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Pepijn
6c73c413eb
* docs: add API documentation infrastructure
LeRobot's documentation build passes `--not_python_module`, which tells
doc-builder there is no importable Python package and disables `[[autodoc]]`
entirely. The result is that all 90+ pages are hand-written guides and there is
no generated API reference at all.
This is the machinery to change that. It deliberately contains no docstring
changes of its own — every docstring edit lives in the follow-up PR, so this
one can be reviewed as tooling and configuration alone.
**The standard.** `docs/source/writing_docstrings.mdx` is the contract: Google
section headers with Hugging Face type formatting, the machine-checked argument
line, `**Attributes**:`, doc-builder cross-references, fenced doctest examples.
It also records three behaviours that are not discoverable from the source and
were verified against a local build: `[[autodoc]]` silently skips members with
no docstring; doc-builder does not inherit docstrings from base classes, so a
registered config shim whose body is `pass` renders every field with no
description; and module-level aliases resolve to the canonical class.
**Autodoc turned on**, with two changes that are not obvious:
- `--version main` on the main-docs job. Without `--not_python_module`,
doc-builder resolves the version from `lerobot.__version__` and only maps it
to the default branch when it contains "dev". transformers relies on that;
our main carries 0.6.2. Verified by building both ways — dropping the flag
alone would publish the main docs to /lerobot/v0.6.2/ instead of
/lerobot/main/ and disable notebook building.
- `pre_command` on both jobs. doc-builder ships a mock-deps registry entry for
lerobot, so the reusable workflow takes its light-install path, which cannot
import the package. The heavy dependencies cannot be mocked either: draccus
runs `register_subclass` at import time and `processor/converters.py` calls
`functools.singledispatch.register(torch.Tensor)`, which needs a real class.
`[dataset]` is the only extra required.
Workflow triggers gain `src/**`, since the reference is now generated from
docstrings. `docs/source/api/` is excluded from the prettier hook, which reads
`[[autodoc]]` member lists as lazy paragraph continuations and joins a ten-entry
list onto one line.
Nine API reference pages, scaffolded with each module's base class.
**Doctests.** `LeRobotDocTestParser` is mandatory rather than optional here:
ruff's `docstring-code-format = true` drops the blank line before a closing
fence, after which stdlib's `_EXAMPLE_RE` reads the fence as expected output and
every example with output fails. It is written against the installed pytest
rather than copied from transformers, whose version predates pytest 9's
`import_path` signature and its own fix for the `@property` line-number bug.
`preprocess_string` also diverges: the upstream fenced-block split puts a
single-line example's code in a chunk with no `>>>` in it, so neither the CUDA
skip nor the `+IGNORE_RESULT` injection fires for it.
**Checkers.** `utils/check_docstrings.py` is the ~300-line core of the
2203-line transformers original; the `@auto_docstring` system, modular
propagation, GitPython and `checkers.py` are not ported.
`utils/check_config_docstrings.py` checks that every registered robot config
documents its port and calibration semantics.
**Gates**, all set to values that pass today: ruff `D` with per-file-ignores
per unconverted module, `interrogate` at `fail-under = 52` against a measured
52.1%, and Makefile targets wired into the quality workflow. The doctest
allowlist ships empty and the `doctest` target handles that, because the files
carrying runnable examples arrive with the docstring PR.
* ci: build the docs on Python 3.12
The shared doc-builder workflows create their virtualenv with the runner's
system Python, which is 3.10.12 on ubuntu-22.04. lerobot requires >=3.12, so
the build died during "Setup environment":
× No solution found when resolving dependencies:
╰─▶ Because the current Python version (3.10.12) does not satisfy
Python>=3.12 and lerobot==0.6.2 depends on Python>=3.12 ...
That step runs before `pre_command`, so the real install this workflow already
performs never got the chance to run. There was no fix available on the caller
side either: `env:` does not propagate into a reusable workflow, so `UV_PYTHON`
is unavailable, and `uv venv` runs in the runner workspace root rather than the
checkout, so a `.python-version` file cannot reach it. The non-light fallback
(`uv pip install "./pkg[dev]"`) fails identically, so this is not specific to
the mock-deps path — it blocks any package requiring 3.12+.
huggingface/doc-builder#808 adds a `python_version` input to both build
workflows, which this passes. Pins move to that merge commit, picking up three
unrelated fixes in the same range (#810, #811, #812); the upload workflow is
unchanged there and is bumped only to keep all three pins on one SHA.
* chore: sort imports in vla_jepa tests
Enabling pydocstyle in the previous commit changes how ruff determines where a
module's import block ends, which makes I001 fire on three vla_jepa tests that
were clean before. The blank line between the `conftest` and `lerobot` imports
is the trigger: both are first-party, so isort wants them in one contiguous
block, and the docstring-aware analysis is what makes it notice.
These files are unrelated to the API reference, so the fix is only to satisfy
the new gate.
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How to contribute to 🤗 LeRobot
Everyone is welcome to contribute, and we value everybody's contribution. Code is not the only way to help the community. Answering questions, helping others, reaching out, and improving the documentation are immensely valuable.
Whichever way you choose to contribute, please be mindful to respect our code of conduct and our AI policy.
Ways to Contribute
You can contribute in many ways:
- Fixing issues: Resolve bugs or improve existing code.
- New features: Develop new features.
- Extend: Implement new models/policies, robots, or simulation environments and upload datasets to the Hugging Face Hub.
- Documentation: Improve examples, guides, and docstrings.
- Feedback: Submit tickets related to bugs or desired new features.
If you are unsure where to start, join our Discord Channel.
Development Setup
To contribute code, you need to set up a development environment.
1. Fork and Clone
Fork the repository on GitHub, then clone your fork:
git clone https://github.com/<your-handle>/lerobot.git
cd lerobot
git remote add upstream https://github.com/huggingface/lerobot.git
2. Environment Installation
Please follow our Installation Guide for the environment setup & installation from source.
Running Tests & Quality Checks
Code Style (Pre-commit)
Install pre-commit hooks to run checks automatically before you commit:
pre-commit install
To run checks manually on all files:
pre-commit run --all-files
Docstrings
The API reference is generated from the docstrings in src/lerobot/. If you add or change anything public, follow the docstring standard — the format is parsed by the renderer and checked in CI.
Running Tests
We use pytest. First, ensure you have test artifacts by installing git-lfs:
git lfs install
git lfs pull
Run the full suite (this may require extras installed):
pytest -sv ./tests
Or run a specific test file during development:
pytest -sv tests/test_specific_feature.py
Submitting Issues & Pull Requests
Use the templates for required fields and examples.
- Issues: Follow the ticket template.
- Pull requests: Rebase on
upstream/main, use a descriptive branch (don't work onmain), runpre-commitand tests locally, and follow the PR template.
Important
Community Review Policy: To help scale our efforts and foster a collaborative environment, we ask contributors to review at least one other person's open PR before their own receives attention. This shared responsibility multiplies our review capacity and helps everyone's code get merged faster!
Once you have submitted your PR and completed a peer review, a member of the LeRobot team will review your contribution.
Thank you for contributing to LeRobot!