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complete migration

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This commit is contained in:
Steven Palma
2026-04-12 12:19:26 +02:00
parent 87528186c0
commit 27292a3432
23 changed files with 132 additions and 55 deletions
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examples/dataset/use_dataset_tools.py
+2 -1
View File
@@ -31,12 +31,13 @@ import numpy as np
from lerobot.datasets import (
LeRobotDataset,
add_features,
delete_episodes,
merge_datasets,
modify_features,
remove_feature,
split_dataset,
)
from lerobot.datasets.dataset_tools import add_features, modify_features
def main():
examples/hil/hil_utils.py
-2
View File
@@ -25,8 +25,6 @@ from lerobot.processor import (
RobotAction,
RobotObservation,
RobotProcessorPipeline,
)
from lerobot.processor.converters import (
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
examples/phone_to_so100/evaluate.py
-2
View File
@@ -24,8 +24,6 @@ from lerobot.policies.act import ACTPolicy
from lerobot.processor import (
RobotProcessorPipeline,
make_default_teleop_action_processor,
)
from lerobot.processor.converters import (
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
examples/phone_to_so100/record.py
+2 -2
View File
@@ -18,8 +18,8 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.common.control_utils import init_keyboard_listener
from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
examples/phone_to_so100/replay.py
+2 -2
View File
@@ -18,8 +18,8 @@ import time
from lerobot.datasets import LeRobotDataset
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
robot_action_observation_to_transition,
transition_to_robot_action,
)
examples/phone_to_so100/teleoperate.py
+2 -2
View File
@@ -16,8 +16,8 @@
import time
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
robot_action_observation_to_transition,
transition_to_robot_action,
)
examples/port_datasets/slurm_aggregate_shards.py
+1 -1
View File
@@ -36,7 +36,7 @@ class AggregateDatasets(PipelineStep):
def run(self, data=None, rank: int = 0, world_size: int = 1):
import logging
from lerobot.datasets.aggregate import aggregate_datasets
from lerobot.datasets import aggregate_datasets
from lerobot.utils.utils import init_logging
init_logging()
examples/port_datasets/slurm_upload.py
+1 -2
View File
@@ -26,8 +26,7 @@ from huggingface_hub import HfApi
from huggingface_hub.constants import REPOCARD_NAME
from port_droid import DROID_SHARDS
from lerobot.datasets import CODEBASE_VERSION, LeRobotDatasetMetadata
from lerobot.datasets.utils import create_lerobot_dataset_card
from lerobot.datasets import CODEBASE_VERSION, LeRobotDatasetMetadata, create_lerobot_dataset_card
from lerobot.utils.utils import init_logging
examples/rtc/eval_dataset.py
+1 -2
View File
@@ -110,8 +110,7 @@ except ImportError:
plt = None
from lerobot.configs import DatasetConfig, PreTrainedConfig, RTCAttentionSchedule, parser
from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
from lerobot.datasets.factory import resolve_delta_timestamps
from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata, resolve_delta_timestamps
from lerobot.policies import get_policy_class, make_pre_post_processors
from lerobot.policies.rtc import RTCConfig
from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer
examples/rtc/eval_with_real_robot.py
+2 -4
View File
@@ -103,7 +103,7 @@ from torch import Tensor
from lerobot.cameras.opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense import RealSenseCameraConfig # noqa: F401
from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig # noqa: F401
from lerobot.cameras.zmq import ZMQCameraConfig # noqa: F401
from lerobot.configs import PreTrainedConfig, RTCAttentionSchedule, parser
from lerobot.policies import get_policy_class, make_pre_post_processors
from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
@@ -112,11 +112,9 @@ from lerobot.processor import (
RelativeActionsProcessorStep,
TransitionKey,
create_transition,
to_relative_actions,
)
from lerobot.processor.factory import (
make_default_robot_action_processor,
make_default_robot_observation_processor,
to_relative_actions,
)
from lerobot.rl.process import ProcessSignalHandler
from lerobot.robots import ( # noqa: F401
examples/so100_to_so100_EE/evaluate.py
-2
View File
@@ -24,8 +24,6 @@ from lerobot.policies.act import ACTPolicy
from lerobot.processor import (
RobotProcessorPipeline,
make_default_teleop_action_processor,
)
from lerobot.processor.converters import (
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
examples/so100_to_so100_EE/record.py
+2 -2
View File
@@ -19,8 +19,8 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.common.control_utils import init_keyboard_listener
from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
observation_to_transition,
robot_action_observation_to_transition,
transition_to_observation,
examples/so100_to_so100_EE/replay.py
+2 -2
View File
@@ -19,8 +19,8 @@ import time
from lerobot.datasets import LeRobotDataset
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
robot_action_observation_to_transition,
transition_to_robot_action,
)
examples/so100_to_so100_EE/teleoperate.py
+2 -2
View File
@@ -17,8 +17,8 @@
import time
from lerobot.model.kinematics import RobotKinematics
from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
from lerobot.processor import (
RobotProcessorPipeline,
robot_action_observation_to_transition,
robot_action_to_transition,
transition_to_robot_action,
pyproject.toml
+5 -1
View File
@@ -184,7 +184,6 @@ groot = [
"lerobot[diffusers-dep]",
"dm-tree>=0.1.8,<1.0.0",
"timm>=1.0.0,<1.1.0",
"Pillow>=10.0.0,<13.0.0",
"decord>=0.6.0,<1.0.0; (platform_machine == 'AMD64' or platform_machine == 'x86_64')",
