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Merge branch 'main' into feat/bump_rerun

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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-06-29 13:08:34 +02:00
committed by GitHub
parent fcd8ab5800 3dd19d043e
commit 000c716dee
208 changed files with 14392 additions and 3222 deletions
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pyproject.toml
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@@ -115,8 +115,8 @@ dataset = [
]
training = [
"lerobot[dataset]",
"accelerate>=1.10.0,<2.0.0",
"wandb>=0.24.0,<0.25.0",
"wandb>=0.24.0,<0.28.0",
"lerobot[accelerate-dep]",
]
hardware = [
"lerobot[pynput-dep]",
@@ -140,9 +140,17 @@ av-dep = ["av>=15.0.0,<16.0.0"]
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
# NOTE: 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable on Ubuntu 24.04
# (noble ships urdfdom 3.x). Cap below 0.9.16 until system urdfdom 4.x is broadly available.
placo-dep = ["placo>=0.9.6,<0.9.16"]
#
# NOTE: placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel sonames
# (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=` floors on their cmeel
# packages. The 2026-05-21 major bumps (cmeel-urdfdom 6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0
# -> .so.11) ship newer sonames, so left unpinned the resolver grabs them and `import placo`
# fails at load with "liburdfdom_sensor.so.4.0: cannot open shared object file" (see #3755).
# There is no cmeel-urdfdom 5.x; <5 selects the 4.x ABI the placo/pin wheels are built against.
placo-dep = ["placo>=0.9.6,<0.9.16", "cmeel-urdfdom>=4,<5", "cmeel-tinyxml2<11"]
transformers-dep = ["transformers>=5.4.0,<5.6.0"]
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"]
peft-dep = ["peft>=0.18.0,<1.0.0"]
scipy-dep = ["scipy>=1.14.0,<2.0.0"]
@@ -177,7 +185,12 @@ unitree_g1 = [
"lerobot[matplotlib-dep]",
"lerobot[pygame-dep]",
]
reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
# reachy2-sdk caps grpcio<=1.73.1 and protobuf<=6.32.0; quarantined here so downstream users aren't held back. reachy2-sdk is unlikely to release new versions.
reachy2 = [
"reachy2_sdk>=1.0.15,<1.1.0",
"grpcio<=1.73.1",
"protobuf<=6.32.0",
]
# Seeed Studio reBot B601-DM follower (motorbridge / CAN) + StarArm102 / reBot Arm 102
# leader (motorbridge-smart-servo / FashionStar UART servos).
rebot = ["lerobot[motorbridge-dep]", "lerobot[motorbridge-smart-servo-dep]"]
@@ -199,7 +212,7 @@ wallx = [
]
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "lerobot[accelerate-dep]"]
multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
groot = [
"lerobot[transformers-dep]",
@@ -223,8 +236,23 @@ vla_jepa = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[qwen
async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
# Annotation pipeline (lerobot-annotate). The only backend is ``openai``,
# which talks to any OpenAI-compatible server (``vllm serve`` /
# ``transformers serve`` / hosted). Distributed runs use Hugging Face Jobs
# (see examples/annotations/run_hf_job.py).
annotations = [
"lerobot[dataset]",
"lerobot[transformers-dep]",
"openai>=1.40,<2.0",
# ``vllm`` is intentionally NOT a hard dep: it pins an older torch, and
# uv's single unified lock would then cap ``torch`` for every extra
# (e.g. forcing 2.8 while ``torchcodec`` in [dataset] needs 2.11 -> ABI
# break in CI). The HF Jobs image (``vllm/vllm-openai``) provides vLLM;
# install it locally only if you run your own ``vllm serve``.
]
# Development
dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1", "mypy>=1.19.1", "ruff>=0.14.1", "lerobot[notebook]"]
dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools>=1.73.1,<2.0.0", "mypy>=1.19.1", "ruff>=0.14.1", "lerobot[notebook]"]
notebook = ["jupyter>=1.0.0,<2.0.0", "ipykernel>=6.0.0,<7.0.0"]
test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0.0,<8.0.0", "mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32'"]
video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
@@ -317,6 +345,7 @@ lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
lerobot-annotate="lerobot.scripts.lerobot_annotate:main"
lerobot-rollout="lerobot.scripts.lerobot_rollout:main"
# ---------------- Tool Configurations ----------------
@@ -335,7 +364,7 @@ torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
torchvision = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
[tool.setuptools.package-data]
lerobot = ["envs/*.json"]
lerobot = ["envs/*.json", "annotations/steerable_pipeline/prompts/*.txt"]
[tool.setuptools.packages.find]
where = ["src"]