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{
lib,
buildPythonPackage,
fetchFromGitHub,
# build-system
cmake,
setuptools,
# dependencies
accelerate,
av,
datasets,
deepdiff,
diffusers,
draccus,
einops,
flask,
gymnasium,
huggingface-hub,
imageio,
jsonlines,
opencv-python-headless,
packaging,
pynput,
pyserial,
rerun-sdk,
termcolor,
torch,
torchcodec,
torchvision,
wandb,
# tests
pytestCheckHook,
writableTmpDirAsHomeHook,
}:
buildPythonPackage rec {
pname = "lerobot";
version = "0.4.0";
pyproject = true;
src = fetchFromGitHub {
owner = "huggingface";
repo = "lerobot";
tag = "v${version}";
hash = "sha256-RVe1X0qBPm+okO3Gi/UdkuvuX0m4RlbhIs+NJLlC9wU=";
};
# ValueError: mutable default <class 'lerobot.configs.types.PolicyFeature'> for field value is not allowed: use default_factory
postPatch = ''
substituteInPlace tests/processor/test_pipeline.py \
--replace-fail \
"from dataclasses import dataclass" \
"from dataclasses import dataclass, field" \
--replace-fail \
"value: PolicyFeature = PolicyFeature(type=FeatureType.STATE, shape=(1,))" \
"value: PolicyFeature = field(default_factory=lambda: PolicyFeature(type=FeatureType.STATE, shape=(1,)))"
'';
build-system = [
cmake
setuptools
];
dontUseCmakeConfigure = true;
pythonRelaxDeps = [
"av"
"datasets"
"draccus"
"gymnasium"
"rerun-sdk"
"torch"
"torchvision"
];
dependencies = [
accelerate
av
cmake
datasets
deepdiff
diffusers
draccus
einops
flask
gymnasium
huggingface-hub
imageio
jsonlines
opencv-python-headless
packaging
pynput
pyserial
rerun-sdk
termcolor
torch
torchcodec
torchvision
wandb
]
++ imageio.optional-dependencies.ffmpeg
++ huggingface-hub.optional-dependencies.hf_transfer
++ huggingface-hub.optional-dependencies.cli;
pythonImportsCheck = [ "lerobot" ];
nativeCheckInputs = [
pytestCheckHook
writableTmpDirAsHomeHook
];
disabledTests = [
# RuntimeError: OpenCVCamera(/build/source/tests/artifacts/cameras/image_480x270.png) read failed
"test_async_read"
"test_fourcc_with_camer"
"test_read"
"test_rotation"
# Require internet access
"test_act_backbone_lr"
"test_backward_compatibility"
"test_dataset_initialization"
"test_factory"
"test_from_pretrained_nonexistent_path"
"test_policy_defaults"
"test_save_and_load_pretrained"
# TypeError: stack(): argument 'tensors' (position 1) must be tuple of Tensors, not Column
"test_check_timestamps_sync_slightly_off"
"test_check_timestamps_sync_synced"
"test_check_timestamps_sync_unsynced"
"test_check_timestamps_sync_unsynced_no_exception"
"test_compute_sampler_weights_drop_n_last_frames"
"test_compute_sampler_weights_nontrivial_ratio"
"test_compute_sampler_weights_nontrivial_ratio_and_drop_last_n"
"test_compute_sampler_weights_trivial"
"test_record_and_replay"
"test_record_and_resume"
"test_same_attributes_defined"
# AssertionError between two dicts. One has an extra `'_is_initial': False` entry.
"test_cosine_decay_with_warmup_scheduler"
"test_diffuser_scheduler"
"test_vqbet_scheduler"
# AssertionError: Regex pattern did not match.
# Regex: "Can't instantiate abstract class NonCallableStep with abstract method __call_"
# Input: "Can't instantiate abstract class NonCallableStep without an implementation for abstract method '__call__'"
"test_construction_rejects_step_without_call"
];
disabledTestPaths = [
# Sometimes hang forever on some CPU models
"tests/policies/test_sac_policy.py"
];
meta = {
description = "Making AI for Robotics more accessible with end-to-end learning";
homepage = "https://github.com/huggingface/lerobot";
changelog = "https://github.com/huggingface/lerobot/releases/tag/v${version}";
license = lib.licenses.asl20;
maintainers = with lib.maintainers; [ GaetanLepage ];
};
}
|
