pyproject.toml

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

[project.urls]
homepage = "https://github.com/huggingface/lerobot"
issues = "https://github.com/huggingface/lerobot/issues"
discord = "https://discord.gg/s3KuuzsPFb"

[project]
name = "lerobot"
version = "0.1.0"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
authors = [
    { name = "Rémi Cadène", email = "re.cadene@gmail.com" },
    { name = "Simon Alibert", email = "alibert.sim@gmail.com" },
    { name = "Alexander Soare", email = "alexander.soare159@gmail.com" },
    { name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr" },
    { name = "Adil Zouitine", email = "adilzouitinegm@gmail.com" },
    { name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com" },
    { name = "Steven Palma", email = "imstevenpmwork@ieee.org" },
]
readme = "README.md"
license = { text = "Apache-2.0" }
requires-python = ">=3.10"
keywords = ["robotics", "deep learning", "pytorch"]
classifiers = [
    "Development Status :: 3 - Alpha",
    "Intended Audience :: Developers",
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
    "Topic :: Software Development :: Build Tools",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
    "License :: OSI Approved :: Apache Software License",
    "Programming Language :: Python :: 3.10",
]
dependencies = [
    "cmake>=3.29.0.1",
    "datasets>=2.19.0,<=3.6.0",
    "deepdiff>=7.0.1",
    "diffusers>=0.27.2",
    "draccus==0.10.0",
    "einops>=0.8.0",
    "flask>=3.0.3",
    "gdown>=5.1.0",
    "gymnasium==0.29.1", # TODO(rcadene, aliberts): Make gym 1.0.0 work
    "h5py>=3.10.0",
    "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
    "imageio[ffmpeg]>=2.34.0",
    "jsonlines>=4.0.0",
    "numba>=0.59.0",
    "omegaconf>=2.3.0",
    "opencv-python-headless>=4.9.0",
    "packaging>=24.2",
    "av>=14.2.0",
    "pymunk>=6.6.0,<7.0.0",
    "pynput>=1.7.7",
    "pyserial>=3.5",
    "pyzmq>=26.2.1",
    "rerun-sdk>=0.21.0",
    "termcolor>=2.4.0",
    "torch>=2.2.1",
    "torchcodec>=0.2.1; 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')",
    "torchvision>=0.21.0",
    "wandb>=0.16.3",
    "zarr>=2.17.0",
]

[project.optional-dependencies]
aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"]
docs = ["hf-doc-builder @ git+https://github.com/huggingface/doc-builder.git@main", "watchdog >= 6.0.0"]
dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1", "grpcio-tools==1.71.0"]
dora = [
    "gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'",
]
dynamixel = ["dynamixel-sdk>=3.7.31"]
feetech = ["feetech-servo-sdk>=1.0.0"]
gamepad = ["pygame>=2.5.1", "hidapi>=0.14.0"]
hopejr = ["feetech-servo-sdk>=1.0.0", "pygame>=2.5.1"]
kinematics = ["placo>=0.9.6"]
intelrealsense = [
    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
    "pyrealsense2-macosx>=2.54 ; sys_platform == 'darwin'",
]
pi0 = ["transformers>=4.50.3"]
smolvla = ["transformers>=4.50.3", "num2words>=0.5.14", "accelerate>=1.7.0", "safetensors>=0.4.3"]
pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
stretch = [
    "hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'",
    "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"
]
test = ["pytest>=8.1.0", "pytest-timeout>=2.4.0", "pytest-cov>=5.0.0", "pyserial>=3.5", "mock-serial>=0.0.1 ; sys_platform != 'win32'"]
hilserl = ["transformers>=4.50.3", "gym-hil>=0.1.9", "protobuf>=5.29.3", "grpcio==1.71.0", "placo>=0.9.6"]
umi = ["imagecodecs>=2024.1.1"]
video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]
async = ["grpcio==1.71.0", "matplotlib>=3.10.3"]

[tool.poetry]
requires-poetry = ">=2.1"
packages = [
    { include = "lerobot", from = "src" }
]

[tool.ruff]
line-length = 110
target-version = "py310"
exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]

[tool.ruff.lint]
select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401", "F403"]

[tool.bandit]
exclude_dirs = [
    "tests",
    "benchmarks",
    "src/lerobot/datasets/push_dataset_to_hub",
    "src/lerobot/datasets/v2/convert_dataset_v1_to_v2",
    "src/lerobot/policies/pi0/conversion_scripts",
    "src/lerobot/scripts/push_dataset_to_hub.py",
]
skips = ["B101", "B311", "B404", "B603", "B615"]

[tool.typos]
default.extend-ignore-re = [
    "(?Rm)^.*(#|//)\\s*spellchecker:disable-line$",                      # spellchecker:disable-line
    "(?s)(#|//)\\s*spellchecker:off.*?\\n\\s*(#|//)\\s*spellchecker:on", # spellchecker:<on|off>
]
default.extend-ignore-identifiers-re = [
    # Add individual words here to ignore them
    "2nd",
    "pn",
    "ser",
    "ein",
]

[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"