mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Steven Palma
35363c5798
* fix: ensure motors module passes MyPy type checks This commit fixes 62 mypy type errors in the motors module by: - Updating Protocol classes (PortHandler, PacketHandler, GroupSyncRead, GroupSyncWrite) to use class-level attribute declarations instead of __init__ body declarations - Adding missing `broadcastPing` method to PacketHandler Protocol - Fixing return type annotations (e.g., `_get_motor_model` returns str, not int) - Fixing parameter types to use `Sequence` for covariant list parameters - Fixing `Mapping` for covariant dict value types in `_normalize` - Updating method signatures to be consistent across parent and child classes (disable_torque, enable_torque, _get_half_turn_homings) - Adding explicit `int()` casts for MotorCalibration arguments - Adding explicit `return None` for functions returning Optional types - Adding type annotations for variables like `data_list: dict[int, int]` - Using `# type: ignore[method-assign]` for intentional monkeypatch - Fixing variable references (using `self.groups` instead of `groups`) Fixes #1723 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> * chore(style): pre-commit after main merge * chore(linter): solve comments * chore(linter): apply pre-commit fixes to damiao * chore(linter): more fixes to damiao --------- Co-authored-by: yurekami <yurekami@users.noreply.github.com> Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com>
477 lines
14 KiB
TOML
477 lines
14 KiB
TOML
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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[build-system]
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requires = ["setuptools"]
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build-backend = "setuptools.build_meta"
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[project.urls]
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homepage = "https://huggingface.co/lerobot"
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documentation = "https://huggingface.co/docs/lerobot/index"
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source = "https://github.com/huggingface/lerobot"
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issues = "https://github.com/huggingface/lerobot/issues"
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discord = "https://discord.gg/s3KuuzsPFb"
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[project]
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name = "lerobot"
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version = "0.4.4"
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description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
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dynamic = ["readme"]
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license = { text = "Apache-2.0" }
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requires-python = ">=3.10"
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authors = [
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{ name = "Rémi Cadène", email = "re.cadene@gmail.com" },
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{ name = "Simon Alibert", email = "alibert.sim@gmail.com" },
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{ name = "Alexander Soare", email = "alexander.soare159@gmail.com" },
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{ name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr" },
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{ name = "Steven Palma", email = "imstevenpmwork@ieee.org" },
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{ name = "Pepijn Kooijmans", email = "pepijnkooijmans@outlook.com"},
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{ name = "Michel Aractingi", email = "michel.aractingi@gmail.com"},
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{ name = "Adil Zouitine", email = "adilzouitinegm@gmail.com" },
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{ name = "Dana Aubakirova", email = "danaaubakirova17@gmail.com"},
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{ name = "Caroline Pascal", email = "caroline8.pascal@gmail.com"},
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{ name = "Martino Russi", email = "nopyeps@gmail.com"},
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{ name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com" },
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]
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classifiers = [
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"Development Status :: 3 - Alpha",
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"Intended Audience :: Developers",
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"Intended Audience :: Education",
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"Intended Audience :: Science/Research",
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"License :: OSI Approved :: Apache Software License",
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"Programming Language :: Python :: 3.10",
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"Topic :: Software Development :: Build Tools",
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"Topic :: Scientific/Engineering :: Artificial Intelligence",
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]
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keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artificial intelligence"]
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dependencies = [
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# Hugging Face dependencies
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"datasets>=4.0.0,<4.2.0",
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"diffusers>=0.27.2,<0.36.0",
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"huggingface-hub[hf-transfer,cli]>=0.34.2,<0.36.0",
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"accelerate>=1.10.0,<2.0.0",
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# Core dependencies
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"setuptools>=71.0.0,<81.0.0",
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"cmake>=3.29.0.1,<4.2.0",
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"einops>=0.8.0,<0.9.0",
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"opencv-python-headless>=4.9.0,<4.13.0",
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"av>=15.0.0,<16.0.0",
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"jsonlines>=4.0.0,<5.0.0",
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"packaging>=24.2,<26.0",
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"pynput>=1.7.7,<1.9.0",
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"pyserial>=3.5,<4.0",
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"wandb>=0.24.0,<0.25.0",
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"torch>=2.2.1,<2.8.0", # TODO: Bumb dependency
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"torchcodec>=0.2.1,<0.6.0; 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')", # TODO: Bumb dependency
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"torchvision>=0.21.0,<0.23.0", # TODO: Bumb dependency
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"draccus==0.10.0", # TODO: Remove ==
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"gymnasium>=1.1.1,<2.0.0",
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"rerun-sdk>=0.24.0,<0.27.0",
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# Support dependencies
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"deepdiff>=7.0.1,<9.0.0",
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"imageio[ffmpeg]>=2.34.0,<3.0.0",
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"termcolor>=2.4.0,<4.0.0",
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]
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# Optional dependencies
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[project.optional-dependencies]
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# Common
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pygame-dep = ["pygame>=2.5.1,<2.7.0"]
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placo-dep = ["placo>=0.9.6,<0.10.0"]
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transformers-dep = ["transformers>=4.57.1,<5.0.0"]
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grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
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# Motors
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feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
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dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
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damiao = ["python-can>=4.2.0,<5.0.0"]
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# Robots
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openarms = ["lerobot[damiao]"]
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gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
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hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
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lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
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unitree_g1 = [
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"pyzmq>=26.2.1,<28.0.0",
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"onnxruntime>=1.16.0,<2.0.0",
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"pin>=3.0.0,<4.0.0",
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"meshcat>=0.3.0,<0.4.0",
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"matplotlib>=3.9.0,<4.0.0",
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"casadi>=3.6.0,<4.0.0",
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]
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reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
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kinematics = ["lerobot[placo-dep]"]
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intelrealsense = [
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"pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
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"pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
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]
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phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
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# Policies
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wallx = [
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"transformers==4.49.0",
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"peft==0.17.1",
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"scipy==1.15.3",
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"torchdiffeq==0.2.5",
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"qwen_vl_utils==0.0.11"
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]
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pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi", "scipy>=1.10.1,<1.15"]
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smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
