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feat(deps): ceil dependency versions (#2091)

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This commit is contained in:
Steven Palma
2025-10-05 17:53:43 +02:00
committed by GitHub
parent a4bed41132
commit b74e2a6113
4 changed files with 231 additions and 32 deletions
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183
.github/workflows/unbound_deps_tests.yml vendored Normal file
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@@ -0,0 +1,183 @@
# Copyright 2025 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.
# This workflow handles full testing with unboud dependencies versions.
name: Unbound Dependency Tests
on:
# Allows running this workflow manually from the Actions tab
workflow_dispatch:
# Run on the 1st and 15th of every month at 09:00 UTC
schedule:
- cron: '0 2 1,15 * *'
permissions:
contents: read
# Sets up the environment variables
env:
UV_VERSION: "0.8.0"
PYTHON_VERSION: "3.10"
DOCKER_IMAGE_NAME: huggingface/lerobot-gpu:unbound
# Ensures that only the latest action is built, canceling older runs.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
cancel-in-progress: true
jobs:
# This job runs the E2E tests + pytest with all unbound extras
full-tests:
name: Full Unbound Tests
runs-on: ubuntu-latest
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Install apt dependencies
run: |
sudo apt-get update && sudo apt-get install -y build-essential \
git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
speech-dispatcher libgeos-dev portaudio19-dev
- name: Setup uv and Python
uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: ${{ env.PYTHON_VERSION }}
- name: Unbound dependencies
run: |
sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml
echo "Dependencies unbound:" && cat pyproject.toml
- name: Install lerobot with all extras
run: uv sync --all-extras
- name: Run pytest (all extras)
run: uv run pytest tests -vv
- name: Run end-to-end tests
run: uv run make test-end-to-end
# This job builds a GPU enabled image for testing
build-and-push-docker:
name: Build and Push Docker
runs-on:
group: aws-general-8-plus
outputs:
image_tag: ${{ env.DOCKER_IMAGE_NAME }}
env:
GITHUB_REF: ${{ github.ref }}
steps:
- name: Install Git LFS
run: |
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
with:
lfs: true
persist-credentials: false
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
with:
cache-binary: false
- name: Login to Docker Hub
uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
with:
username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
- name: Build and push Docker image
uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
with:
context: .
file: ./docker/Dockerfile.internal
push: true
tags: ${{ env.DOCKER_IMAGE_NAME }}
build-args: |
UNBOUND_DEPS=true
# This job runs pytest with all unbound extras in a GPU enabled host
# It runs everytime a test image is created
gpu-tests:
name: GPU Unbound Tests
needs: [build-and-push-docker]
runs-on:
group: aws-g6-4xlarge-plus
env:
HF_HOME: /home/user_lerobot/.cache/huggingface
HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
TORCH_HOME: /home/user_lerobot/.cache/torch
TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
container:
image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
options: --gpus all --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Run pytest on GPU
run: pytest tests -vv
- name: Run end-to-end tests
run: make test-end-to-end
# This job deletes the test image recently created
# It runs everytime after the gpu-tests have finished
delete-unbound-image:
name: Delete Unbound Image
needs: [gpu-tests, build-and-push-docker]
if: always() && needs.build-and-push-docker.result == 'success'
runs-on: ubuntu-latest
steps:
- name: Get Docker Hub Token and Delete Image
# zizmor: ignore[template-injection]
run: |
IMAGE_NAME=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f1)
IMAGE_TAG=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f2)
echo "Attempting to delete image: $IMAGE_NAME:$IMAGE_TAG"
TOKEN=$(curl -s -H "Content-Type: application/json" \
-X POST \
-d '{"username": "${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}", "password": "${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}"}' \
https://hub.docker.com/v2/users/login/ | jq -r .token)
if [ "$TOKEN" == "null" ] || [ -z "$TOKEN" ]; then
echo "::error::Failed to get Docker Hub token."
exit 1
fi
HTTP_RESPONSE=$(curl -s -o /dev/null -w "%{http_code}" \
-H "Authorization: JWT ${TOKEN}" \
-X DELETE \
https://hub.docker.com/v2/repositories/${IMAGE_NAME}/tags/${IMAGE_TAG}/)
if [ "$HTTP_RESPONSE" -eq 204 ]; then
echo "Successfully deleted Docker image tag: $IMAGE_NAME:$IMAGE_TAG"
else
echo "::error::Failed to delete Docker image. HTTP status: $HTTP_RESPONSE"
exit 1
fi

