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Merge pull request #74 from huggingface/user/aliberts/2024_04_15_setup_contributions 

Setup contributions
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name: "\U0001F41B Bug Report"
description: Submit a bug report to help us improve LeRobot
body:
- type: markdown
attributes:
value: |
Thanks for taking the time to submit a bug report! 🐛
If this is not a bug related to the LeRobot library directly, but instead a general question about your code or the library specifically please use our [discord](https://discord.gg/s3KuuzsPFb).
- type: textarea
id: system-info
attributes:
label: System Info
description: If needed, you can share your lerobot configuration with us by running `python -m lerobot.commands.env` and copy-pasting its outputs below
render: Shell
placeholder: lerobot version, OS, python version, numpy version, torch version, and lerobot's configuration
validations:
required: true
- type: checkboxes
id: information-scripts-examples
attributes:
label: Information
description: 'The problem arises when using:'
options:
- label: "One of the scripts in the examples/ folder of LeRobot"
- label: "My own task or dataset (give details below)"
- type: textarea
id: reproduction
validations:
required: true
attributes:
label: Reproduction
description: |
If needed, provide a simple code sample that reproduces the problem you ran into. It can be a Colab link or just a code snippet.
Sharing error messages or stack traces could be useful as well!
Important! Use code tags to correctly format your code. See https://help.github.com/en/github/writing-on-github/creating-and-highlighting-code-blocks#syntax-highlighting
Try to avoid screenshots, as they are hard to read and don't allow copy-and-pasting.
placeholder: |
Steps to reproduce the behavior:
1.
2.
3.
- type: textarea
id: expected-behavior
validations:
required: true
attributes:
label: Expected behavior
description: "A clear and concise description of what you would expect to happen."

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# What does this PR do?
Example: Fixes # (issue)
## Before submitting
- Read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
- Provide a minimal code example for the reviewer to checkout & try.
- Explain how you tested your changes.
## Who can review?
Anyone in the community is free to review the PR once the tests have passed. Feel free to tag
members/contributors who may be interested in your PR. Try to avoid tagging more than 3 people.

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# Contributor Covenant Code of Conduct
## Our Pledge
We as members, contributors, and leaders pledge to make participation in our
community a harassment-free experience for everyone, regardless of age, body
size, visible or invisible disability, ethnicity, sex characteristics, gender
identity and expression, level of experience, education, socio-economic status,
nationality, personal appearance, race, caste, color, religion, or sexual
identity and orientation.
We pledge to act and interact in ways that contribute to an open, welcoming,
diverse, inclusive, and healthy community.
## Our Standards
Examples of behavior that contributes to a positive environment for our
community include:
* Demonstrating empathy and kindness toward other people
* Being respectful of differing opinions, viewpoints, and experiences
* Giving and gracefully accepting constructive feedback
* Accepting responsibility and apologizing to those affected by our mistakes,
and learning from the experience
* Focusing on what is best not just for us as individuals, but for the overall
community
Examples of unacceptable behavior include:
* The use of sexualized language or imagery, and sexual attention or advances of
any kind
* Trolling, insulting or derogatory comments, and personal or political attacks
* Public or private harassment
* Publishing others' private information, such as a physical or email address,
without their explicit permission
* Other conduct which could reasonably be considered inappropriate in a
professional setting
## Enforcement Responsibilities
Community leaders are responsible for clarifying and enforcing our standards of
acceptable behavior and will take appropriate and fair corrective action in
response to any behavior that they deem inappropriate, threatening, offensive,
or harmful.
Community leaders have the right and responsibility to remove, edit, or reject
comments, commits, code, wiki edits, issues, and other contributions that are
not aligned to this Code of Conduct, and will communicate reasons for moderation
decisions when appropriate.
## Scope
This Code of Conduct applies within all community spaces, and also applies when
an individual is officially representing the community in public spaces.
Examples of representing our community include using an official email address,
posting via an official social media account, or acting as an appointed
representative at an online or offline event.
## Enforcement
Instances of abusive, harassing, or otherwise unacceptable behavior may be
reported to the community leaders responsible for enforcement at
[feedback@huggingface.co](mailto:feedback@huggingface.co).
All complaints will be reviewed and investigated promptly and fairly.
All community leaders are obligated to respect the privacy and security of the
reporter of any incident.
## Enforcement Guidelines
Community leaders will follow these Community Impact Guidelines in determining
the consequences for any action they deem in violation of this Code of Conduct:
### 1. Correction
**Community Impact**: Use of inappropriate language or other behavior deemed
unprofessional or unwelcome in the community.
**Consequence**: A private, written warning from community leaders, providing
clarity around the nature of the violation and an explanation of why the
behavior was inappropriate. A public apology may be requested.
### 2. Warning
**Community Impact**: A violation through a single incident or series of
actions.
**Consequence**: A warning with consequences for continued behavior. No
interaction with the people involved, including unsolicited interaction with
those enforcing the Code of Conduct, for a specified period of time. This
includes avoiding interactions in community spaces as well as external channels
like social media. Violating these terms may lead to a temporary or permanent
ban.
### 3. Temporary Ban
**Community Impact**: A serious violation of community standards, including
sustained inappropriate behavior.
**Consequence**: A temporary ban from any sort of interaction or public
communication with the community for a specified period of time. No public or
private interaction with the people involved, including unsolicited interaction
with those enforcing the Code of Conduct, is allowed during this period.
Violating these terms may lead to a permanent ban.
### 4. Permanent Ban
**Community Impact**: Demonstrating a pattern of violation of community
standards, including sustained inappropriate behavior, harassment of an
individual, or aggression toward or disparagement of classes of individuals.
**Consequence**: A permanent ban from any sort of public interaction within the
community.
## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage],
version 2.1, available at
[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
Community Impact Guidelines were inspired by
[Mozilla's code of conduct enforcement ladder][Mozilla CoC].
For answers to common questions about this code of conduct, see the FAQ at
[https://www.contributor-covenant.org/faq][FAQ]. Translations are available at
[https://www.contributor-covenant.org/translations][translations].
[homepage]: https://www.contributor-covenant.org
[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
[Mozilla CoC]: https://github.com/mozilla/diversity
[FAQ]: https://www.contributor-covenant.org/faq
[translations]: https://www.contributor-covenant.org/translations

