More CI cleanup, add style workflow (#107)

- Changes on the `test.yml` workflow:
  - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
  - Reduce the trigger scope to only run when files in these directories are modified:
    - `lerobot/`
    - `tests/`
    - `examples/`
    - `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)

.github/poetry/cpu_DEPRECATED/pyproject.toml

@@ -1,107 +0,0 @@
-[tool.poetry]
-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>",
-    "Alexander Soare <alexander.soare159@gmail.com>",
-    "Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
-    "Simon Alibert <alibert.sim@gmail.com>",
-    "Thomas Wolf <thomaswolfcontact@gmail.com>",
-]
-repository = "https://github.com/huggingface/lerobot"
-readme = "README.md"
-license = "Apache-2.0"
-classifiers=[
-    "Development Status :: 3 - Alpha",
-    "Intended Audience :: Developers",
-    "Intended Audience :: Education",
-    "Intended Audience :: Science/Research",
-    "Topic :: Software Development :: Build Tools",
-    "Topic :: Scientific/Engineering :: Artificial Intelligence",
-    "License :: OSI Approved :: Apache Software License",
-    "Programming Language :: Python :: 3.10",
-]
-packages = [{include = "lerobot"}]
-
-
-[tool.poetry.dependencies]
-python = "^3.10"
-termcolor = "^2.4.0"
-omegaconf = "^2.3.0"
-wandb = "^0.16.3"
-imageio = {extras = ["ffmpeg"], version = "^2.34.0"}
-gdown = "^5.1.0"
-hydra-core = "^1.3.2"
-einops = "^0.7.0"
-pymunk = "^6.6.0"
-zarr = "^2.17.0"
-numba = "^0.59.0"
-torch = {version = "^2.2.1", source = "torch-cpu"}
-opencv-python = "^4.9.0.80"
-diffusers = "^0.26.3"
-torchvision = {version = "^0.17.1", source = "torch-cpu"}
-h5py = "^3.10.0"
-huggingface-hub = "^0.21.4"
-robomimic = "0.2.0"
-gymnasium = "^0.29.1"
-cmake = "^3.29.0.1"
-gym-pusht = { git = "git@github.com:huggingface/gym-pusht.git", optional = true}
-gym-xarm = { git = "git@github.com:huggingface/gym-xarm.git", optional = true}
-gym-aloha = { git = "git@github.com:huggingface/gym-aloha.git", 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"
-
-
-[tool.poetry.extras]
-pusht = ["gym-pusht"]
-xarm = ["gym-xarm"]
-aloha = ["gym-aloha"]
-dev = ["pre-commit", "debugpy"]
-test = ["pytest", "pytest-cov"]
-
-
-[[tool.poetry.source]]
-name = "torch-cpu"
-url = "https://download.pytorch.org/whl/cpu"
-priority = "supplemental"
-
-
-[tool.ruff]
-line-length = 110
-target-version = "py310"
-exclude = [
-    ".bzr",
-    ".direnv",
-    ".eggs",
-    ".git",
-    ".git-rewrite",
-    ".hg",
-    ".mypy_cache",
-    ".nox",
-    ".pants.d",
-    ".pytype",
-    ".ruff_cache",
-    ".svn",
-    ".tox",
-    ".venv",
-    "__pypackages__",
-    "_build",
-    "buck-out",
-    "build",
-    "dist",
-    "node_modules",
-    "venv",
-]
-
-
-[tool.ruff.lint]
-select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
-
-
-[build-system]
-requires = ["poetry-core>=1.5.0"]
-build-backend = "poetry.core.masonry.api"

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

@@ -1,6 +1,6 @@
 # Inspired by
 # https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
-name: Nightly Builds
+name: Builds
 
 on:
   workflow_dispatch:
@@ -8,10 +8,6 @@ on:
   schedule:
     - cron: "0 1 * * *"
 
-# concurrency:
-#   group: docker-image-builds
-#   cancel-in-progress: false
-
 env:
   PYTHON_VERSION: "3.10"
 #   CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
@@ -40,6 +36,8 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v4
 
+      # HACK(aliberts): to be removed for release
+      # -----------------------------------------
       - name: Checkout gym-aloha
         uses: actions/checkout@v4
         with:
@@ -61,8 +59,6 @@ jobs:
           path: envs/gym-pusht
           ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
-      # HACK(aliberts): to be removed for release
-      # -----------------------------------------
       - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
@@ -134,6 +130,8 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v4
 
