Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_10_dataset_v2.1

.github/workflows/quality.yml

@@ -38,53 +38,7 @@ jobs:
         run: python -m pip install "ruff==${{ env.RUFF_VERSION }}"
 
       - name: Ruff check
-        run: ruff check
+        run: ruff check --output-format=github
 
       - name: Ruff format
         run: ruff format --diff
-
-
-  poetry_check:
-    name: Poetry check
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          persist-credentials: false
-
-      - name: Install poetry
-        run: pipx install "poetry<2.0.0"
-
-      - name: Poetry check
-        run: poetry check
-
-
-  poetry_relax:
-    name: Poetry relax
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          persist-credentials: false
-
-      - name: Install poetry
-        run: pipx install "poetry<2.0.0"
-
-      - name: Install poetry-relax
-        run: poetry self add poetry-relax
-
-      - name: Poetry relax
-        id: poetry_relax
-        run: |
-          output=$(poetry relax --check 2>&1)
-          if echo "$output" | grep -q "Proposing updates"; then
-            echo "$output"
-            echo ""
-            echo "Some dependencies have caret '^' version requirement added by poetry by default."
-            echo "Please replace them with '>='. You can do this by hand or use poetry-relax to do this."
-            exit 1
-          else
-            echo "$output"
-          fi

.github/workflows/test-docker-build.yml

@@ -32,14 +32,11 @@ jobs:
           files: docker/**
           json: "true"
 
-      - name: Run step if only the files listed above change
+      - name: Run step if only the files listed above change  # zizmor: ignore[template-injection]
         if: steps.changed-files.outputs.any_changed == 'true'
         id: set-matrix
-        env:
-          ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
         run: |
-          echo "matrix=${ALL_CHANGED_FILES}" >> $GITHUB_OUTPUT
+          echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
-
 
   build_modified_dockerfiles:
     name: Build modified Docker images

.github/workflows/test.yml

@@ -7,7 +7,8 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
-      - "poetry.lock"
+      - "pyproject.toml"
+      - ".pre-commit-config.yaml"
       - "Makefile"
       - ".cache/**"
   push:
@@ -18,12 +19,16 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
-      - "poetry.lock"
+      - "pyproject.toml"
+      - ".pre-commit-config.yaml"
       - "Makefile"
       - ".cache/**"
 
 permissions: {}
 
+env:
+  UV_VERSION: "0.6.0"
+
 jobs:
   pytest:
     name: Pytest
@@ -42,25 +47,19 @@ jobs:
           sudo apt-get update && \
           sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
-          cache: "poetry"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot (all extras)
-        run: |
+        run: uv sync --all-extras
-          poetry install --all-extras
 
       - name: Test with pytest
         run: |
-          pytest tests -v --cov=./lerobot --durations=0 \
+          uv run pytest tests -v --cov=./lerobot --durations=0 \
             -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
             -W ignore::UserWarning:torch.utils.data.dataloader:558 \
             -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@@ -80,24 +79,19 @@ jobs:
       - name: Install apt dependencies
         run: sudo apt-get update && sudo apt-get install -y ffmpeg
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot
-        run: |
+        run: uv sync --extra "test"
-          poetry install --extras "test"
 
       - name: Test with pytest
         run: |
-          pytest tests -v --cov=./lerobot --durations=0 \
+          uv run pytest tests -v --cov=./lerobot --durations=0 \
             -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
             -W ignore::UserWarning:torch.utils.data.dataloader:558 \
             -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@@ -120,20 +114,21 @@ jobs:
           sudo apt-get update && \
           sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
-          cache: "poetry"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot (all extras)
         run: |
-          poetry install --all-extras
+          uv venv
+          uv sync --all-extras
+
+      - name: venv
+        run: |
+          echo "PYTHON_PATH=${{ github.workspace }}/.venv/bin/python" >> $GITHUB_ENV
 
       - name: Test end-to-end
         run: |

.gitignore

@@ -49,6 +49,10 @@ share/python-wheels/
 *.egg
 MANIFEST
 
+# uv/poetry lock files
+poetry.lock
+uv.lock
+
 # PyInstaller
 #  Usually these files are written by a python script from a template
 #  before PyInstaller builds the exe, so as to inject date/other infos into it.

.pre-commit-config.yaml

@@ -23,14 +23,6 @@ repos:
       - id: ruff
         args: [--fix]
       - id: ruff-format
-  - repo: https://github.com/python-poetry/poetry
-    rev: 1.8.5
-    hooks:
-      - id: poetry-check
-      - id: poetry-lock
-        args:
-          - "--check"
-          - "--no-update"
   - repo: https://github.com/gitleaks/gitleaks
     rev: v8.23.3
     hooks:

CONTRIBUTING.md

@@ -129,38 +129,71 @@ Follow these steps to start contributing:
 
    🚨 **Do not** work on the `main` branch.
 