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groot = [
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"lerobot[transformers-dep]",
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"peft>=0.13.0,<1.0.0",
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"dm-tree>=0.1.8,<1.0.0",
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"timm>=1.0.0,<1.1.0",
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"safetensors>=0.4.3,<1.0.0",
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"Pillow>=10.0.0,<13.0.0",
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"decord>=0.6.0,<1.0.0; (platform_machine == 'AMD64' or platform_machine == 'x86_64')",
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"ninja>=1.11.1,<2.0.0",
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"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
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]
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sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "qwen-vl-utils>=0.0.14,<0.1.0"]
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xvla = ["lerobot[transformers-dep]"]
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hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
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# Features
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async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
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peft = ["lerobot[transformers-dep]", "peft>=0.18.0,<1.0.0"]
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# Development
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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"]
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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'"]
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video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
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# Simulation
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aloha = ["gym-aloha>=0.1.2,<0.2.0"]
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pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
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libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0"]
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metaworld = ["metaworld==3.0.0"]
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# All
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all = [
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"lerobot[dynamixel]",
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"lerobot[gamepad]",
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"lerobot[hopejr]",
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"lerobot[lekiwi]",
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"lerobot[reachy2]",
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"lerobot[kinematics]",
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"lerobot[intelrealsense]",
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# "lerobot[wallx]",
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# "lerobot[pi]", TODO(Pepijn): Update pi to transformers v5
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"lerobot[smolvla]",
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# "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
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"lerobot[xvla]",
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"lerobot[hilserl]",
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"lerobot[async]",
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"lerobot[dev]",
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"lerobot[test]",
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"lerobot[video_benchmark]",
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"lerobot[aloha]",
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"lerobot[pusht]",
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"lerobot[phone]",
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"lerobot[libero]",
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"lerobot[metaworld]",
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"lerobot[sarm]",
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"lerobot[peft]",
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]
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[project.scripts]
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lerobot-calibrate="lerobot.scripts.lerobot_calibrate:main"
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lerobot-find-cameras="lerobot.scripts.lerobot_find_cameras:main"
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lerobot-find-port="lerobot.scripts.lerobot_find_port:main"
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lerobot-record="lerobot.scripts.lerobot_record:main"
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lerobot-replay="lerobot.scripts.lerobot_replay:main"
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lerobot-setup-motors="lerobot.scripts.lerobot_setup_motors:main"
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lerobot-teleoperate="lerobot.scripts.lerobot_teleoperate:main"
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lerobot-eval="lerobot.scripts.lerobot_eval:main"
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lerobot-train="lerobot.scripts.lerobot_train:main"
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lerobot-train-tokenizer="lerobot.scripts.lerobot_train_tokenizer:main"
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lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
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lerobot-info="lerobot.scripts.lerobot_info:main"
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lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
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lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
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lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
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lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
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# ---------------- Tool Configurations ----------------
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[tool.setuptools.packages.find]
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where = ["src"]
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[tool.ruff]
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target-version = "py310"
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line-length = 110
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exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]
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[tool.ruff.lint]
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# E, W: pycodestyle errors and warnings
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# F: PyFlakes
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# I: isort
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# UP: pyupgrade
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# B: flake8-bugbear (good practices, potential bugs)
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# C4: flake8-comprehensions (more concise comprehensions)
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# A: flake8-builtins (shadowing builtins)
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# SIM: flake8-simplify
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# RUF: Ruff-specific rules
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# D: pydocstyle (for docstring style/formatting)
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# S: flake8-bandit (some security checks, complements Bandit)
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# T20: flake8-print (discourage print statements in production code)
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# N: pep8-naming
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# TODO: Uncomment rules when ready to use
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select = [
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"E", "W", "F", "I", "B", "C4", "T20", "N", "UP", "SIM" #, "A", "S", "D", "RUF"
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]
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ignore = [
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"E501", # Line too long
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"T201", # Print statement found
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"T203", # Pprint statement found
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"B008", # Perform function call in argument defaults
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]
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[tool.ruff.lint.per-file-ignores]
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"__init__.py" = ["F401", "F403"]
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"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
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[tool.ruff.lint.isort]
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combine-as-imports = true
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known-first-party = ["lerobot"]
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[tool.ruff.lint.pydocstyle]
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convention = "google"
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[tool.ruff.format]
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quote-style = "double"
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indent-style = "space"
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skip-magic-trailing-comma = false
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line-ending = "auto"
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docstring-code-format = true
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[tool.bandit]
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exclude_dirs = [
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"tests",
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"benchmarks",
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"src/lerobot/datasets/push_dataset_to_hub",
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]
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skips = ["B101", "B311", "B404", "B603", "B615"]
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[tool.typos]
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default.extend-ignore-re = [
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"(?Rm)^.*(#|//)\\s*spellchecker:disable-line$", # spellchecker:disable-line
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"(?s)(#|//)\\s*spellchecker:off.*?\\n\\s*(#|//)\\s*spellchecker:on", # spellchecker:<on|off>
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]
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default.extend-ignore-identifiers-re = [
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# Add individual words here to ignore them
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"2nd",
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"pn",
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"ser",
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"ein",
