Add docstrings to all new helpers; revert uv.lock

Covers private helpers in recipe.py, language.py, language_render.py,
and render_messages_processor.py. Also reverts uv.lock to main (it was
re-generated by `uv run` during local checks).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/lerobot/configs/recipe.py

@@ -58,6 +58,7 @@ class MessageTurn:
     tool_calls_from: str | None = None
 
     def __post_init__(self) -> None:
+        """Validate role, stream, and content after dataclass construction."""
         if self.role not in _VALID_ROLES:
             raise ValueError(f"Unsupported message role: {self.role!r}")
         if self.stream is not None and self.stream not in _VALID_STREAMS:
@@ -75,6 +76,7 @@ class MessageTurn:
 
     @classmethod
     def from_dict(cls, data: dict[str, Any]) -> MessageTurn:
+        """Construct a :class:`MessageTurn` from a plain dictionary."""
         return cls(**data)
 
 
@@ -93,6 +95,7 @@ class TrainingRecipe:
     weight: float | None = None
 
     def __post_init__(self) -> None:
+        """Validate that exactly one of ``messages`` or ``blend`` is set."""
         if self.messages is not None and self.blend is not None:
             raise ValueError("TrainingRecipe must set only one of messages or blend.")
         if self.messages is None and self.blend is None:
@@ -105,6 +108,7 @@ class TrainingRecipe:
 
     @classmethod
     def from_dict(cls, data: dict[str, Any]) -> TrainingRecipe:
+        """Construct a :class:`TrainingRecipe` from a nested dictionary."""
         data = dict(data)
         if data.get("messages") is not None:
             data["messages"] = [
@@ -120,6 +124,7 @@ class TrainingRecipe:
 
     @classmethod
     def from_yaml(cls, path: str | Path) -> TrainingRecipe:
+        """Load a :class:`TrainingRecipe` from a YAML file at ``path``."""
         import yaml  # type: ignore[import-untyped]
 
         with open(path) as f:
@@ -129,6 +134,7 @@ class TrainingRecipe:
         return cls.from_dict(data)
 
     def _validate_message_recipe(self) -> None:
+        """Ensure every templated binding is known and at least one turn is a target."""
         assert self.messages is not None
         known_bindings = set(DEFAULT_BINDINGS) | set(self.bindings or {}) | {"task"}
 
@@ -141,6 +147,7 @@ class TrainingRecipe:
             raise ValueError("Message recipes must contain at least one target turn.")
 
     def _validate_blend_recipe(self) -> None:
+        """Ensure each blend component is a non-empty, weighted message recipe."""
         assert self.blend is not None
         if not self.blend:
             raise ValueError("Blend recipes must contain at least one component.")
@@ -156,6 +163,7 @@ class TrainingRecipe:
                 raise ValueError(f"Blend component {name!r} must have a positive weight.")
 
     def _referenced_bindings(self, turn: MessageTurn) -> set[str]:
+        """Return the binding names that ``turn`` references via placeholders or attributes."""
         names: set[str] = set()
         if turn.if_present is not None:
             names.add(turn.if_present)
@@ -166,6 +174,7 @@ class TrainingRecipe:
 
 
 def _placeholders_in_content(content: str | list[dict[str, Any]] | None) -> set[str]:
+    """Return the set of ``${name}`` placeholders found anywhere in ``content``."""
     if content is None:
         return set()
     if isinstance(content, str):

src/lerobot/datasets/language.py

@@ -38,10 +38,12 @@ LanguageColumn = Literal["language_persistent", "language_events"]
 
 
 def _json_arrow_type() -> pa.DataType:
+    """Return the Arrow JSON type, falling back to ``string`` on older pyarrow."""
     return pa.json_() if hasattr(pa, "json_") else pa.string()
 
 
 def _json_feature() -> object:
+    """Return the HF ``datasets`` JSON feature, falling back to a string value."""
     return datasets.Json() if hasattr(datasets, "Json") else datasets.Value("string")
 
 

src/lerobot/datasets/language_render.py

@@ -175,6 +175,7 @@ def render_sample(
 
 
 def _select_recipe(recipe: TrainingRecipe, sample_idx: int) -> TrainingRecipe:
+    """Pick a deterministic blend component for ``sample_idx`` (or return ``recipe``)."""
     if recipe.blend is None:
         return recipe
 