"ninja>=1.11.1,<2.0.0",
"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
@@ -223,13 +222,18 @@ all = [
# the loose scipy requirements from transitive deps like dm-control and metaworld.
"scipy>=1.14.0,<2.0.0",
"lerobot[dynamixel]",
"lerobot[feetech]",
"lerobot[damiao]",
"lerobot[robstride]",
"lerobot[gamepad]",
"lerobot[hopejr]",
"lerobot[lekiwi]",
"lerobot[openarms]",
"lerobot[reachy2]",
"lerobot[kinematics]",
"lerobot[intelrealsense]",
"lerobot[diffusion]",
"lerobot[multi_task_dit]",
"lerobot[wallx]",
"lerobot[pi]",
"lerobot[smolvla]",
src/lerobot/__init__.py
+16 -1
View File
@@ -33,4 +33,19 @@ are gated behind optional extras::
from lerobot.__version__ import __version__
__all__ = ["__version__"]
# Maps optional extras to the CLI entry-points they unlock.
available_extras: dict[str, list[str]] = {
"dataset": ["lerobot-dataset-viz", "lerobot-imgtransform-viz", "lerobot-edit-dataset"],
"training": ["lerobot-train"],
"hardware": [
"lerobot-calibrate",
"lerobot-find-port",
"lerobot-find-cameras",
"lerobot-find-joint-limits",
"lerobot-setup-motors",
],
"core_scripts": ["lerobot-record", "lerobot-replay", "lerobot-teleoperate"],
"evaluation": ["lerobot-eval"],
}
__all__ = ["__version__", "available_extras"]
src/lerobot/data_processing/sarm_annotations/subtask_annotation.py
+1 -2
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@@ -746,8 +746,7 @@ def save_annotations_to_dataset(
dataset_path: Path, annotations: dict[int, SubtaskAnnotation], fps: int, prefix: str = "sparse"
):
"""Save annotations to LeRobot dataset parquet format."""
from lerobot.datasets import load_episodes
from lerobot.datasets.utils import DEFAULT_EPISODES_PATH
from lerobot.datasets import DEFAULT_EPISODES_PATH, load_episodes
episodes_dataset = load_episodes(dataset_path)
if not episodes_dataset or len(episodes_dataset) == 0:
src/lerobot/datasets/__init__.py
+13 -2
View File
@@ -20,18 +20,21 @@ from lerobot.utils.import_utils import require_package
require_package("datasets", extra="dataset")
require_package("av", extra="dataset")
from .compute_stats import aggregate_stats, get_feature_stats
from .aggregate import aggregate_datasets
from .compute_stats import DEFAULT_QUANTILES, aggregate_stats, get_feature_stats
from .dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
from .dataset_tools import (
add_features,
convert_image_to_video_dataset,
delete_episodes,
merge_datasets,
modify_features,
modify_tasks,
recompute_stats,
remove_feature,
split_dataset,
)
from .factory import make_dataset
from .factory import make_dataset, resolve_delta_timestamps
from .image_writer import safe_stop_image_writer
from .io_utils import load_episodes, write_stats
from .lerobot_dataset import LeRobotDataset
@@ -39,6 +42,7 @@ from .multi_dataset import MultiLeRobotDataset
from .pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from .sampler import EpisodeAwareSampler
