commit c3028aa7b405020b09bd1761f26e99007a8fbc2a Author: Vinman Date: Wed Jun 10 14:24:58 2026 +0800 chore(project): 初始化项目基础配置文件 添加 .gitignore、README.md、LICENSE 和 pyproject.toml， 建立 Python 项目的基础工程结构。 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..13ba2f7 --- /dev/null +++ b/.gitignore @@ -0,0 +1,85 @@ +# ============================ +# Python +# ============================ +__pycache__/ +*.py[cod] +*$py.class +*.so +*.egg +*.egg-info/ +dist/ +build/ +eggs/ +sdist/ +wheels/ +*.whl +.eggs/ +Pipfile.lock +poetry.lock + +# 虚拟环境 +venv/ +.venv/ +env/ +.env/ +ENV/ +env.bak/ +venv.bak/ + +# ============================ +# IDE / 编辑器 +# ============================ +.vscode/ +.idea/ +*.swp +*.swo +*~ +.DS_Store +Thumbs.db + +# ============================ +# 环境变量 & 配置 +# ============================ +.env +.env.local +.env.*.local +*.local.toml + +# ============================ +# 测试 & 覆盖率 +# ============================ +.pytest_cache/ +.coverage +.coverage.* +htmlcov/ +.tox/ +.nox/ +coverage.xml +*.cover +.hypothesis/ + +# ============================ +# Jupyter Notebook +# ============================ +.ipynb_checkpoints/ +*.ipynb + +# ============================ +# 打包 & 发布 +# ============================ +*.log +*.log.* +*.tar.gz +*.zip + +# ============================ +# 项目特定 +# ============================ +outputs/ +checkpoints/ +runs/ +wandb/ +models/ +*.onnx +*.engine +*.trt diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..328e35a --- /dev/null +++ b/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2026, UFACTORY Inc. + +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..a107dbe --- /dev/null +++ b/README.md @@ -0,0 +1,54 @@ +# uFactory LeRobot + +uFactory 机械臂与 LeRobot 框架集成项目，用于机器人学习、数据采集和策略部署。 + +## 功能特性 + +- 🤖 uFactory 机械臂控制接口 +- 📷 多摄像头数据采集 +- 🧠 模仿学习（行为克隆、ACT、扩散策略等） +- 🚀 策略部署与实时推理 +- 📊 训练过程可视化和日志记录 + +## 环境要求 + +- Python >= 3.10 +- CUDA >= 12.0（GPU 训练推荐） +- uFactory 机械臂（xArm 系列） + +## 安装 + +```bash +# 克隆仓库 +git clone +cd ufactory_lerobot + +# 创建虚拟环境 +python -m venv .venv +source .venv/bin/activate # Linux/macOS +# .venv\Scripts\activate # Windows + +# 安装依赖 +pip install -e ".[dev]" +``` + +## 快速开始 + +```python +# TODO: 添加示例代码 +``` + +## 项目结构 + +``` +ufactory_lerobot/ +├── src/ # 源代码 +├── configs/ # 配置文件 +├── scripts/ # 脚本 +├── tests/ # 测试 +└── docs/ # 文档 +``` + +## 许可证 + +本项目基于 MIT 许可证发布。详见 [LICENSE](LICENSE) 文件。 diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..71b6e62 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,78 @@ +[build-system] +requires = ["setuptools>=68.0", "wheel>=0.42"] +build-backend = "setuptools.build_meta" + +[project] +name = "ufactory_lerobot" +version = "0.1.0" +description = "UFACTORY 机械臂与 LeRobot 框架集成" +readme = "README.md" +license = { text = "MIT" } +requires-python = ">=3.10" +authors = [ + { name = "ufactory_lerobot Contributors" }, +] +keywords = ["robotics", "lerobot", "ufactory", "xarm", "imitation-learning"] +classifiers = [ + "Development Status :: 3 - Alpha", + "Intended Audience :: Science/Research", + "License :: OSI Approved :: MIT License", + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: 3.12", + "Topic :: Scientific/Engineering :: Artificial Intelligence", +] + +[project.optional-dependencies] +dev = [ + "pytest>=8.0", + "pytest-cov>=5.0", + "ruff>=0.8", + "mypy>=1.10", + "pre-commit>=3.7", +] +camera = [ + "opencv-python>=4.9", + "pyrealsense2>=2.55", +] +lerobot = [ + "lerobot==0.4.3", +] +train = [ + "torch>=2.2", + "torchvision>=0.17", + "huggingface-hub>=0.25", + "wandb>=0.17", +] + +[tool.setuptools.packages.find] +where = ["src"] + +[tool.ruff] +line-length = 100 +target-version = "py310" + +[tool.ruff.lint] +select = [ + "E", # pycodestyle errors + "W", # pycodestyle warnings + "F", # pyflakes + "I", # isort + "B", # flake8-bugbear + "UP", # pyupgrade +] + +[tool.ruff.format] +quote-style = "double" +indent-style = "space" + +[tool.pytest.ini_options] +testpaths = ["tests"] +python_files = ["test_*.py"] +addopts = "-v --tb=short" + +[tool.mypy] +python_version = "3.10" +strict = true +ignore_missing_imports = true