chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
69 lines
2.4 KiB
Python
69 lines
2.4 KiB
Python
#!/usr/bin/env python3
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"""安装经验证的 CPU LeRobot 环境；不修改当前解释器、上游源码或训练环境。"""
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import argparse
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import json
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import os
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import subprocess
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import sys
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import venv
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[2]
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--venv", type=Path, default=ROOT / "build/venvs/lerobot")
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args = parser.parse_args()
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target = args.venv.resolve()
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if sys.version_info[:2] != (3, 12):
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parser.error("此兼容环境仅验证 Python 3.12，请使用 Python 3.12 执行安装脚本")
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if not target.is_relative_to(ROOT / "build") or target == Path(sys.prefix).resolve():
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parser.error("目标必须位于仓库 build/ 下，并且不能是当前环境")
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env = {**os.environ, "PYTHONNOUSERSITE": "1", "PYTHONPATH": ""}
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if not (target / "bin/python").exists():
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venv.EnvBuilder(with_pip=True).create(target)
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python = str(target / "bin/python")
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prefix = subprocess.check_output(
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[python, "-I", "-c", "import sys; print(sys.prefix)"], env=env, text=True
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).strip()
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config = (target / "pyvenv.cfg").read_text().lower()
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if Path(prefix).resolve() != target or "include-system-site-packages = false" not in config:
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parser.error("目标不是独立 venv；拒绝对共享/其他 Python 环境执行 pip")
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def run(*arguments):
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subprocess.run([python, "-m", "pip", *arguments], env=env, cwd=ROOT, check=True)
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run(
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"install",
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"--index-url",
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"https://download.pytorch.org/whl/cpu",
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"torch==2.11.0+cpu",
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"torchvision==0.26.0+cpu",
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)
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constraints = "integrations/lerobot/requirements-cpu.txt"
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run("install", "-r", constraints)
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run(
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"install",
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"--no-build-isolation",
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"-c",
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constraints,
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"-e",
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"control_bridge",
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"-e",
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"integrations/lerobot",
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)
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run("check")
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# Record versions, not pip freeze's private VCS origins or credentials.
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result = subprocess.check_output(
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[python, "-m", "pip", "list", "--format=json"], env=env, text=True
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)
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report = ROOT / "build/lerobot-environment.json"
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report.write_text(json.dumps({"python": sys.version, "packages": json.loads(result)}, indent=2))
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print(f"完成：{python}\n版本记录：{report}\n请在此环境执行插件测试和示例。")
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if __name__ == "__main__":
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main()
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