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# How to contribute to 🤗 LeRobot?
Everyone is welcome to contribute, and we value everybody's contribution. Code
is thus not the only way to help the community. Answering questions, helping
others, reaching out and improving the documentations are immensely valuable to
the community.
It also helps us if you spread the word: reference the library from blog posts
on the awesome projects it made possible, shout out on Twitter when it has
helped you, or simply ⭐️ the repo to say "thank you".
Whichever way you choose to contribute, please be mindful to respect our
[code of conduct](https://github.com/huggingface/lerobot/blob/main/CODE_OF_CONDUCT.md).
## You can contribute in so many ways!
Some of the ways you can contribute to 🤗 LeRobot:
* Fixing outstanding issues with the existing code.
* Implementing new models, datasets or simulation environments.
* 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?
Awesome! Tell us what problem it solved for you.
2. Write a *paragraph* describing the feature.
3. Provide a **code snippet** that demonstrates its future use.
4. In case this is related to a paper, please attach a link.
5. Attach any additional information (drawings, screenshots, etc.) you think may help.
If your issue is well written we're already 80% of the way there by the time you
post it.
## Submitting a pull request (PR)
Before writing code, we strongly advise you to search through the existing PRs or
issues to make sure that nobody is already working on the same thing. If you are
unsure, it is always a good idea to open an issue to get some feedback.
You will need basic `git` proficiency to be able to contribute to
🤗 LeRobot. `git` is not the easiest tool to use but it has the greatest
manual. Type `git --help` in a shell and enjoy. If you prefer books, [Pro
Git](https://git-scm.com/book/en/v2) is a very good reference.
Follow these steps to start contributing:
1. Fork the [repository](https://github.com/huggingface/lerobot) by
clicking on the 'Fork' button on the repository's page. This creates a copy of the code
under your GitHub user account.
2. Clone your fork to your local disk, and add the base repository as a remote. The following command
assumes you have your public SSH key uploaded to GitHub. See the following guide for more
[information](https://docs.github.com/en/repositories/creating-and-managing-repositories/cloning-a-repository).
```bash
git clone git@github.com:<your Github handle>/lerobot.git
cd lerobot
git remote add upstream https://github.com/huggingface/lerobot.git
```
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:
```bash
git add modified_file.py
git commit
```
Please write [good commit messages](https://chris.beams.io/posts/git-commit/).
It is a good idea to sync your copy of the code with the original
repository regularly. This way you can quickly account for changes:
```bash
git fetch upstream
git rebase upstream/main
```
Push the changes to your account using:
```bash
git push -u origin a-descriptive-name-for-my-changes
```
6. Once you are satisfied (**and the checklist below is happy too**), go to the
webpage of your fork on GitHub. Click on 'Pull request' to send your changes
to the project maintainers for review.
7. It's ok if maintainers ask you for changes. It happens to core contributors
too! So everyone can see the changes in the Pull request, work in your local
branch and push the changes to your fork. They will automatically appear in
the pull request.
### Checklist
1. The title of your pull request should be a summary of its contribution;
2. If your pull request addresses an issue, please mention the issue number in
the pull request description to make sure they are linked (and people
consulting the issue know you are working on it);
3. To indicate a work in progress please prefix the title with `[WIP]`, or preferably mark
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:
```bash
DATA_DIR="tests/data" python -m pytest -sv ./tests
```
You can specify a smaller set of tests in order to test only the feature
you're working on.

