bdc8ef05ab
1. 重命名 ufactory_lerobot → lerobot_robot_ufactory 以独立插件包形式支持 lerobot 加载，pyproject.toml 同步更新 2. 配置文件迁移至 draccus 格式 所有 YAML config 从 _target_ 格式迁移至 ChoiceRegistry type 格式 dict 值类型从具体类改为抽象基类（RobotConfig/TeleoperatorConfig） 确保嵌套 dict 中的 type 选择器能被 draccus 正确解析 3. teleop 上下文注册替代属性注入 新增 context.py（contextvars 实现），支持多 teleop 按 id 存取 UFBaseTeleop.connect/disconnect 自动注册/注销活跃 teleop UFMockRobot.get_observation 从上下文获取 teleop action 移除 record() 对 cfg.robot.teleop 的注入 4. 部分导入延迟加载 pika_device: serial/list_ports 延迟导入 gello_teleop: gello 依赖延迟导入 umi_teleop/camera_umi: XVLib 延迟导入 space_mouse: spnav 延迟导入 5. Pika 设备实例复用 PIKA_DEVICE_MAP 共享已连接的 Sense/Gripper，防止多实例化抢占端口 修复 pika_gripper 属性误用 _pika_sense_port 的 bug 6. 修复 multiple_uf_mock_robot robots 从 list 改为 dict[str, UFMockRobot]，移除 keys 列表 send_action 改用 dict items 遍历 新增 MultipleUFMockRobot.cameras 聚合属性
91 lines
1.2 KiB
Plaintext
91 lines
1.2 KiB
Plaintext
# ============================
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# Python
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# ============================
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__pycache__/
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*.py[cod]
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*$py.class
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*.so
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*.so.*
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!src/lerobot_robot_ufactory/devices/umi/xvlib/lib*.so
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!src/lerobot_robot_ufactory/devices/umi/xvlib/lib*.so.*
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*.egg
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*.egg-info/
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dist/
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build/
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eggs/
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sdist/
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wheels/
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*.whl
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.eggs/
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Pipfile.lock
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poetry.lock
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# 虚拟环境
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venv/
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.venv/
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env/
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.env/
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ENV/
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env.bak/
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venv.bak/
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# ============================
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# IDE / 编辑器
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# ============================
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.vscode/
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.idea/
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*.swp
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*.swo
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*~
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.DS_Store
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Thumbs.db
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# ============================
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# 环境变量 & 配置
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# ============================
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.env
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.env.local
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.env.*.local
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*.local.toml
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# ============================
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# 测试 & 覆盖率
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# ============================
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.pytest_cache/
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.coverage
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.coverage.*
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htmlcov/
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.tox/
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.nox/
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coverage.xml
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*.cover
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.hypothesis/
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# ============================
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# Jupyter Notebook
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# ============================
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.ipynb_checkpoints/
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*.ipynb
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# ============================
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# 打包 & 发布
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# ============================
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*.log
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*.log.*
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*.tar.gz
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*.zip
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# ============================
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# 项目特定
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# ============================
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outputs/
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checkpoints/
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runs/
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wandb/
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models/
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*.onnx
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*.engine
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*.trt
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*.xvcd
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ufactory_usage/
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