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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.
61 lines
2.2 KiB
Python
61 lines
2.2 KiB
Python
# Copyright 2026 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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"""Root conftest: makes doctest collection use LeRobot's parser.
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This only affects `--doctest-modules` runs (see `make doctest`). The test suite itself is configured by
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`tests/conftest.py`.
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"""
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import doctest
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import _pytest.doctest
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from lerobot.utils.doctest_utils import LeRobotDoctestModule, LeRobotDocTestParser
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# Lets an example opt out of output comparison with `# doctest: +IGNORE_RESULT`, for calls whose output is
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# a progress bar or otherwise not reproducible.
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IGNORE_RESULT = doctest.register_optionflag("IGNORE_RESULT")
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OutputChecker = doctest.OutputChecker
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class CustomOutputChecker(OutputChecker):
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"""An output checker that honours the `IGNORE_RESULT` flag."""
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def check_output(self, want, got, optionflags):
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"""Return `True` when `IGNORE_RESULT` is set, otherwise defer to stdlib.
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Args:
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want (`str`):
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The expected output.
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got (`str`):
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The actual output.
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optionflags (`int`):
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Bitmask of active doctest option flags.
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Returns:
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`bool`: Whether the output is considered a match.
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"""
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if IGNORE_RESULT & optionflags:
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return True
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return OutputChecker.check_output(self, want, got, optionflags)
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# Reassigning these module attributes is how doctest behaviour is customised; mypy sees it as assigning to
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# a type, which is exactly what is intended here.
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doctest.OutputChecker = CustomOutputChecker # type: ignore[misc]
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_pytest.doctest.DoctestModule = LeRobotDoctestModule
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doctest.DocTestParser = LeRobotDocTestParser # type: ignore[misc]
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