from .streaming_dataset import StreamingLeRobotDataset
from .utils import DEFAULT_EPISODES_PATH, create_lerobot_dataset_card
from .video_utils import VideoEncodingManager
# NOTE: Low-level I/O functions (cast_stats_to_numpy, get_parquet_file_size_in_mb, etc.)
@@ -47,24 +51,31 @@ from .video_utils import VideoEncodingManager
__all__ = [
"CODEBASE_VERSION",
"DEFAULT_EPISODES_PATH",
"DEFAULT_QUANTILES",
"EpisodeAwareSampler",
"LeRobotDataset",
"LeRobotDatasetMetadata",
"MultiLeRobotDataset",
"StreamingLeRobotDataset",
"VideoEncodingManager",
"add_features",
"aggregate_datasets",
"aggregate_pipeline_dataset_features",
"aggregate_stats",
"convert_image_to_video_dataset",
"create_initial_features",
"create_lerobot_dataset_card",
"delete_episodes",
"get_feature_stats",
"load_episodes",
"make_dataset",
"merge_datasets",
"modify_features",
"modify_tasks",
"recompute_stats",
"remove_feature",
"resolve_delta_timestamps",
"safe_stop_image_writer",
"split_dataset",
"write_stats",
src/lerobot/processor/__init__.py
+10
View File
@@ -29,9 +29,14 @@ from .converters import (
create_transition,
from_tensor_to_numpy,
identity_transition,
observation_to_transition,
policy_action_to_transition,
robot_action_observation_to_transition,
robot_action_to_transition,
transition_to_batch,
transition_to_observation,
transition_to_policy_action,
transition_to_robot_action,
)
from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
from .device_processor import DeviceProcessorStep
@@ -99,8 +104,13 @@ __all__ = [
"create_transition",
"from_tensor_to_numpy",
"identity_transition",
"observation_to_transition",
"policy_action_to_transition",
"robot_action_observation_to_transition",
"robot_action_to_transition",
"transition_to_observation",
"transition_to_policy_action",
"transition_to_robot_action",
"DeviceProcessorStep",
"DoneProcessorStep",
"EnvAction",
src/lerobot/scripts/augment_dataset_quantile_stats.py
+1 -1
View File
@@ -46,12 +46,12 @@ from tqdm import tqdm
from lerobot.datasets import (
CODEBASE_VERSION,
DEFAULT_QUANTILES,
LeRobotDataset,
aggregate_stats,
get_feature_stats,
write_stats,
)
from lerobot.datasets.compute_stats import DEFAULT_QUANTILES
from lerobot.utils.utils import init_logging
src/lerobot/transport/__init__.py
+4
View File
@@ -8,4 +8,8 @@ Available modules (import directly)::
from lerobot.transport.utils import ...
"""
from lerobot.utils.import_utils import require_package
require_package("grpcio", extra="grpcio-dep", import_name="grpc")
__all__: list[str] = []
tests/test_available.py
+39
View File
@@ -14,10 +14,49 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from unittest.mock import patch
import pytest
import lerobot
from lerobot.utils.import_utils import _require_package_cache, require_package
def test_version():
"""Verify the package exposes a version string."""
assert isinstance(lerobot.__version__, str)
assert len(lerobot.__version__) > 0
def test_require_package_raises_when_missing():
"""require_package raises ImportError with install instructions when a package is missing."""
with patch("lerobot.utils.import_utils.is_package_available", return_value=False):
# Clear the cache so the mock takes effect
_require_package_cache.clear()
try:
with pytest.raises(ImportError, match=r"pip install 'lerobot\[dataset\]'"):
require_package("datasets", extra="dataset")
finally:
_require_package_cache.clear()
def test_require_package_passes_when_available():
"""require_package does not raise when the package is installed."""
with patch("lerobot.utils.import_utils.is_package_available", return_value=True):
_require_package_cache.clear()
try:
# Should not raise
require_package("datasets", extra="dataset")
finally:
_require_package_cache.clear()
def test_require_package_error_message_includes_uv():
"""Error message includes both pip and uv install commands."""
