAmazingHand; rtde_arm.py (RTDE teleop: servoL + no-go/max_step/max_rot_step/z-floor/IK guard + freedrive + reconnect); workspace.py (no-go zone incl. elbow/wrist-link FK check, body at +y); arm_interface.py Ros2ArmInterface (stub).
  • sensors/cameras.py — three USB cameras by stable USB-port by-path (same wide-FOV model), per-camera rotation + gain; MJPG 720p capture → 960×540 dataset size.
  • sim/ — MuJoCo UR5e + AmazingHand, mink IK, grasp-aid weld, record/playback (--engine mujoco|kinematic).
  • teleop/manual_panel.py — Tkinter panel: input dropdown (spacemouse/gamepad/freedrive/sliders), Reconnect-UR, calibrator loaders, --engine hardware, auto-upload + star rating + auto-home-on-save, clean finalize.
  • teleop/spacemouse.py · gamepad.py (evdev) · sm_calibrate.py · gp_calibrate.py — input readers + one-shot axis calibrators.
• webui/ — dataset-management web UI (FastAPI + static vanilla-JS): datasets.py (fast metadata listing), ops.py (delete/trim/merge/move/to-video wrapping dataset_tools), annotations.py (rating/notes/operator sidecar), models.py / evals.py (training runs + eval records), viewer.py (rerun web-viewer subprocess), server.py (REST + static).
• docs/ — decisions, data schema, camera setup, amazinghand_esp32_buttons.md (8-DOF firmware/protocol spec), smolvla.md (fine-tune recipe).
• assets/amazing_hand/ — vendored MuJoCo hand model. UR5e model from robot_descriptions.
• ros2_ws/ — UR5e ROS 2 bringup (deployment path; build on the Linux box).