From 5a065c8f87f9d5c11aca3c34e2cee62a7e807a28 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 17 Apr 2026 13:37:26 +0100 Subject: [PATCH] fix(pyproject): drop unresolvable robocasa extra MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit robocasa's upstream setup.py hardcodes `lerobot==0.3.3` in install_requires. Exposing it as the `lerobot[robocasa]` extra made uv's dep resolver cycle: `lerobot[robocasa]` -> robocasa -> lerobot (a different version) -> unsolvable. This broke every `uv sync` — even invocations with an unrelated extra like `--extra test` — because uv validates the whole lockfile graph. - Remove the `robocasa` extra from pyproject.toml. Installation instructions in docs/source/robocasa.mdx now walk users through the manual `git clone` + `pip install --no-deps` flow, which matches what the Docker image already does and sidesteps the cyclic dep entirely. - Dockerfile: `uv pip install -e ~/robocasa --no-deps` so the shadowed lerobot==0.3.3 never lands in the image; install robocasa's actual runtime deps (numpy, numba, scipy, mujoco, tianshou, etc.) explicitly. Made-with: Cursor --- docker/Dockerfile.benchmark.robocasa | 11 ++++++++++- docs/source/robocasa.mdx | 26 ++++++++++++++++++++------ pyproject.toml | 6 +++++- 3 files changed, 35 insertions(+), 8 deletions(-) diff --git a/docker/Dockerfile.benchmark.robocasa b/docker/Dockerfile.benchmark.robocasa index dafa8332a..1d6d1e0fc 100644 --- a/docker/Dockerfile.benchmark.robocasa +++ b/docker/Dockerfile.benchmark.robocasa @@ -24,9 +24,18 @@ FROM huggingface/lerobot-gpu:latest # Install robocasa + robosuite as editable clones. pip-installing from git # omits data files like robocasa/models/assets/box_links/box_links_assets.json # (not declared in package_data), which download_kitchen_assets needs at import. +# +# `--no-deps` on robocasa is deliberate: its setup.py pins `lerobot==0.3.3` +# in install_requires, which would shadow the editable lerobot baked into +# this image. We install robocasa's actual runtime deps explicitly instead. RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \ git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \ - uv pip install --no-cache -e ~/robocasa -e ~/robosuite + uv pip install --no-cache -e ~/robocasa --no-deps && \ + uv pip install --no-cache -e ~/robosuite && \ + uv pip install --no-cache \ + "numpy==2.2.5" "numba==0.61.2" "scipy==1.15.3" "mujoco==3.3.1" \ + pygame Pillow opencv-python pyyaml pynput tqdm termcolor \ + imageio h5py lxml hidapi "tianshou==0.4.10" gymnasium # Set up robocasa macros and download kitchen assets. We need: # - tex : base environment textures diff --git a/docs/source/robocasa.mdx b/docs/source/robocasa.mdx index 8ded2c706..db39e82f3 100644 --- a/docs/source/robocasa.mdx +++ b/docs/source/robocasa.mdx @@ -27,18 +27,32 @@ RoboCasa365 includes **365 tasks** organized into atomic (single-skill) and comp ## Installation -After following the LeRobot installation instructions: +RoboCasa and its dependency `robosuite` are not published on PyPI, and RoboCasa's own `setup.py` hardcodes `lerobot==0.3.3`, which conflicts with this repo's `lerobot`. Install them manually as editable clones (using `--no-deps` on `robocasa` to skip its shadowed `lerobot` pin): ```bash -pip install -e ".[robocasa]" +# After following the standard LeRobot installation instructions. + +git clone https://github.com/robocasa/robocasa.git ~/robocasa +git clone https://github.com/ARISE-Initiative/robosuite.git ~/robosuite +pip install -e ~/robocasa --no-deps +pip install -e ~/robosuite + +# Robocasa's runtime deps (the ones its setup.py would have pulled, +# minus the bad lerobot pin). +pip install numpy numba scipy mujoco pygame Pillow opencv-python \ + pyyaml pynput tqdm termcolor imageio h5py lxml hidapi \ + tianshou gymnasium + python -m robocasa.scripts.setup_macros -# Lightweight assets only (lightwheel registry, ~2GB). Enough for the -# default env out of the box. -python -m robocasa.scripts.download_kitchen_assets --type tex fixtures_lw objs_lw +# Lightweight assets only (lightwheel registry, ~2GB + the generative +# textures needed by the fixture XMLs). Enough for the default env out +# of the box. +python -m robocasa.scripts.download_kitchen_assets \ + --type tex tex_generative fixtures_lw objs_lw # Optional: full objaverse/aigen registries (~30GB) for richer object # variety. If you download these, pass them via `--env.obj_registries` # at eval/train time (see below). -# python -m robocasa.scripts.download_kitchen_assets --type objaverse +# python -m robocasa.scripts.download_kitchen_assets --type objs_objaverse ``` diff --git a/pyproject.toml b/pyproject.toml index 7d0b21fd4..10789b0f2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -212,7 +212,11 @@ aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"] pusht = ["lerobot[dataset]", "gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"] metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"] -robocasa = ["lerobot[dataset]", "robocasa @ git+https://github.com/robocasa/robocasa.git", "robosuite @ git+https://github.com/ARISE-Initiative/robosuite.git", "lerobot[scipy-dep]"] +# NOTE: robocasa is NOT exposed as a `lerobot` extra. Its setup.py pins +# `lerobot==0.3.3` in install_requires, which cyclically shadows our own +# workspace `lerobot` and makes the graph unsolvable under any resolver +# (uv, pip). Install it manually alongside robosuite — see +# docs/source/robocasa.mdx for the recipe. # All all = [