* Contributing to the examples or to the documentation.
* Submitting issues related to bugs or desired new features.
Following the guides below, feel free to open issues and PRs and to coordinate your efforts with the community on our [Discord Channel](https://discord.gg/VjFz58wn3R). For specific inquiries, reach out to [Remi Cadene](remi.cadene@huggingface.co).
If you are not sure how to contribute or want to know the next features we working on, look on this project page: [LeRobot TODO](https://github.com/orgs/huggingface/projects/46)
## Submitting a new issue or feature request
Do your best to follow these guidelines when submitting an issue or a feature
request. It will make it easier for us to come back to you quickly and with good
feedback.
### Did you find a bug?
The 🤗 LeRobot library is robust and reliable thanks to the users who notify us of
the problems they encounter. So thank you for reporting an issue.
First, we would really appreciate it if you could **make sure the bug was not
already reported** (use the search bar on Github under Issues).
Did not find it? :( So we can act quickly on it, please follow these steps:
* Include your **OS type and version**, the versions of **Python** and **PyTorch**.
* A short, self-contained, code snippet that allows us to reproduce the bug in
less than 30s.
* The full traceback if an exception is raised.
* Attach any other additional information, like screenshots, you think may help.
### Do you want a new feature?
A good feature request addresses the following points:
1. Motivation first:
* Is it related to a problem/frustration with the library? If so, please explain
why. Providing a code snippet that demonstrates the problem is best.
* Is it related to something you would need for a project? We'd love to hear
about it!
* Is it something you worked on and think could benefit the community?
3. Create a new branch to hold your development changes, and do this for every new PR you work on.
Start by synchronizing your `main` branch with the `upstream/main` branch (more details in the [GitHub Docs](https://docs.github.com/en/github/collaborating-with-issues-and-pull-requests/syncing-a-fork)):
```bash
git checkout main
git fetch upstream
git rebase upstream/main
```
Once your `main` branch is synchronized, create a new branch from it:
```bash
git checkout -b a-descriptive-name-for-my-changes
```
🚨 **Do not** work on the `main` branch.
4. Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies.
If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
Set up a development environment by running the following command in a conda or a virtual environment you've created for working on this library:
Install the project with dev dependencies and all environments:
```bash
poetry install --sync --with dev --all-extras
```
This command should be run when pulling code with and updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the dependencies.
To selectively install environments (for example aloha and pusht) use:
```bash
poetry install --sync --with dev --extras "aloha pusht"
```
The equivalent of `pip install some-package`, would just be:
```bash
poetry add some-package
```
When changes are made to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
```bash
poetry lock --no-update
```
**NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated to the CI. To do this, you should create a separate environment and add the new package there as well. For example:
```bash
# Add the new package to your main poetry env
poetry add some-package
# Add the same package to the CPU-only env dedicated to CI
conda create -y -n lerobot-ci python=3.10
conda activate lerobot-ci
cd .github/poetry/cpu
poetry add some-package
```
5. Develop the features on your branch.
As you work on the features, you should make sure that the test suite
passes. You should run the tests impacted by your changes like this (see
below an explanation regarding the environment variable):
```bash
pytest tests/<TEST_TO_RUN>.py
```
6. Follow our style.
`lerobot` relies on `ruff` to format its source code
consistently. Set up [`pre-commit`](https://pre-commit.com/) to run these checks
automatically as Git commit hooks.
Install `pre-commit` hooks:
```bash
pre-commit install
```
You can run these hooks whenever you need on staged files with:
```bash
pre-commit
```
Once you're happy with your changes, add changed files using `git add` and
make a commit with `git commit` to record your changes locally:
the PR as a draft PR. These are useful to avoid duplicated work, and to differentiate
it from PRs ready to be merged;
4. Make sure existing tests pass;
<!-- 5. Add high-coverage tests. No quality testing = no merge.
See an example of a good PR here: https://github.com/huggingface/lerobot/pull/ -->
### Tests
An extensive test suite is included to test the library behavior and several examples. Library tests can be found in the [tests folder](https://github.com/huggingface/lerobot/tree/main/tests).
Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already).
On Mac:
```bash
brew install git-lfs
git lfs install
```
On Ubuntu:
```bash
sudo apt-get install git-lfs
git lfs install
```
Pull artifacts if they're not in [tests/data](tests/data)
```bash
git lfs pull
```
We use `pytest` in order to run the tests. From the root of the
repository, here's how to run tests with `pytest` for the library:
