Conform pyproject to PEP 621 (#621)

.github/workflows/quality.yml

@@ -54,7 +54,7 @@ jobs:
           persist-credentials: false
 
       - name: Install poetry
-        run: pipx install "poetry<2.0.0"
+        run: pipx install "poetry>=2.1"
 
       - name: Poetry check
         run: poetry check
@@ -70,7 +70,7 @@ jobs:
           persist-credentials: false
 
       - name: Install poetry
-        run: pipx install "poetry<2.0.0"
+        run: pipx install "poetry>=2.1"
 
       - name: Install poetry-relax
         run: poetry self add poetry-relax

.pre-commit-config.yaml

@@ -24,13 +24,9 @@ repos:
         args: [--fix]
       - id: ruff-format
   - repo: https://github.com/python-poetry/poetry
-    rev: 1.8.5
+    rev: 2.1.0
     hooks:
       - id: poetry-check
-      - id: poetry-lock
-        args:
-          - "--check"
-          - "--no-update"
   - repo: https://github.com/gitleaks/gitleaks
     rev: v8.23.3
     hooks:

CONTRIBUTING.md

@@ -130,7 +130,7 @@ 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.
+   If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it (use a version >=2.1.0).
 
    Set up a development environment with conda or miniconda:
    ```bash
@@ -144,12 +144,12 @@ Follow these steps to start contributing:
 
    You can also install the project with all its dependencies (including environments):
    ```bash
-   poetry install --sync --all-extras
+   poetry 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:
    ```bash

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