G1_Lootah/Camera_Recorder/README.md

Camera Recorder

This recorder uses YOLO pose tracking from a camera or video source, then writes:

• DataG1/<take>.jsonl: replay-compatible G1 dataset with 29 joints
• RawPose/<take>.pose.jsonl: raw 2D pose keypoints and diagnostics
• Models/yolo11n-pose.pt: local bundled YOLO pose model
• camera_recorder_config.json: recorder defaults, runtime settings, and file locations
• joint.json: robot joint counts, waist indices, and joint limits
• pose_mapping.json: camera pose-to-joint mapping rules and gains

The generated G1 dataset is designed to work with the existing replay scripts in this project. Lower body joints stay at arm_home.jsonl, and the upper body is estimated from the visible 2D pose.

Record From Camera

cd /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder
python3 g1_camera_pose_recorder.py --source ask --output hands_up_cam

Recorder defaults also come from camera_recorder_config.json. Right now the default output is test_take, and the default home pose is the local DataG1/arm_home.jsonl, so you can simply run:

cd /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder
python3 g1_camera_pose_recorder.py

The recorder asks for an Enter confirmation before it starts writing files. Use --no-prompt to skip that.

You can also use explicit aliases like --output-file and --home-file.

By default, the recorder now looks for Models/yolo11n-pose.pt first.

All operational defaults are now loaded from camera_recorder_config.json. CLI flags still work, but they override the JSON values for that run only. The mapper-specific data is split into joint.json and pose_mapping.json, which are referenced from camera_recorder_config.json.

Use a different config file:

python3 g1_camera_pose_recorder.py --config /path/to/camera_recorder_config.json --source 0 --output test_take

Fixed camera index:

python3 g1_camera_pose_recorder.py --source 0 --output hands_up_cam

Record for a fixed duration:

python3 g1_camera_pose_recorder.py --source 0 --output hands_up_cam --seconds 12

Skip the start confirmation prompt:

python3 g1_camera_pose_recorder.py --no-prompt

Use a custom YOLO model or custom home pose:

python3 g1_camera_pose_recorder.py \
  --source 0 \
  --output wave_cam \
  --model /home/zedx/Robotics_workspace/AI/YOLO/yolo11n-pose.pt \
  --home-pose /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Manual_Recorder/DataG1/arm_home.jsonl

Replay The Recorded Dataset

Because the file is saved under Camera_Recorder/DataG1, pass the full path to replay:

python3 /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder/g1_camera_pose_replay.py \
  enp3s0 \
  --input /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder/DataG1/hands_up_cam.jsonl \
  --home arm_home.jsonl

g1_camera_pose_replay.py also reads replay defaults from camera_recorder_config.json, so from inside Camera_Recorder you can run:

python3 g1_camera_pose_replay.py

Replay scripts also accept explicit aliases like --iface, --input-file, and --home-file.

Safer camera-aware replay:

python3 /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder/g1_camera_pose_replay_v2.py \
  enp3s0 \
  --input /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder/DataG1/hands_up_cam.jsonl \
  --home arm_home.jsonl \
  --speed 0.35

g1_camera_pose_replay_v2.py also reads replay defaults from camera_recorder_config.json. Right now those defaults are:

• iface = enp3s0
• input = test_take.jsonl
• home = arm_home.jsonl

So you can run:

cd /home/zedx/Robotics_workspace/yslootahtech/G1_Lootah/Camera_Recorder
python3 g1_camera_pose_replay_v2.py

Notes

• q or Esc stops recording.
• Ctrl+C cleanly cancels camera selection or the start prompt, and stops recording if it is already running.
• Any joint that is not captured in a frame falls back to the arm_home.jsonl pose for that joint.
• The mapping is heuristic because a single 2D camera cannot recover full 3D shoulder and wrist orientation.
• On this machine, the default python3 does not currently have ultralytics; run the recorder in the same Python environment you already use for /home/zedx/Robotics_workspace/AI/YOLO/YOLO_Test_3.py.