with patch("lerobot.utils.import_utils.is_package_available", return_value=False):
_require_package_cache.clear()
try:
with pytest.raises(ImportError, match=r"uv pip install"):
require_package("grpcio", extra="async", import_name="grpc")
finally:
_require_package_cache.clear()
uv.lock
Generated
+24 -20
View File
@@ -829,7 +829,7 @@ name = "cuda-bindings"
version = "12.9.4"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
{ name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
]
wheels = [
{ url = "https://files.pythonhosted.org/packages/a9/c1/dabe88f52c3e3760d861401bb994df08f672ec893b8f7592dc91626adcf3/cuda_bindings-12.9.4-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:fda147a344e8eaeca0c6ff113d2851ffca8f7dfc0a6c932374ee5c47caa649c8", size = 12151019, upload-time = "2025-10-21T14:51:43.167Z" },
@@ -916,7 +916,7 @@ name = "decord"
version = "0.6.0"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l') or sys_platform != 'linux'" },
{ name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x') or (platform_machine != 's390x' and sys_platform != 'linux')" },
]
wheels = [
{ url = "https://files.pythonhosted.org/packages/11/79/936af42edf90a7bd4e41a6cac89c913d4b47fa48a26b042d5129a9242ee3/decord-0.6.0-py3-none-manylinux2010_x86_64.whl", hash = "sha256:51997f20be8958e23b7c4061ba45d0efcd86bffd5fe81c695d0befee0d442976", size = 13602299, upload-time = "2021-06-14T21:30:55.486Z" },
@@ -2265,6 +2265,7 @@ all = [
{ name = "pytest" },
{ name = "pytest-cov" },
{ name = "pytest-timeout" },
{ name = "python-can" },
{ name = "pyzmq" },
{ name = "qwen-vl-utils" },
{ name = "reachy2-sdk" },
@@ -2383,7 +2384,6 @@ groot = [
{ name = "flash-attn", marker = "sys_platform != 'darwin'" },
{ name = "ninja" },
{ name = "peft" },
{ name = "pillow" },
{ name = "timm" },
{ name = "transformers" },
]
@@ -2604,6 +2604,7 @@ requires-dist = [
{ name = "lerobot", extras = ["build"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["can-dep"], marker = "extra == 'damiao'" },
{ name = "lerobot", extras = ["can-dep"], marker = "extra == 'robstride'" },
{ name = "lerobot", extras = ["damiao"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["damiao"], marker = "extra == 'openarms'" },
{ name = "lerobot", extras = ["dataset"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["dataset"], marker = "extra == 'aloha'" },
@@ -2621,6 +2622,7 @@ requires-dist = [
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'multi-task-dit'" },
{ name = "lerobot", extras = ["diffusion"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["dynamixel"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'hopejr'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'lekiwi'" },
{ name = "lerobot", extras = ["gamepad"], marker = "extra == 'all'" },
@@ -2641,6 +2643,8 @@ requires-dist = [
{ name = "lerobot", extras = ["matplotlib-dep"], marker = "extra == 'sarm'" },
{ name = "lerobot", extras = ["matplotlib-dep"], marker = "extra == 'unitree-g1'" },
{ name = "lerobot", extras = ["metaworld"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["multi-task-dit"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["openarms"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["peft"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["peft"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["peft"], marker = "extra == 'wallx'" },
@@ -2656,6 +2660,7 @@ requires-dist = [
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'sarm'" },
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'wallx'" },
{ name = "lerobot", extras = ["reachy2"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["robstride"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["sarm"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'aloha'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'libero'" },
@@ -2702,7 +2707,6 @@ requires-dist = [
{ name = "pandas", marker = "extra == 'video-benchmark'", specifier = ">=2.2.2,<2.4.0" },
{ name = "peft", marker = "extra == 'peft-dep'", specifier = ">=0.18.0,<1.0.0" },
{ name = "pillow", specifier = ">=10.0.0,<13.0.0" },
{ name = "pillow", marker = "extra == 'groot'", specifier = ">=10.0.0,<13.0.0" },
{ name = "placo", marker = "extra == 'placo-dep'", specifier = ">=0.9.6,<0.9.17" },
{ name = "pre-commit", marker = "extra == 'dev'", specifier = ">=3.7.0,<5.0.0" },
{ name = "protobuf", marker = "extra == 'grpcio-dep'", specifier = ">=6.31.1,<6.32.0" },
@@ -3525,7 +3529,7 @@ name = "nvidia-cudnn-cu12"
version = "9.10.2.21"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
{ name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
]
wheels = [
{ url = "https://files.pythonhosted.org/packages/ba/51/e123d997aa098c61d029f76663dedbfb9bc8dcf8c60cbd6adbe42f76d049/nvidia_cudnn_cu12-9.10.2.21-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:949452be657fa16687d0930933f032835951ef0892b37d2d53824d1a84dc97a8", size = 706758467, upload-time = "2025-06-06T21:54:08.597Z" },
@@ -3536,7 +3540,7 @@ name = "nvidia-cufft-cu12"
version = "11.3.3.83"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
{ name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
]
wheels = [
{ url = "https://files.pythonhosted.org/packages/1f/13/ee4e00f30e676b66ae65b4f08cb5bcbb8392c03f54f2d5413ea99a5d1c80/nvidia_cufft_cu12-11.3.3.83-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:4d2dd21ec0b88cf61b62e6b43564355e5222e4a3fb394cac0db101f2dd0d4f74", size = 193118695, upload-time = "2025-03-07T01:45:27.821Z" },
@@ -3563,9 +3567,9 @@ name = "nvidia-cusolver-cu12"
version = "11.7.3.90"
source = { registry = "https://pypi.org/simple" }
dependencies = [
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