-4. for development, we use `poetry` instead of just `pip` to easily track our dependencies.
+4. for development, we advise to use a tool like `poetry` or `uv` instead of just `pip` to easily track our dependencies.
-   If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
+   Follow the instructions to [install poetry](https://python-poetry.org/docs/#installation) (use a version >=2.1.0) or to [install uv](https://docs.astral.sh/uv/getting-started/installation/#installation-methods) if you don't have one of them already.
 
    Set up a development environment with conda or miniconda:
    ```bash
    conda create -y -n lerobot-dev python=3.10 && conda activate lerobot-dev
    ```
 
-   To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
+   If you're using `uv`, it can manage python versions so you can instead do:
    ```bash
-   poetry install --sync --extras "dev test"
+   uv venv --python 3.10 && source .venv/bin/activate
+   ```
+
+   To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
+
+   using `poetry`
+   ```bash
+   poetry sync --extras "dev test"
+   ```
+
+   using `uv`
+   ```bash
+   uv sync --extra dev --extra test
    ```
 
    You can also install the project with all its dependencies (including environments):
+
+   using `poetry`
    ```bash
-   poetry install --sync --all-extras
+   poetry sync --all-extras
+   ```
+
+   using `uv`
+   ```bash
+   uv sync --all-extras
    ```
 
    > **Note:** If you don't install simulation environments with `--all-extras`, the tests that require them will be skipped when running the pytest suite locally. However, they *will* be tested in the CI. In general, we advise you to install everything and test locally before pushing.
 
-   Whichever command you chose to install the project (e.g. `poetry install --sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
+   Whichever command you chose to install the project (e.g. `poetry sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
 
    The equivalent of `pip install some-package`, would just be:
+
+   using `poetry`
    ```bash
    poetry add some-package
    ```
 
-   When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
+   using `uv`
    ```bash
-   poetry lock --no-update
+   uv add some-package
    ```
 
+   When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
+   using `poetry`
+   ```bash
+   poetry lock
+   ```
+
+   using `uv`
+   ```bash
+   uv lock
+   ```
+
+
 5. Develop the features on your branch.
 
    As you work on the features, you should make sure that the test suite

Makefile

@@ -2,10 +2,10 @@
 
 PYTHON_PATH := $(shell which python)
 
-# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
+# If uv is installed and a virtual environment exists, use it
-POETRY_CHECK := $(shell command -v poetry)
+UV_CHECK := $(shell command -v uv)
-ifneq ($(POETRY_CHECK),)
+ifneq ($(UV_CHECK),)
-	PYTHON_PATH := $(shell poetry run which python)
+	PYTHON_PATH := $(shell .venv/bin/python)
 endif
 
 export PATH := $(dir $(PYTHON_PATH)):$(PATH)

docker/lerobot-gpu-dev/Dockerfile

@@ -58,7 +58,7 @@ RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
 RUN ln -s /usr/bin/python3 /usr/bin/python
 
 # Install poetry
-RUN curl -sSL https://install.python-poetry.org | python - --version 1.8.5
+RUN curl -sSL https://install.python-poetry.org | python -
 ENV PATH="/root/.local/bin:$PATH"
 RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/.local/bin/poetry; fi' >> /root/.bashrc
 RUN poetry config virtualenvs.create false