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"thw",
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"inpt",
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"ROBOTIS",
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"OT_VALUE"
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]
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# TODO: Uncomment when ready to use
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# [tool.interrogate]
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# ignore-init-module = true
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# ignore-init-method = true
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# ignore-nested-functions = false
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# ignore-magic = false
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# ignore-semiprivate = false
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# ignore-private = false
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# ignore-property-decorators = false
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# ignore-module = false
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# ignore-setters = false
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# fail-under = 80
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# output-format = "term-missing"
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# color = true
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# paths = ["src/lerobot"]
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# TODO: Enable mypy gradually module by module across multiple PRs
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# Uncomment [tool.mypy] first, then uncomment individual module overrides as they get proper type annotations
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[tool.mypy]
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python_version = "3.10"
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ignore_missing_imports = true
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follow_imports = "skip"
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# warn_return_any = true
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# warn_unused_configs = true
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# strict = true
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# disallow_untyped_defs = true
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# disallow_incomplete_defs = true
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# check_untyped_defs = true
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[[tool.mypy.overrides]]
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module = "lerobot.*"
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ignore_errors = true
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[[tool.mypy.overrides]]
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module = "lerobot.envs.*"
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ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.utils.*"
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# ignore_errors = false
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[[tool.mypy.overrides]]
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module = "lerobot.configs.*"
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ignore_errors = false
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# extra strictness for configs
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disallow_untyped_defs = true
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disallow_incomplete_defs = true
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check_untyped_defs = true
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[[tool.mypy.overrides]]
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module = "lerobot.optim.*"
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ignore_errors = false
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[[tool.mypy.overrides]]
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module = "lerobot.model.*"
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ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.processor.*"
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# ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.datasets.*"
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# ignore_errors = false
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[[tool.mypy.overrides]]
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module = "lerobot.cameras.*"
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ignore_errors = false
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[[tool.mypy.overrides]]
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module = "lerobot.motors.*"
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ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.robots.*"
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# ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.teleoperators.*"
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# ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.policies.*"
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# ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.rl.*"
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# ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.async_inference.*"
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# ignore_errors = false
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[[tool.mypy.overrides]]
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module = "lerobot.transport.*"
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ignore_errors = false
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# [[tool.mypy.overrides]]
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# module = "lerobot.scripts.*"
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# ignore_errors = false
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[tool.uv]
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# wallx requires transformers==4.49.0 which conflicts with other extras that need >=4.53.0
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conflicts = [
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[
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{ extra = "wallx" },
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{ extra = "transformers-dep" },
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],
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[
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{ extra = "wallx" },
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{ extra = "pi" },
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],
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[
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{ extra = "wallx" },
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{ extra = "smolvla" },
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],
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[
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{ extra = "wallx" },
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{ extra = "groot" },
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],
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[
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{ extra = "wallx" },
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{ extra = "xvla" },
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],
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[
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{ extra = "wallx" },
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{ extra = "sarm" },
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],
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[
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{ extra = "wallx" },
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{ extra = "hilserl" },
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],
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[
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{ extra = "wallx" },
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{ extra = "libero" },
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],
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[
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{ extra = "wallx" },
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{ extra = "peft" },
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],
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[
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{ extra = "wallx" },
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{ extra = "all" },
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],
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# pi uses custom branch which conflicts with transformers-dep
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[
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{ extra = "pi" },
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{ extra = "transformers-dep" },
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],
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[
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{ extra = "pi" },
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{ extra = "smolvla" },
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],
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[
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{ extra = "pi" },
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{ extra = "groot" },
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|
],
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|
[
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|
{ extra = "pi" },
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{ extra = "xvla" },
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|
],
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|
[
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|
{ extra = "pi" },
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{ extra = "sarm" },
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|
],
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|
[
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{ extra = "pi" },
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{ extra = "hilserl" },
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|
],
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|
[
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{ extra = "pi" },
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|
{ extra = "libero" },
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|
],
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|
[
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|
{ extra = "pi" },
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|
{ extra = "peft" },
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],
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[
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{ extra = "pi" },
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{ extra = "all" },
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],
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]
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