Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version

pyproject.toml

@@ -12,118 +12,176 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+[build-system]
+requires = ["setuptools"]
+
 [project.urls]
-homepage = "https://github.com/huggingface/lerobot"
+homepage = "https://huggingface.co/lerobot"
+documentation = "https://huggingface.co/docs/lerobot/index"
+source = "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"
+description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics"
+readme = "README.md"
+license = { text = "Apache-2.0" }
+requires-python = ">=3.10"
 authors = [
+    { name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com" },
     { 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" },
+    { name = "Pepijn Kooijmans", email = "pepijnkooijmans@outlook.com"},
+    { name = "Michel Aractingi", email = "michel.aractingi@gmail.com"},
+    { name = "Adil Zouitine", email = "adilzouitinegm@gmail.com" },
+    { name = "Dana Aubakirova", email = "danaaubakirova17@gmail.com"},
+    { name = "Caroline Pascal", email = "caroline8.pascal@gmail.com"},
+    { name = "Martino Russi", email = "nopyeps@gmail.com"},
 ]
-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",
+    "Topic :: Software Development :: Build Tools",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
 ]
+keywords = ["lerobot", "huggingface", "robotics",  "machine learning", "artificial intelligence"]
+
 dependencies = [
-    "cmake>=3.29.0.1",
-    "datasets>=2.19.0,<=3.6.0",
-    "deepdiff>=7.0.1",
+
+    # Hugging Face dependencies
+    "datasets>=2.19.0",
     "diffusers>=0.27.2",
-    "draccus==0.10.0",
+    "huggingface-hub[hf-transfer,cli]>=0.27.1",
+
+    # Core dependencies
+    "cmake>=3.29.0.1",
     "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",
+    "jsonlines>=4.0.0",
+    "packaging>=24.2",
+    "pynput>=1.7.7",
+    "pyserial>=3.5",
     "wandb>=0.16.3",
-    "zarr>=2.17.0",
+
+    "draccus==0.10.0", # TODO: Remove ==
+    "gymnasium>=0.29.1,<1.0.0", # TODO: Bumb dependency
+    "rerun-sdk>=0.21.0,<0.23.0", # TODO: Bumb dependency
+
+    # Support dependencies
+    "deepdiff>=7.0.1,<9.0.0",
+    "flask>=3.0.3,<4.0.0",
+    "imageio[ffmpeg]>=2.34.0,<3.0.0",
+    "termcolor>=2.4.0,<4.0.0",
 ]
 
+# Optional dependencies
 [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"]
+
+# Common
+pygame_dep = ["pygame>=2.5.1"]
+placo_dep = ["placo>=0.9.6"]
+transformers_dep = ["transformers>=4.50.3"]
+grpc_dep = ["grpcio==1.71.0"]
+
+# Motors
 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"]
+dynamixel = ["dynamixel-sdk>=3.7.31"]
+
+# Robots
+gamepad = ["pygame_dep", "hidapi>=0.14.0"]
+hopejr = ["feetech", "pygame_dep"]
+lekiwi = ["feetech", "pyzmq>=26.2.1"]
+kinematics = ["placo_dep"]
 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'",
+    "hello-robot-stretch-body>=0.7.27 ; 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"]
+] # TODO: Currently not supported
+
+# Policies
+pi0 = ["transformers_dep"]
+smolvla = ["transformers_dep", "num2words>=0.5.14", "accelerate>=1.7.0", "safetensors>=0.4.3"]
+hilserl = ["transformers_dep", "gym-hil>=0.1.9", "protobuf>=5.29.3", "grpcio_dep", "placo_dep"]
+
+# Features
+async = ["grpcio_dep", "matplotlib>=3.10.3"]
+
+# Development
+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"]
+test = ["pytest>=8.1.0", "pytest-timeout>=2.4.0", "pytest-cov>=5.0.0", "mock-serial>=0.0.1 ; sys_platform != 'win32'"]
 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" }
-]
+# Simulation
+aloha = ["gym-aloha>=0.1.1"]
+pusht = ["gym-pusht>=0.1.5", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
+xarm = ["gym-xarm>=0.1.1"]
 
+# ---------------- Tool Configurations ----------------
 [tool.ruff]
-line-length = 110
 target-version = "py310"
+line-length = 110
 exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]
 
 [tool.ruff.lint]
-select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
+# E, W: pycodestyle errors and warnings
+# F: PyFlakes
+# I: isort
+# UP: pyupgrade
+# B: flake8-bugbear (good practices, potential bugs)
+# C4: flake8-comprehensions (more concise comprehensions)
+# A: flake8-builtins (shadowing builtins)
+# SIM: flake8-simplify
+# RUF: Ruff-specific rules
+# D: pydocstyle (for docstring style/formatting)
+# S: flake8-bandit (some security checks, complements Bandit)
+# T20: flake8-print (discourage print statements in production code)
+# N: pep8-naming
+# TODO: Uncomment rules when ready to use
+select = [
+    "E", "W", "F", "I", "B", "C4", "T20", "N" # "SIM", "A", "S", "D", "RUF", "UP"
+]
+ignore = [
+    "E501", # Line too long
+    "T201", # Print statement found
+    "T203", # Pprint statement found
+    "B008", # Perform function call in argument defaults
+]
 
 [tool.ruff.lint.per-file-ignores]
 "__init__.py" = ["F401", "F403"]
 
+[tool.ruff.lint.isort]
+combine-as-imports = true
+known-first-party = ["lerobot"]
+
+[tool.ruff.lint.pydocstyle]
+convention = "google"
+
+[tool.ruff.format]
+quote-style = "double"
+indent-style = "space"
+skip-magic-trailing-comma = false
+line-ending = "auto"
+docstring-code-format = true
+
 [tool.bandit]
 exclude_dirs = [
     "tests",
@@ -148,6 +206,24 @@ default.extend-ignore-identifiers-re = [
     "ein",
 ]
 
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
+# TODO: Uncomment when ready to use
+# [tool.interrogate]
+# ignore-init-module = true
+# ignore-init-method = true
+# ignore-nested-functions = false
+# ignore-magic = false
+# ignore-semiprivate = false
+# ignore-private = false
+# ignore-property-decorators = false
+# ignore-module = false
+# ignore-setters = false
+# fail-under = 80
+# output-format = "term-missing"
+# color = true
+# paths = ["src/lerobot"]
+
+# [tool.mypy]
+# python_version = "3.10"
+# warn_return_any = true
+# warn_unused_configs = true
+# ignore_missing_imports = false

src/lerobot/robots/lekiwi/lekiwi.mdx

@@ -23,16 +23,21 @@ After setting up your Pi, you should enable and set up [SSH](https://www.raspber
 
 On your Raspberry Pi install LeRobot using our [Installation Guide](./installation)
 
-In addition to these instructions, you need to install the Feetech sdk on your Pi:
+In addition to these instructions, you need to install the Feetech SDK & ZeroMQ on your Pi:
 ```bash
-pip install -e ".[feetech]"
+pip install -e ".[lekiwi]"
 ```
 
 ## Install LeRobot locally
 If you already have installed LeRobot on your laptop/pc you can skip this step; otherwise, please follow along as we do the same steps we did on the Pi.
 
 Follow our [Installation Guide](./installation)
 
+In addition to these instructions, you need to install the Feetech SDK & ZeroMQ on your laptop/pc:
+```bash
+pip install -e ".[lekiwi]"
+```
+
 Great :hugs:! You are now done installing LeRobot, and we can begin assembling the SO100/SO101 arms and the mobile base :robot:.
 Every time you now want to use LeRobot, you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.