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123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197{ lib, stdenv, buildPythonPackage, fetchFromGitHub,
# build-system cmake, setuptools,
# dependencies accelerate, av, datasets, deepdiff, diffusers, draccus, einops, flask, gymnasium, huggingface-hub, imageio, jsonlines, numpy, opencv-python-headless, packaging, pynput, pyserial, rerun-sdk, termcolor, torch, torchcodec, torchvision, wandb,
# tests pytestCheckHook, writableTmpDirAsHomeHook, pytest-timeout,}:
buildPythonPackage (finalAttrs: { pname = "lerobot"; version = "0.5.0"; pyproject = true;
src = fetchFromGitHub { owner = "huggingface"; repo = "lerobot"; tag = "v${finalAttrs.version}"; hash = "sha256-i4szKM8b766mAA0AxCHB4s1wEEZbGeBKGeGpLICVsrM="; };
build-system = [ cmake setuptools ]; dontUseCmakeConfigure = true;
pythonRelaxDeps = [ "av" "diffusers" "draccus" "numpy" "opencv-python-headless" "rerun-sdk" "torch" "torchcodec" "torchvision" "wandb" ]; dependencies = [ accelerate av cmake datasets deepdiff diffusers draccus einops flask gymnasium huggingface-hub imageio jsonlines numpy opencv-python-headless packaging pynput pyserial rerun-sdk termcolor torch torchcodec torchvision wandb ] ++ imageio.optional-dependencies.ffmpeg;
pythonImportsCheck = [ "lerobot" ];
nativeCheckInputs = [ pytestCheckHook writableTmpDirAsHomeHook pytest-timeout ];
disabledTests = [ # TypeError: only 0-dimensional arrays can be converted to Python scalars "test_add_frame" "test_add_frame_state_numpy" "test_data_consistency_across_episodes" "test_delta_timestamps_query_returns_correct_values" "test_episode_boundary_integrity" "test_from_lerobot_dataset" "test_statistics_metadata_validation" "test_task_indexing_and_validation" "test_to_lerobot_dataset"
# 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_all_items_have_subtask" "test_backward_compatibility" "test_convert_image_to_video_dataset" "test_convert_image_to_video_dataset_subset_episodes" "test_dataset_initialization" "test_factory" "test_from_pretrained_nonexistent_path" "test_getitem_has_subtask_index" "test_getitem_returns_subtask_string" "test_load_config_nonexistent_path_tries_hub" "test_make_env_from_hub_async" "test_make_env_from_hub_with_trust" "test_policy_defaults" "test_save_and_load_pretrained" "test_subtask_dataset_loads" "test_subtask_index_in_features" "test_subtask_index_maps_to_valid_subtask" "test_subtask_metadata_loaded" "test_task_and_subtask_coexist"
# 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"
# TypeError: 'NoneType' object is not subscriptable "test_pi0_rtc_inference_with_prev_chunk" ] ++ lib.optionals (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) [ # RuntimeError: Failed to initialize cpuinfo! "test_complementary_data_float_dtype_conversion" "test_float_dtype_conversion" "test_float_dtype_with_mixed_tensors" ];
disabledTestPaths = [ # Sometimes hang forever on some CPU models "tests/policies/test_sac_policy.py"
# Sometimes hang forever "tests/policies/rtc/test_modeling_rtc.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/${finalAttrs.src.tag}"; license = lib.licenses.asl20; maintainers = with lib.maintainers; [ GaetanLepage ]; };})