+      # HACK(aliberts): to be removed for release
+      # -----------------------------------------
       - name: Checkout gym-aloha
         uses: actions/checkout@v4
         with:
@@ -155,8 +153,6 @@ jobs:
           path: envs/gym-pusht
           ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
-      # HACK(aliberts): to be removed for release
-      # -----------------------------------------
       - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:

.github/workflows/nightly-tests.yml

@@ -1,6 +1,6 @@
 # Inspired by
 # https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
-name: Nightly Tests
+name: Nightly
 
 on:
   workflow_dispatch:
@@ -11,7 +11,6 @@ env:
   DATA_DIR: tests/data
   # SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
 
-
 jobs:
   run_all_tests_cpu:
     name: "Test CPU"
@@ -33,11 +32,13 @@ jobs:
         env:
           DATA_DIR: tests/data
         run: pytest -v --cov=./lerobot --disable-warnings tests
+
       - name: Tests end-to-end
         env:
           DATA_DIR: tests/data
         run: make test-end-to-end
 
+
   run_all_tests_single_gpu:
     name: "Test GPU"
     strategy:
@@ -59,6 +60,7 @@ jobs:
     steps:
       - name: Nvidia-smi
         run: nvidia-smi
+
       - name: Test
         run: pytest -v --cov=./lerobot --cov-report=xml --disable-warnings tests
       #   TODO(aliberts): Link with HF Codecov account
@@ -69,14 +71,6 @@ jobs:
       #     verbose: true
       - name: Tests end-to-end
         run: make test-end-to-end
-      - name: Tailscale Wait
-        if: ${{ failure() || runner.debug == '1' }}
-        uses: huggingface/tailscale-action@v1
-        with:
-           waitForSSH: true
-           authkey: ${{ secrets.TAILSCALE_SSH_AUTHKEY }}
-           slackChannel: ${{ secrets.SLACK_CIFEEDBACK_CHANNEL }}
-           slackToken: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
 
     #   - name: Generate Report
     #     if: always()

.github/workflows/style.yml

@@ -0,0 +1,38 @@
+name: Style
+
+on:
+  workflow_dispatch:
+  workflow_call:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+
+env:
+  PYTHON_VERSION: "3.10"
+
+jobs:
+  ruff_check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      - name: Get Ruff Version from pre-commit-config.yaml
+        id: get-ruff-version
+        run: |
+          RUFF_VERSION=$(awk '/repo: https:\/\/github.com\/astral-sh\/ruff-pre-commit/{flag=1;next}/rev:/{if(flag){print $2;exit}}' .pre-commit-config.yaml)
+          echo "RUFF_VERSION=${RUFF_VERSION}" >> $GITHUB_ENV
+
+      - name: Install Ruff
+        run: python -m pip install "ruff==${{ env.RUFF_VERSION }}"
+
+      - name: Run Ruff
+        run: ruff check .