8
docker/Dockerfile.internal
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@@ -75,6 +75,14 @@ RUN uv venv --python python${PYTHON_VERSION}
# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
ARG UNBOUND_DEPS=false
RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
echo "Dependencies unbound:" && cat pyproject.toml; \
fi
RUN uv pip install --no-cache ".[all]"
# Copy the rest of the application source code

8
docker/Dockerfile.user
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@@ -61,6 +61,14 @@ RUN uv venv
# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
ARG UNBOUND_DEPS=false
RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
echo "Dependencies unbound:" && cat pyproject.toml; \
fi
RUN uv pip install --no-cache ".[all]"
# Copy the rest of the application code

64
pyproject.toml
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@@ -59,20 +59,20 @@ keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artifici
dependencies = [
# Hugging Face dependencies
"datasets>=4.0.0",
"diffusers>=0.27.2",
"huggingface-hub[hf-transfer,cli]>=0.34.2",
"datasets>=4.0.0,<4.2.0",
"diffusers>=0.27.2,<0.36.0",
"huggingface-hub[hf-transfer,cli]>=0.34.2,<0.36.0",
# Core dependencies
"cmake>=3.29.0.1",
"einops>=0.8.0",
"opencv-python-headless>=4.9.0",
"av>=14.2.0",
"jsonlines>=4.0.0",
"packaging>=24.2",
"pynput>=1.7.7",
"pyserial>=3.5",
"wandb>=0.20.0",
"cmake>=3.29.0.1,<4.2.0",
"einops>=0.8.0,<0.9.0",
"opencv-python-headless>=4.9.0,<4.13.0",
"av>=14.2.0,<16.0.0",
"jsonlines>=4.0.0,<5.0.0",
"packaging>=24.2,<26.0",
"pynput>=1.7.7,<1.9.0",
"pyserial>=3.5,<4.0",
"wandb>=0.20.0,<0.23.0",
"torch>=2.2.1,<2.8.0", # TODO: Bumb dependency
"torchcodec>=0.2.1,<0.6.0; 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')", # TODO: Bumb dependency
@@ -92,26 +92,26 @@ dependencies = [
[project.optional-dependencies]
# Common
pygame-dep = ["pygame>=2.5.1"]
placo-dep = ["placo>=0.9.6"]
transformers-dep = ["transformers>=4.53.0"]
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.10.0"]
transformers-dep = ["transformers>=4.53.0,<5.0.0"]
grpcio-dep = ["grpcio==1.73.1", "protobuf==6.31.0"]
# Motors
feetech = ["feetech-servo-sdk>=1.0.0"]
dynamixel = ["dynamixel-sdk>=3.7.31"]
feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
# Robots
gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0"]
gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1"]
reachy2 = ["reachy2_sdk>=1.0.14"]
lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
reachy2 = ["reachy2_sdk>=1.0.14,<1.1.0"]
kinematics = ["lerobot[placo-dep]"]
intelrealsense = [
"pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
"pyrealsense2-macosx>=2.54 ; sys_platform == 'darwin'",
"pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
"pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
]
phone = ["hebi-py>=2.8.0", "teleop>=0.1.0"]
phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0"]
# stretch = [
# "hello-robot-stretch-body>=0.7.27 ; sys_platform == 'linux'",
# "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
@@ -120,21 +120,21 @@ phone = ["hebi-py>=2.8.0", "teleop>=0.1.0"]
# Policies
pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14", "accelerate>=1.7.0", "safetensors>=0.4.3"]
hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.11", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.11,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
# Features
async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3"]
async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
# Development
dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1"]
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"]
dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1"]
test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0.0,<8.0.0", "mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32'"]
video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
# 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"]
aloha = ["gym-aloha>=0.1.1,<0.2.0"]
pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
xarm = ["gym-xarm>=0.1.1,<0.2.0"]
libero = ["lerobot[transformers-dep]", "libero @ git+https://github.com/huggingface/lerobot-libero.git@main#egg=libero"]