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Pepijn 2e8345a5cc 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.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
2026-08-06 20:57:26 +02:00

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- sections:
- local: index
title: LeRobot
- local: installation
title: Installation
- local: cheat-sheet
title: Cheat sheet
title: Get started
- sections:
- local: il_robots
title: Imitation Learning for Robots
- local: lelab
title: LeLab - Lerobot GUI
- local: bring_your_own_policies
title: Adding a Policy
- local: integrate_hardware
title: Bring Your Own Hardware
- local: hilserl
title: Train a Robot with RL
- local: hilserl_sim
title: Train RL in Simulation
- local: multi_gpu_training
title: Multi GPU training
- local: hil_data_collection
title: Human In the Loop Data Collection
- local: peft_training
title: Training with PEFT (e.g., LoRA)
- local: rename_map
title: Using Rename Map and Empty Cameras
title: "Tutorials"
- sections:
- local: hardware_guide
title: Compute Hardware Guide
- local: torch_accelerators
title: PyTorch accelerators
title: "Compute & Hardware"
- sections:
- local: lerobot-dataset-v3
title: Using LeRobotDataset
- local: porting_datasets_v3
title: Porting Large Datasets
- local: using_dataset_tools
title: Using the Dataset Tools
- local: language_and_recipes
title: Language Columns and Recipes
- local: tools
title: Tools
- local: annotation_pipeline
title: Annotation Pipeline
- local: video_encoding_parameters
title: Video encoding parameters
- local: streaming_video_encoding
title: Streaming Video Encoding
title: "Datasets"
- sections:
- local: act
title: ACT
- local: smolvla
title: SmolVLA
- local: pi0
title: π₀ (Pi0)
- local: pi0fast
title: π₀-FAST (Pi0Fast)
- local: pi05
title: π₀.₅ (Pi05)
- local: molmoact2
title: MolmoAct2
- local: vla_jepa
title: VLA-JEPA
- local: eo1
title: EO-1
- local: lingbot_va
title: LingBot-VA
- local: fastwam
title: FastWAM
- local: evo1
title: EVO1
- local: groot
title: NVIDIA GR00T
- local: xvla
title: X-VLA
- local: multi_task_dit
title: Multitask DiT Policy
- local: walloss
title: WALL-OSS
title: "Policies"
- sections:
- local: sarm
title: SARM
- local: robometer
title: ROBOMETER
- local: topreward
title: TOPReward
title: "Reward Models"
- sections:
- local: inference
title: Policy Deployment (lerobot-rollout)
- local: async
title: Use Async Inference
- local: rtc
title: Real-Time Chunking (RTC)
title: "Inference"
- sections:
- local: envhub
title: Environments from the Hub
- local: envhub_leisaac
title: Control & Train Robots in Sim (LeIsaac)
title: "Simulation"
- sections:
- local: adding_benchmarks
title: Adding a New Benchmark
- local: libero
title: LIBERO
- local: libero_plus
title: LIBERO-plus
- local: metaworld
title: Meta-World
- local: robotwin
title: RoboTwin 2.0
- local: robocasa
title: RoboCasa365
- local: robocerebra
title: RoboCerebra
- local: robomme
title: RoboMME
- local: envhub_isaaclab_arena
title: NVIDIA IsaacLab Arena Environments
- local: vlabench
title: VLABench
title: "Benchmarks"
- sections:
- local: introduction_processors
title: Introduction to Robot Processors
- local: debug_processor_pipeline
title: Debug your processor pipeline
- local: implement_your_own_processor
title: Implement your own processor
- local: processors_robots_teleop
title: Processors for Robots and Teleoperators
- local: env_processor
title: Environment Processors
- local: action_representations
title: Action Representations
title: "Robot Processors"
- sections:
- local: so101
title: SO-101
- local: so100
title: SO-100
- local: koch
title: Koch v1.1
- local: lekiwi
title: LeKiwi
- local: hope_jr
title: Hope Jr
- local: reachy2
title: Reachy 2
- local: unitree_g1
title: Unitree G1
- local: earthrover_mini_plus
title: Earth Rover Mini
- local: omx
title: OMX
- local: openarm
title: OpenArm
- local: rebot_b601
title: reBot B601-DM
- local: third_party_robots
title: Third-Party Robots & Teleoperators
title: "Robots"
- sections:
- local: phone_teleop
title: Phone
- local: isaac_teleop
title: Isaac Teleop
title: "Teleoperators"
- sections:
- local: cameras
title: Cameras
- local: third_party_sensors
title: Third-Party Cameras & Sensors
title: "Sensors"
- sections:
- local: notebooks
title: Notebooks
- local: feetech
title: Updating Feetech Firmware
- local: damiao
title: Damiao Motors and CAN Bus
title: "Resources"
- sections:
- local: contributing
title: Contribute to LeRobot
- local: writing_docstrings
title: Writing docstrings
- local: backwardcomp
title: Backward compatibility
title: "About"
- sections:
- local: api/robots
title: Robots
- local: api/teleoperators
title: Teleoperators
- local: api/cameras
title: Cameras
- local: api/motors
title: Motors
- local: api/datasets
title: Datasets
- local: api/policies
title: Policies
- local: api/processor
title: Processors
- local: api/envs
title: Environments
- local: api/configs
title: Configuration
title: "API Reference"
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