python3Packages.lerobot: init at 0.3.3 (#431132)

2025-10-03 21:30:17 +02:00
parent 6dd046bf75 f87b4d44b5
commit c67a8f3f48
2 changed files with 147 additions and 0 deletions
@@ -0,0 +1,145 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+
+  # build-system
+  cmake,
+  setuptools,
+
+  # dependencies
+  av,
+  datasets,
+  deepdiff,
+  diffusers,
+  draccus,
+  einops,
+  flask,
+  gymnasium,
+  huggingface-hub,
+  imageio,
+  jsonlines,
+  opencv-python-headless,
+  packaging,
+  pynput,
+  pyserial,
+  rerun-sdk,
+  termcolor,
+  torch,
+  torchvision,
+  wandb,
+
+  # tests
+  pytestCheckHook,
+  writableTmpDirAsHomeHook,
+}:
+
+buildPythonPackage rec {
+  pname = "lerobot";
+  version = "0.3.3";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "huggingface";
+    repo = "lerobot";
+    tag = "v${version}";
+    hash = "sha256-JaspLUuSupmk6QD+mUVLuCSczTNjy0w+nsLBcy7tXnE=";
+  };
+
+  # 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 = [
+    "datasets"
+    "draccus"
+    "gymnasium"
+    "rerun-sdk"
+    "torch"
+    "torchvision"
+  ];
+
+  dependencies = [
+    av
+    datasets
+    deepdiff
+    diffusers
+    draccus
+    einops
+    flask
+    gymnasium
+    huggingface-hub
+    imageio
+    jsonlines
+    opencv-python-headless
+    packaging
+    pynput
+    pyserial
+    rerun-sdk
+    termcolor
+    torch
+    torchvision
+    wandb
+  ];
+
+  pythonImportsCheck = [ "lerobot" ];
+
+  nativeCheckInputs = [
+    pytestCheckHook
+    writableTmpDirAsHomeHook
+  ];
+
+  disabledTests = [
+    # RuntimeError: OpenCVCamera(/build/source/tests/artifacts/cameras/image_480x270.png) read failed
+    "test_async_read"
+    "test_read"
+    "test_rotation"
+
+    # Require internet access
+    "test_act_backbone_lr"
+    "test_backward_compatibility"
+    "test_dataset_initialization"
+    "test_factory"
+    "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"
+  ];
+
+  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 ];
+  };
+}
@@ -8135,6 +8135,8 @@ self: super: with self; {

  lektricowifi = callPackage ../development/python-modules/lektricowifi { };

+  lerobot = callPackage ../development/python-modules/lerobot { };
+
  letpot = callPackage ../development/python-modules/letpot { };

  leveldb = callPackage ../development/python-modules/leveldb { };