ai-agent-book 精选快照（<2MB 代码与文档，来自 github.com/bojieli/ai-agent-book）

chapter6/xlerobot-teleoperation/preflight.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+"""Read-only preflight for the pinned Experiment 6-10 reproduction track."""
+
+from __future__ import annotations
+
+import argparse
+import importlib.util
+import json
+import platform
+import subprocess
+from datetime import datetime, timezone
+from pathlib import Path
+
+COMMIT = "3d14695e40c9c68229c0aacffca6053c75cd3eb6"
+PINNED_BLOBS = {
+    "docs/en/source/software/getting_started/XLeRobot_teleop.md": "3992358282ff54cfce8d90a525e784aedcf045f7",
+    "software/examples/4_xlerobot_teleop_keyboard.py": "efbe076dfbda3c6280fa54f0eb5bca1a12518a0d",
+    "software/examples/5_xlerobot_teleop_xbox.py": "de7bc17d570167e58b15e38c06c0fa23af74632a",
+    "software/examples/7_xlerobot_teleop_joycon.py": "21a48258d22b1fc002f63555a2f3dc2950bdfb24",
+    "software/examples/8_xlerobot_teleop_vr.py": "315bb81f13a37746de0f329e3ba11240a2230806",
+}
+
+
+def git(repo: Path, *args: str) -> str:
+    return subprocess.run(["git", "-C", str(repo), *args], check=False, capture_output=True, text=True).stdout.strip()
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--upstream", type=Path, required=True, help="local checkout of Vector-Wangel/XLeRobot")
+    parser.add_argument("--serial-port", action="append", default=[], help="expected robot serial device; checked by path only")
+    parser.add_argument("--safety-checklist-complete", action="store_true", help="operator attests calibration, clear workspace, observer, and E-stop")
+    parser.add_argument("--output", type=Path)
+    args = parser.parse_args()
+    checks: list[dict[str, object]] = []
+
+    def add(check_id: str, passed: bool, detail: str, required: bool = True) -> None:
+        checks.append({"id": check_id, "passed": passed, "required_for_hardware_run": required, "detail": detail})
+
+    head = git(args.upstream, "rev-parse", "HEAD")
+    add("pinned_commit", head == COMMIT, f"expected {COMMIT}; found {head or 'not a git checkout'}")
+    for path, blob in PINNED_BLOBS.items():
+        found = git(args.upstream, "rev-parse", f"HEAD:{path}")
+        add(f"blob:{path}", found == blob, f"expected {blob}; found {found or 'missing'}")
+    for module in ("numpy", "pygame", "lerobot", "joyconrobotics"):
+        found = importlib.util.find_spec(module) is not None
+        add(f"python_module:{module}", found, "installed" if found else "not importable")
+    add("serial_ports_supplied", bool(args.serial_port), "no serial ports supplied" if not args.serial_port else ", ".join(args.serial_port))
+    for device in args.serial_port:
+        add(f"device:{device}", Path(device).exists(), "path exists" if Path(device).exists() else "path missing")
+    add("safety_checklist", args.safety_checklist_complete, "operator attestation present" if args.safety_checklist_complete else "not attested")
+
+    blockers = [str(item["id"]) for item in checks if item["required_for_hardware_run"] and not item["passed"]]
+    report = {
+        "schema_version": "1.0",
+        "experiment_id": "6-10",
+        "kind": "non_actuating_preflight",
+        "generated_at": datetime.now(timezone.utc).isoformat(),
+        "host": platform.node() or "unknown",
+        "upstream_path": str(args.upstream.resolve()),
+        "status": "ready" if not blockers else "blocked",
+        "checks": checks,
+        "blockers": blockers,
+        "actuation_attempted": False,
+    }
+    rendered = json.dumps(report, indent=2) + "\n"
+    if args.output:
+        args.output.parent.mkdir(parents=True, exist_ok=True)
+        args.output.write_text(rendered, encoding="utf-8")
+        print(f"wrote {args.output}")
+    else:
+        print(rendered, end="")
+    return 0 if not blockers else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())