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
96 lines
2.4 KiB
TOML
96 lines
2.4 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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"pyyaml",
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"lerobot==0.4.3",
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"xarm-python-sdk",
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"opencv-python",
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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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uf-lerobot-eval = "lerobot_robot_ufactory.scripts.uf_lerobot_eval: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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[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 @ git+https://github.com/ROBOTIS-GIT/DynamixelSDK.git#subdirectory=python",
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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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