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refactor: several fixes

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This commit is contained in:
Steven Palma
2026-04-10 15:35:31 +02:00
parent e2381633cd
commit 882a6b0965
21 changed files with 407 additions and 356 deletions
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pyproject.toml
+10 -9
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@@ -70,6 +70,9 @@ dependencies = [
"huggingface-hub>=1.0.0,<2.0.0",
# Environments
# NOTE: gymnasium is used in lerobot.envs (lerobot-train, lerobot-eval), policies/factory,
# and robots/unitree. Moving it to an optional extra would require import guards across many
# tightly-coupled modules. Candidate for a future refactor to decouple envs from the core.
"gymnasium>=1.1.1,<2.0.0",
# Lightweight utilities
@@ -83,11 +86,11 @@ dependencies = [
# ── Feature-scoped extras ──────────────────────────────────
dataset = [
"datasets>=4.0.0,<5.0.0",
"av>=15.0.0,<16.0.0",
"lerobot[av-dep]",
"torchcodec>=0.3.0,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10).
"jsonlines>=4.0.0,<5.0.0",
]
train = [
training = [
"lerobot[dataset]",
"accelerate>=1.10.0,<2.0.0",
"wandb>=0.24.0,<0.25.0",
@@ -110,13 +113,12 @@ build = [
# lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
robot = ["lerobot[dataset]", "lerobot[hardware]", "lerobot[viz]"]
# lerobot-eval
evaluation = ["av>=15.0.0,<16.0.0"]
# lerobot-train
training = ["lerobot[train]"]
evaluation = ["lerobot[av-dep]"]
# lerobot-dataset-viz, lerobot-imgtransform-viz
dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
# Common
av-dep = ["av>=15.0.0,<16.0.0"]
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.9.17"]
transformers-dep = ["transformers==5.3.0"] # TODO(Steven): https://github.com/huggingface/lerobot/pull/3249
@@ -186,8 +188,8 @@ async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
# Development
dev = ["lerobot[dataset]", "lerobot[train]", "lerobot[hardware]", "lerobot[viz]", "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"]
test = ["lerobot[dataset]", "lerobot[train]", "lerobot[hardware]", "lerobot[viz]", "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'"]
dev = ["lerobot[dataset]", "lerobot[training]", "lerobot[hardware]", "lerobot[viz]", "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"]
test = ["lerobot[dataset]", "lerobot[training]", "lerobot[hardware]", "lerobot[viz]", "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"]
# Simulation
@@ -201,7 +203,7 @@ metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
all = [
# Feature-scoped extras
"lerobot[dataset]",
"lerobot[train]",
"lerobot[training]",
"lerobot[hardware]",
"lerobot[viz]",
"lerobot[build]",
@@ -294,7 +296,6 @@ ignore = [
[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401", "F403", "E402"]
"src/lerobot/scripts/*" = ["E402"] # require_package gates before imports
"src/lerobot/policies/wall_x/**" = ["N801", "N812", "SIM102", "SIM108", "SIM210", "SIM211", "B006", "B007", "SIM118"] # Supprese these as they are coming from original Qwen2_5_vl code TODO(pepijn): refactor original
[tool.ruff.lint.isort]