.github/workflows/test-poetry_DEPRECATED.yml

@@ -1,120 +0,0 @@
-# name: Tests poetry
-
-# on:
-#   pull_request:
-#     branches:
-#       - main
-#   push:
-#     branches:
-#       - main
-
-# jobs:
-#   tests:
-#     runs-on: ubuntu-latest
-#     env:
-#       POETRY_VERSION: 1.8.2
-#       DATA_DIR: tests/data
-#       MUJOCO_GL: egl
-#     steps:
-#       #----------------------------------------------
-#       #       check-out repo and set-up python
-#       #----------------------------------------------
-#       - name: Check out repository
-#         uses: actions/checkout@v4
-#         with:
-#           lfs: true
-
-#       - name: Set up python
-#         id: setup-python
-#         uses: actions/setup-python@v5
-#         with:
-#           python-version: '3.10'
-
-#       - name: Add SSH key for installing envs
-#         uses: webfactory/ssh-agent@v0.9.0
-#         with:
-#           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-#       #----------------------------------------------
-#       #         install & configure poetry
-#       #----------------------------------------------
-#       - name: Load cached Poetry installation
-#         id: restore-poetry-cache
-#         uses: actions/cache/restore@v3
-#         with:
-#           path: ~/.local
-#           key: poetry-${{ env.POETRY_VERSION }}
-
-#       - name: Install Poetry
-#         if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
-#         uses: snok/install-poetry@v1
-#         with:
-#           version: ${{ env.POETRY_VERSION }}
-#           virtualenvs-create: true
-#           installer-parallel: true
-
-#       - name: Save cached Poetry installation
-#         if: |
-#           steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
-#           github.ref_name == 'main'
-#         id: save-poetry-cache
-#         uses: actions/cache/save@v3
-#         with:
-#           path: ~/.local
-#           key: poetry-${{ env.POETRY_VERSION }}
-
-#       - name: Configure Poetry
-#         run: poetry config virtualenvs.in-project true
-
-#       #----------------------------------------------
-#       #           install dependencies
-#       #----------------------------------------------
-#       # TODO(aliberts): move to gpu runners
-#       - name: Select cpu dependencies  # HACK
-#         run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
-
-#       - name: Load cached venv
-#         id: restore-dependencies-cache
-#         uses: actions/cache/restore@v3
-#         with:
-#           path: .venv
-#           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
-
-#       - name: Install dependencies
-#         if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
-#         run: poetry install --no-interaction --no-root --all-extras
-
-#       - name: Save cached venv
-#         if: |
-#             steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
-#             github.ref_name == 'main'
-#         id: save-dependencies-cache
-#         uses: actions/cache/save@v3
-#         with:
-#           path: .venv
-#           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
-
-#       - name: Install EGL
-#         run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
-
-#       #----------------------------------------------
-#       #             install project
-#       #----------------------------------------------
-#       - name: Install project
-#         run: poetry install --no-interaction --all-extras
-
-#       #----------------------------------------------
-#       #            run tests & coverage
-#       #----------------------------------------------
-#       - name: Run tests
-#         run: |
-#           source .venv/bin/activate
-#           pytest -v --cov=./lerobot tests
-
-#       #----------------------------------------------
-#       #            run end-to-end tests
-#       #----------------------------------------------
-#       - name: Tests end-to-end
-#         run: |
-#           source .venv/bin/activate
-#           make test-end-to-end

.github/workflows/test.yml

@@ -4,9 +4,19 @@ on:
   pull_request:
     branches:
       - main
+    paths:
+      - "lerobot/**"
+      - "tests/**"
+      - "examples/**"
+      - ".github/**"
   push:
     branches:
       - main
+    paths:
+      - "lerobot/**"
+      - "tests/**"
+      - "examples/**"
+      - ".github/**"
 
 jobs:
   tests:
@@ -21,26 +31,27 @@ jobs:
           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
       - uses: actions/checkout@v4
-        with:
+
-          lfs: true
+      - name: Install EGL
+        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-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
         with:
           python-version: "3.10"
-          cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
+          cache: "poetry"
-          cache-dependency-path: pyproject.toml
 
-      - name: Install EGL
+      - name: Install poetry dependencies
-        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
-
-      - name: Install pip dependencies
         run: |
-          python -m pip install --upgrade pip
+          poetry install --all-extras
-          pip install -e ".[test, aloha, xarm, pusht]"
 
       - name: Test with pytest
-        run: pytest -v --cov=./lerobot tests
+        run: pytest -v --cov=./lerobot --durations=0 tests
 
       - name: Test end-to-end
         run: make test-end-to-end

.pre-commit-config.yaml

@@ -1,4 +1,4 @@
-exclude: ^(data/|tests/data)
+exclude: ^(tests/data)
 default_language_version:
     python: python3.10
 repos:
@@ -18,7 +18,7 @@ repos:
     hooks:
     -   id: pyupgrade
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.3.7
+    rev: v0.4.2
     hooks:
       - id: ruff
         args: [--fix]

CONTRIBUTING.md

@@ -153,17 +153,6 @@ Follow these steps to start contributing:
    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

Makefile

@@ -1,5 +1,16 @@
 .PHONY: tests
 
+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)
+endif
+
+export PATH := $(dir $(PYTHON_PATH)):$(PATH)
+
+
 build-cpu:
 	docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
 

pyproject.toml

@@ -68,6 +68,7 @@ test = ["pytest", "pytest-cov"]
 line-length = 110
 target-version = "py310"
 exclude = [
+    "tests/data",
     ".bzr",
     ".direnv",
     ".eggs",

tests/test_examples.py

@@ -1,5 +1,6 @@
 # TODO(aliberts): Mute logging for these tests
 import subprocess
+import sys
 from pathlib import Path
 
 
@@ -11,7 +12,7 @@ def _find_and_replace(text: str, finds_and_replaces: list[tuple[str, str]]) -> s
 
 
 def _run_script(path):
-    subprocess.run(["python", path], check=True)
+    subprocess.run([sys.executable, path], check=True)
 
 
 def test_example_1():