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。
This commit is contained in:
Vinman
commit
c3028aa7b4
85
.gitignore
vendored
Normal file
85
.gitignore
vendored
Normal file
@ -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
|
||||||
27
LICENSE
Normal file
27
LICENSE
Normal file
@ -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.
|
||||||
54
README.md
Normal file
54
README.md
Normal file
@ -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 <repo-url>
|
||||||
|
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。
|
||||||
78
pyproject.toml
Normal file
78
pyproject.toml
Normal file
@ -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
|
||||||
Loading…
Reference in New Issue
Block a user