@@ -204,6 +205,7 @@ def _resolve_bindings(
     task: str | None,
     dataset_ctx: Any | None,
 ) -> dict[str, LanguageRow | str | None]:
+    """Resolve every binding in ``recipe`` (plus ``task``) at time ``t``."""
     bindings: dict[str, LanguageRow | str | None] = {"task": _resolve_task(task, dataset_ctx)}
     specs = {**DEFAULT_BINDINGS, **(recipe.bindings or {})}
     for name, spec in specs.items():
@@ -212,6 +214,7 @@ def _resolve_bindings(
 
 
 def _resolve_task(task: str | None, dataset_ctx: Any | None) -> str | None:
+    """Return ``task`` if set, otherwise look it up on ``dataset_ctx``."""
     if task is not None:
         return task
     if dataset_ctx is None:
@@ -228,6 +231,7 @@ def _resolve_spec(
     events: Sequence[LanguageRow],
     t: float,
 ) -> LanguageRow | None:
+    """Parse a single binding's resolver expression and dispatch to its function."""
     match = _RESOLVER_RE.match(spec.strip())
     if match is None:
         raise ValueError(f"Invalid resolver expression: {spec!r}")
@@ -247,6 +251,7 @@ def _resolve_spec(
 
 
 def _parse_resolver_args(args: str) -> dict[str, Any]:
+    """Parse a comma-separated resolver argument list into a kwargs dict."""
     kwargs: dict[str, Any] = {}
     if not args.strip():
         return kwargs
@@ -270,6 +275,7 @@ def _render_message_recipe(
     recipe: TrainingRecipe,
     bindings: dict[str, LanguageRow | str | None],
 ) -> RenderedMessages | None:
+    """Expand ``recipe.messages`` into rendered chat messages using ``bindings``."""
     assert recipe.messages is not None
     messages: list[dict[str, Any]] = []
     streams: list[str | None] = []
@@ -311,6 +317,7 @@ def _render_content(
     content: str | list[dict[str, Any]],
     bindings: dict[str, LanguageRow | str | None],
 ) -> str | list[dict[str, Any]]:
+    """Substitute bindings into a string or each string field of multimodal blocks."""
     if isinstance(content, str):
         return _substitute(content, bindings)
 
@@ -325,7 +332,10 @@ def _render_content(
 
 
 def _substitute(template: str, bindings: dict[str, LanguageRow | str | None]) -> str:
+    """Replace ``${name}`` placeholders in ``template`` with their bound values."""
+
     def replace(match: re.Match[str]) -> str:
+        """Resolve a single ``${name}`` match to its bound string value."""
         name = match.group(1)
         if name not in bindings:
             raise ValueError(f"Unknown template binding: {name!r}")
@@ -341,6 +351,7 @@ def _substitute(template: str, bindings: dict[str, LanguageRow | str | None]) ->
 
 
 def _validate_rendered(rendered: RenderedMessages) -> None:
+    """Sanity-check the rendered output for stream/target alignment."""
     messages = rendered["messages"]
     streams = rendered["message_streams"]
     target_indices = rendered["target_message_indices"]
@@ -367,6 +378,7 @@ def _nth_relative(
     tool_name: str | None,
     resolver_name: str,
 ) -> LanguageRow | None:
+    """Shared body for ``nth_prev`` / ``nth_next`` with signed ``offset``."""
     _validate_persistent_resolver(resolver_name, style)
     if abs(offset) < 1:
         raise ValueError(f"{resolver_name} offset must be non-zero.")
@@ -393,6 +405,7 @@ def _nth_relative(
 
 
 def _validate_persistent_resolver(resolver_name: str, style: str | None) -> None:
+    """Reject calls with missing or event-only ``style`` for persistent resolvers."""
     if style is None:
         raise ValueError(f"{resolver_name} requires a persistent style.")
     if style in EVENT_ONLY_STYLES:
@@ -408,6 +421,7 @@ def _matching_rows(
     role: str | None,
     tool_name: str | None,
 ) -> list[LanguageRow]:
+    """Return ``rows`` filtered by optional ``style``/``role``/``tool_name`` selectors."""
     return [
         row
         for row in rows
@@ -424,6 +438,7 @@ def _select_latest(
     role: str | None,
     tool_name: str | None,
 ) -> LanguageRow | None:
+    """Return the row tied for the latest ``timestamp`` (disambiguated by selectors)."""
     if not rows:
         return None
     rows = sorted(rows, key=_persistent_sort_key)
@@ -445,6 +460,7 @@ def _select_one(
     tool_name: str | None,
     sort_key: Any,
 ) -> LanguageRow | None:
+    """Return the single matching row, or raise if the selectors are ambiguous."""
     if not rows:
         return None
     if len(rows) > 1 and role is None and tool_name is None:
@@ -455,19 +471,23 @@ def _select_one(
 
 
 def _persistent_sort_key(row: LanguageRow) -> tuple[float, str, str]:
+    """Sort key for persistent rows: ``(timestamp, style, role)``."""
     return (_timestamp(row), row.get("style") or "", row.get("role") or "")
 