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[![Status](https://img.shields.io/pypi/status/lerobot)](https://pypi.org/project/lerobot/) [![Status](https://img.shields.io/pypi/status/lerobot)](https://pypi.org/project/lerobot/)
[![Version](https://img.shields.io/pypi/v/lerobot)](https://pypi.org/project/lerobot/) [![Version](https://img.shields.io/pypi/v/lerobot)](https://pypi.org/project/lerobot/)
[![Examples](https://img.shields.io/badge/Examples-green.svg)](https://github.com/huggingface/lerobot/tree/main/examples) [![Examples](https://img.shields.io/badge/Examples-green.svg)](https://github.com/huggingface/lerobot/tree/main/examples)
[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-v2.1%20adopted-ff69b4.svg)](https://github.com/huggingface/lerobot/blob/main/CODE_OF_CONDUCT.md)
[![Discord](https://dcbadge.vercel.app/api/server/C5P34WJ68S?style=flat)](https://discord.gg/s3KuuzsPFb) [![Discord](https://dcbadge.vercel.app/api/server/C5P34WJ68S?style=flat)](https://discord.gg/s3KuuzsPFb)
</div> </div>
@ -189,89 +190,7 @@ hydra.run.dir=outputs/train/aloha_act
## Contribute ## Contribute
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 would like to contribute to 🤗 LeRobot, please check out our [contribution guide](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md).
### TODO
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)
### Follow our style
```bash
# install if needed
pre-commit install
# apply style and linter checks before git commit
pre-commit
```
### Dependencies
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.
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
```
### Run tests locally
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
```
When adding a new dataset, mock it with
```bash
python tests/scripts/mock_dataset.py --in-data-dir data/$DATASET --out-data-dir tests/data/$DATASET
```
Run tests
```bash
DATA_DIR="tests/data" pytest -sx tests
```
### Add a new dataset ### Add a new dataset

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import platform
import huggingface_hub
# import dataset
import numpy as np
import torch
from lerobot import __version__ as version
pt_version = torch.__version__
pt_cuda_available = torch.cuda.is_available()
pt_cuda_available = torch.cuda.is_available()
cuda_version = torch._C._cuda_getCompiledVersion() if torch.version.cuda is not None else "N/A"
# TODO(aliberts): refactor into an actual command `lerobot env`
def get_env_info() -> dict:
"""Run this to get basic system info to help for tracking issues & bugs."""
info = {
"`lerobot` version": version,
"Platform": platform.platform(),
"Python version": platform.python_version(),
"Huggingface_hub version": huggingface_hub.__version__,
# TODO(aliberts): Add dataset when https://github.com/huggingface/lerobot/pull/73 is merged
# "Dataset version": dataset.__version__,
"Numpy version": np.__version__,
"PyTorch version (GPU?)": f"{pt_version} ({pt_cuda_available})",
"Cuda version": cuda_version,
"Using GPU in script?": "<fill in>",
"Using distributed or parallel set-up in script?": "<fill in>",
}
print("\nCopy-and-paste the text below in your GitHub issue and FILL OUT the two last points.\n")
print(format_dict(info))
return info
def format_dict(d: dict) -> str:
return "\n".join([f"- {prop}: {val}" for prop, val in d.items()]) + "\n"
if __name__ == "__main__":
get_env_info()