88e6e9bee6
- uf_starvla_eval.py: eval loop that queries a starVLA WebSocket policy server (e.g. pi05) instead of a local LeRobot policy; reuses robot connect/reset, keyboard control, precise_sleep pacing and the optional ActionSafetyGuard from uf_lerobot_eval.py - utils/starvla_ws_client: vendored WebsocketClientPolicy + msgpack_numpy from starVLA deployment/model_server/tools - config/eval/xarm7_starvla_eval_config.yaml: single-camera eval config - pyproject.toml: uf-starvla-eval entry point + websockets/msgpack deps
106 lines
2.9 KiB
TOML
106 lines
2.9 KiB
TOML
[build-system]
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requires = ["setuptools>=68.0", "wheel>=0.42"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "lerobot_robot_ufactory"
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version = "0.1.0"
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description = "UFACTORY 机械臂与 LeRobot 框架集成"
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readme = "README.md"
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license = { text = "Apache-2.0" }
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requires-python = ">=3.10"
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authors = [
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{ name = "lerobot_robot_ufactory Contributors" },
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]
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keywords = ["robotics", "lerobot", "ufactory", "xarm", "imitation-learning"]
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classifiers = [
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"Development Status :: 3 - Alpha",
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"Intended Audience :: Science/Research",
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"License :: OSI Approved :: MIT License",
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"Programming Language :: Python :: 3",
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"Programming Language :: Python :: 3.10",
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"Topic :: Scientific/Engineering :: Artificial Intelligence",
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]
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dependencies = [
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"numpy>=1.24",
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"pyarrow>=14.0",
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"pyyaml",
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"lerobot[intelrealsense]==0.4.3",
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"xarm-python-sdk",
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"opencv-python",
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"websockets",
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"msgpack",
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]
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[project.scripts]
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uf-robot-teleop = "lerobot_robot_ufactory.scripts.uf_robot_teleop:main"
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uf-lerobot-record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
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record = "lerobot_robot_ufactory.scripts.uf_lerobot_record:main"
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uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval:main"
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uf-starvla-eval = "lerobot_robot_ufactory.scripts.uf_starvla_eval:main"
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uf-lerobot-replay = "lerobot_robot_ufactory.scripts.uf_lerobot_replay:main"
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replay = "lerobot_robot_ufactory.scripts.uf_lerobot_replay:main"
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uf-vive-calibrate = "lerobot_robot_ufactory.scripts.vive_calibrate:main"
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uf-camera-view = "lerobot_robot_ufactory.scripts.uf_camera_view:main"
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uf-realsense-view = "lerobot_robot_ufactory.scripts.uf_realsense_view:main"
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uf-camera-test = "lerobot_robot_ufactory.scripts.uf_camera_test:main"
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uf-read-tcp-z = "lerobot_robot_ufactory.scripts.uf_read_tcp_z:main"
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[project.optional-dependencies]
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# GELLO 遥操作
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gello = [
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"gello @ git+https://github.com/xArm-Developer/gello_software.git",
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"dynamixel-sdk>=4.0.5",
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]
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# SpaceMouse 遥操作
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spacemouse = [
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"spnav @ git+https://github.com/kazoo-osaro/spnav",
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]
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# 开发工具
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dev = [
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"pytest>=8.0",
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"pytest-cov>=5.0",
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"ruff>=0.8",
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"mypy>=1.10",
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"pre-commit>=3.7",
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]
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[tool.setuptools]
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include-package-data = true
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[tool.setuptools.packages.find]
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where = ["src"]
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[tool.setuptools.package-data]
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"lerobot_robot_ufactory.devices.umi.xvlib" = ["*.so", "*.so.*"]
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[tool.ruff]
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line-length = 100
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target-version = "py310"
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[tool.ruff.lint]
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select = [
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"E", # pycodestyle errors
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"W", # pycodestyle warnings
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"F", # pyflakes
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"I", # isort
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"B", # flake8-bugbear
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"UP", # pyupgrade
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]
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[tool.ruff.format]
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quote-style = "double"
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indent-style = "space"
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[tool.pytest.ini_options]
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testpaths = ["tests"]
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python_files = ["test_*.py"]
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addopts = "-v --tb=short"
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[tool.mypy]
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python_version = "3.10"
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strict = true
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ignore_missing_imports = true
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