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

This commit is contained in:
Simon Alibert 2025-02-17 12:06:05 +01:00
parent aed3eb4a94 fe483b1d0d
commit 624eaf1175
11 changed files with 155 additions and 8116 deletions
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48
.github/workflows/quality.yml vendored
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@ -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

7
.github/workflows/test-docker-build.yml vendored
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@ -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

69
.github/workflows/test.yml vendored
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@ -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
run: |
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
- name: Install uv and python
uses: astral-sh/setup-uv@v5
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
cache: "poetry"
- name: Install poetry dependencies
run: |
poetry install --all-extras
- name: Install lerobot (all extras)
run: uv sync --all-extras
- name: Test with pytest
run: |
pytest tests -v --cov=./lerobot --durations=0 \
uv run pytest tests -v --cov=./lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@ -80,24 +79,19 @@ jobs:
- name: Install apt dependencies
run: sudo apt-get update && sudo apt-get install -y ffmpeg
- name: Install poetry
run: |
pipx install poetry && poetry config virtualenvs.in-project true
echo "${{ 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
- name: Install uv and python
uses: astral-sh/setup-uv@v5
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
- name: Install poetry dependencies
run: |
poetry install --extras "test"
- name: Install lerobot
run: uv sync --extra "test"
- name: Test with pytest
run: |
pytest tests -v --cov=./lerobot --durations=0 \
uv run pytest tests -v --cov=./lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@ -120,20 +114,21 @@ jobs:
sudo apt-get update && \
sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
- name: Install poetry
run: |
pipx install poetry && poetry config virtualenvs.in-project true
echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
- name: Set up Python 3.10
uses: actions/setup-python@v5
- name: Install uv and python
uses: astral-sh/setup-uv@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: |

4
.gitignore vendored
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@ -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.

8
.pre-commit-config.yaml
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@ -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:

49
CONTRIBUTING.md
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@ -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.
If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
4. for development, we advise to use a tool like `poetry` or `uv` instead of just `pip` to easily track our dependencies.
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

8
Makefile
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@ -2,10 +2,10 @@
PYTHON_PATH := $(shell which python)
# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
POETRY_CHECK := $(shell command -v poetry)
ifneq ($(POETRY_CHECK),)
PYTHON_PATH := $(shell poetry run which python)
# If uv is installed and a virtual environment exists, use it
UV_CHECK := $(shell command -v uv)
ifneq ($(UV_CHECK),)
PYTHON_PATH := $(shell .venv/bin/python)
endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH)

2
docker/lerobot-gpu-dev/Dockerfile
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@ -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

9
examples/7_get_started_with_real_robot.md
View File

@ -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:

7933
poetry.lock generated
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134
pyproject.toml
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@ -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>",
"Simon Alibert <alibert.sim@gmail.com>",
"Alexander Soare <alexander.soare159@gmail.com>",
"Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
"Adil Zouitine <adilzouitinegm@gmail.com>",
"Thomas Wolf <thomaswolfcontact@gmail.com>",
{name = "Rémi Cadène", email = "re.cadene@gmail.com"},
{name = "Simon Alibert", email = "alibert.sim@gmail.com"},
{name = "Alexander Soare", email = "alexander.soare159@gmail.com"},
{name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"},
{name = "Adil Zouitine", email = "adilzouitinegm@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]
python = ">=3.10,<3.13"
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.poetry]
requires-poetry = ">=2.1"
[tool.ruff]
line-length = 110