 
 def _event_sort_key(row: LanguageRow) -> tuple[str, str]:
+    """Sort key for event rows: ``(style, role)`` (timestamp is implicit in the frame)."""
     return (row.get("style") or "", row.get("role") or "")
 
 
 def _timestamp(row: LanguageRow) -> float:
+    """Extract a row's ``timestamp`` as a Python float (unwrapping numpy scalars)."""
     value = row["timestamp"]
     return float(value.item() if hasattr(value, "item") else value)
 
 
 def _row_has_tool_name(row: LanguageRow, tool_name: str) -> bool:
+    """Return ``True`` if any of the row's tool calls invokes ``tool_name``."""
     for tool_call in row.get("tool_calls") or []:
         if isinstance(tool_call, str):
             continue
@@ -478,6 +498,7 @@ def _row_has_tool_name(row: LanguageRow, tool_name: str) -> bool:
 
 
 def _normalize_rows(rows: Sequence[Any]) -> list[LanguageRow]:
+    """Convert pyarrow scalars / mappings into a fresh list of plain dict rows."""
     normalized = []
     for row in rows:
         if row is None:

src/lerobot/processor/render_messages_processor.py

@@ -79,10 +79,12 @@ class RenderMessagesStep(ProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Pass features through unchanged; rendering only touches complementary data."""
         return features
 
 
 def _scalar(value: Any) -> float | int:
+    """Unwrap a tensor/array/single-element list into a Python scalar."""
     if hasattr(value, "item"):
         return value.item()
     if isinstance(value, list) and len(value) == 1:

uv.lock

@@ -1,5 +1,5 @@
 version = 1
-revision = 3
+revision = 2
 requires-python = ">=3.12"
 resolution-markers = [
     "python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
@@ -951,7 +951,7 @@ 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 platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' 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" },
@@ -1038,7 +1038,7 @@ 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' and platform_machine != 's390x') or (platform_machine != 's390x' and sys_platform != 'linux')" },
+    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l') or 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" },
@@ -2993,7 +2993,7 @@ requires-dist = [
     { name = "av", marker = "extra == 'av-dep'", specifier = ">=15.0.0,<16.0.0" },
     { name = "cmake", specifier = ">=3.29.0.1,<4.2.0" },
     { name = "contourpy", marker = "extra == 'matplotlib-dep'", specifier = ">=1.3.0,<2.0.0" },
-    { name = "datasets", marker = "extra == 'dataset'", specifier = ">=4.7.0,<5.0.0" },
+    { name = "datasets", marker = "extra == 'dataset'", specifier = ">=4.0.0,<5.0.0" },
     { name = "debugpy", marker = "extra == 'dev'", specifier = ">=1.8.1,<1.9.0" },
     { name = "decord", marker = "(platform_machine == 'AMD64' and extra == 'groot') or (platform_machine == 'x86_64' and extra == 'groot')", specifier = ">=0.6.0,<1.0.0" },
     { name = "deepdiff", marker = "extra == 'deepdiff-dep'", specifier = ">=7.0.1,<9.0.0" },
@@ -4039,7 +4039,7 @@ 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 platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' 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" },
@@ -4050,7 +4050,7 @@ 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 platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -4077,9 +4077,9 @@ name = "nvidia-cusolver-cu12"
 version = "11.7.3.90"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
-    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cusparse-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'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -4090,7 +4090,7 @@ name = "nvidia-cusparse-cu12"
 version = "12.5.8.93"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -4933,10 +4933,10 @@ name = "pyobjc-framework-applicationservices"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-framework-cocoa", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-coretext", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-framework-coretext", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-quartz", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-framework-quartz", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/be/6a/d4e613c8e926a5744fc47a9e9fea08384a510dc4f27d844f7ad7a2d793bd/pyobjc_framework_applicationservices-12.1.tar.gz", hash = "sha256:c06abb74f119bc27aeb41bf1aef8102c0ae1288aec1ac8665ea186a067a8945b", size = 103247, upload-time = "2025-11-14T10:08:52.18Z" }
 wheels = [
@@ -4952,7 +4952,7 @@ name = "pyobjc-framework-cocoa"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/02/a3/16ca9a15e77c061a9250afbae2eae26f2e1579eb8ca9462ae2d2c71e1169/pyobjc_framework_cocoa-12.1.tar.gz", hash = "sha256:5556c87db95711b985d5efdaaf01c917ddd41d148b1e52a0c66b1a2e2c5c1640", size = 2772191, upload-time = "2025-11-14T10:13:02.069Z" }
 wheels = [
@@ -4968,9 +4968,9 @@ name = "pyobjc-framework-coretext"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-framework-cocoa", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-quartz", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-framework-quartz", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
 ]
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 wheels = [
@@ -4986,8 +4986,8 @@ name = "pyobjc-framework-quartz"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
-    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
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