examples/7_get_started_with_real_robot.md

@@ -36,9 +36,14 @@ Using `pip`:
 pip install -e ".[dynamixel]"
 ```
 
-Or using `poetry`:
+Using `poetry`:
 ```bash
-poetry install --sync --extras "dynamixel"
+poetry sync --extras "dynamixel"
+```
+
+Using `uv`:
+```bash
+uv sync --extra "dynamixel"
 ```
 
 /!\ For Linux only, ffmpeg and opencv requires conda install for now. Run this exact sequence of commands:

pyproject.toml

@@ -1,18 +1,24 @@
-[tool.poetry]
+[project.urls]
+homepage = "https://github.com/huggingface/lerobot"
+issues = "https://github.com/huggingface/lerobot/issues"
+discord = "https://discord.gg/s3KuuzsPFb"
+
+[project]
 name = "lerobot"
 version = "0.1.0"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 authors = [
-    "Rémi Cadène <re.cadene@gmail.com>",
+    {name = "Rémi Cadène", email = "re.cadene@gmail.com"},
-    "Simon Alibert <alibert.sim@gmail.com>",
+    {name = "Simon Alibert", email = "alibert.sim@gmail.com"},
-    "Alexander Soare <alexander.soare159@gmail.com>",
+    {name = "Alexander Soare", email = "alexander.soare159@gmail.com"},
-    "Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
+    {name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"},
-    "Adil Zouitine <adilzouitinegm@gmail.com>",
+    {name = "Adil Zouitine", email = "adilzouitinegm@gmail.com"},
-    "Thomas Wolf <thomaswolfcontact@gmail.com>",
+    {name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com"},
 ]
-repository = "https://github.com/huggingface/lerobot"
 readme = "README.md"
-license = "Apache-2.0"
+license = {text = "Apache-2.0"}
+requires-python = ">=3.10"
+keywords = ["robotics", "deep learning", "pytorch"]
 classifiers=[
     "Development Status :: 3 - Alpha",
     "Intended Audience :: Developers",
@@ -23,70 +29,56 @@ classifiers=[
     "License :: OSI Approved :: Apache Software License",
     "Programming Language :: Python :: 3.10",
 ]
-packages = [{include = "lerobot"}]
+dependencies = [
+    "cmake>=3.29.0.1",
+    "datasets>=2.19.0",
+    "deepdiff>=7.0.1",
+    "diffusers>=0.27.2",
+    "draccus>=0.10.0",
+    "einops>=0.8.0",
+    "flask>=3.0.3",
+    "gdown>=5.1.0",
+    "gymnasium==0.29.1",  # TODO(rcadene, aliberts): Make gym 1.0.0 work
+    "h5py>=3.10.0",
+    "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
+    "hydra-core>=1.3.2",
+    "imageio[ffmpeg]>=2.34.0",
+    "jsonlines>=4.0.0",
+    "numba>=0.59.0",
+    "omegaconf>=2.3.0",
+    "opencv-python>=4.9.0",
+    "pyav>=12.0.5",
+    "pymunk>=6.6.0",
+    "rerun-sdk>=0.21.0",
+    "termcolor>=2.4.0",
+    "torch>=2.2.1",
+    "torchvision>=0.21.0",
+    "wandb>=0.16.3",
+    "zarr>=2.17.0"
+]
 
+[project.optional-dependencies]
+aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"]
+dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1"]
+dora = ["gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'"]
+dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
+feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
+intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
+pi0 = ["transformers>=4.48.0"]
+pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
+stretch = [
+    "hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'",
+    "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
+    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
+    "pynput>=1.7.7"
+]
+test = ["pytest>=8.1.0", "pytest-cov>=5.0.0", "pyserial>=3.5"]
+umi = ["imagecodecs>=2024.1.1"]
+video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
+xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]
 
-[tool.poetry.dependencies]
+[tool.poetry]
-python = ">=3.10,<3.13"
+requires-poetry = ">=2.1"
-termcolor = ">=2.4.0"
-wandb = ">=0.16.3"
-imageio = {extras = ["ffmpeg"], version = ">=2.34.0"}
-gdown = ">=5.1.0"
-einops = ">=0.8.0"
-pymunk = ">=6.6.0"
-zarr = ">=2.17.0"
-numba = ">=0.59.0"
-torch = ">=2.2.1"
-opencv-python = ">=4.9.0"
-diffusers = ">=0.27.2"
-torchvision = ">=0.21.0"
-h5py = ">=3.10.0"
-huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.27.1"}
-gymnasium = "==0.29.1" # TODO(rcadene, aliberts): Make gym 1.0.0 work
-cmake = ">=3.29.0.1"
-gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
-gym-pusht = { version = ">=0.1.5", optional = true}
-gym-xarm = { version = ">=0.1.1", optional = true}
-gym-aloha = { version = ">=0.1.1", optional = true}
-pre-commit = {version = ">=3.7.0", optional = true}
-debugpy = {version = ">=1.8.1", optional = true}
-pytest = {version = ">=8.1.0", optional = true}
-pytest-cov = {version = ">=5.0.0", optional = true}
-datasets = ">=2.19.0"
-imagecodecs = { version = ">=2024.1.1", optional = true }
-pyav = ">=12.0.5"
-rerun-sdk = ">=0.21.0"
-deepdiff = ">=7.0.1"
-flask = ">=3.0.3"
-pandas = {version = ">=2.2.2", optional = true}
-scikit-image = {version = ">=0.23.2", optional = true}
-dynamixel-sdk = {version = ">=3.7.31", optional = true}
-pynput = {version = ">=1.7.7", optional = true}
-feetech-servo-sdk = {version = ">=1.0.0", optional = true}
-setuptools = {version = "!=71.0.1", optional = true}  # TODO(rcadene, aliberts): 71.0.1 has a bug
-pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true}  # TODO(rcadene, aliberts): Fix on Mac
-pyrender = {git = "https://github.com/mmatl/pyrender.git", markers = "sys_platform == 'linux'", optional = true}
-hello-robot-stretch-body = {version = ">=0.7.27", markers = "sys_platform == 'linux'", optional = true}
-pyserial = {version = ">=3.5", optional = true}
-jsonlines = ">=4.0.0"
-transformers = {version = ">=4.48.0", optional = true}
-draccus = ">=0.10.0"
-
-
-[tool.poetry.extras]
-dora = ["gym-dora"]
-pusht = ["gym-pusht"]
-xarm = ["gym-xarm"]
-aloha = ["gym-aloha"]
-dev = ["pre-commit", "debugpy"]
-test = ["pytest", "pytest-cov", "pyserial"]
-umi = ["imagecodecs"]
-video_benchmark = ["scikit-image", "pandas"]
-dynamixel = ["dynamixel-sdk", "pynput"]
-feetech = ["feetech-servo-sdk", "pynput"]
-intelrealsense = ["pyrealsense2"]
-stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
-pi0 = ["transformers"]
 
 [tool.ruff]
 line-length = 110