feat(ci): add entrypoints + add version checks + add minimal release testing + uncomment publishing to pypi (#1589)

.github/workflows/full_tests.yml

@@ -206,3 +206,5 @@ jobs:
             echo "::error::Failed to delete Docker image. HTTP status: $HTTP_RESPONSE"
             exit 1
           fi
+
+# TODO(Steven): Check dockerimages pull in ubuntu

.github/workflows/release.yml

@@ -20,12 +20,12 @@ on:
       - 'v*.*.*' # Trigger on tags like v0.1.0, v1.0.0
 
 jobs:
-  # TODO(Steven): Publish draft/pre-release and to test pypi
-  # TODO(Steven): Tag documentation with the same version as the package
-  # TODO(Steven): Define entry points for main CLI scripts
+  # This job builds the Python package and publishes it to PyPI
   build-and-publish:
     name: Build and publish Python distributions
     runs-on: ubuntu-latest
+    outputs:
+      version: ${{ steps.extract_info.outputs.tag_version }}
     permissions:
       contents: write
       id-token: write
@@ -41,26 +41,34 @@ jobs:
         with:
           python-version: '3.10'
 
-      - name: Extract Version and Package Name
+      - name: Extract Version
         id: extract_info
+        # Extract version from tag (e.g., v0.1.0 -> 0.1.0)
         # zizmor: ignore[template-injection]
         run: |
-          # Extract version from tag (e.g., v0.1.0 -> 0.1.0)
           VERSION=${{ github.ref_name }}
           VERSION_NUMBER=${VERSION#v}
           echo "tag_version=$VERSION_NUMBER" >> $GITHUB_OUTPUT
+      - name: Check if version matches pyproject.toml
+        # zizmor: ignore[template-injection]
+        run: |
+          TAG_VERSION=${{ steps.extract_info.outputs.tag_version }}
 
-          # Extract package name from pyproject.toml
-          PACKAGE_NAME=$(grep -oP 'name = "\K[^"]+' pyproject.toml)
-          echo "package_name=$PACKAGE_NAME" >> $GITHUB_OUTPUT
+          PYPROJECT_VERSION=$(grep '^version = ' pyproject.toml | awk -F' = ' '{print $2}' | tr -d '"')
+
+          if [[ "$TAG_VERSION" != "$PYPROJECT_VERSION" ]]; then
+            echo "Error: Tag version ($TAG_VERSION) does not match pyproject.toml version ($PYPROJECT_VERSION)." >&2
+            exit 1
+          else
+            echo "Tag version matches pyproject.toml version: $TAG_VERSION. Proceeding with release."
+          fi
 
       - name: Check if version exists on PyPI
       # zizmor: ignore[template-injection]
         run: |
-          PACKAGE_NAME=${{ steps.extract_info.outputs.package_name }}
           NEW_VERSION=${{ steps.extract_info.outputs.tag_version }}
 
-          response=$(curl -s "https://pypi.org/pypi/$PACKAGE_NAME/$NEW_VERSION/json")
+          response=$(curl -s "https://pypi.org/pypi/lerobot/$NEW_VERSION/json")
           if echo "$response" | grep -q "message"; then
             echo "Version $NEW_VERSION is available on PyPI. Proceeding with release."
           else
@@ -80,9 +88,46 @@ jobs:
         # zizmor: ignore[template-injection]
         run: gh release create ${{ github.ref_name }} --release-name "Release ${{ github.ref_name }}" --generate-notes ./dist/*
 
-      # TODO(Steven): Uncomment when ready to publish to PyPI
-      # - name: Publish to PyPI
-      #   if: startsWith(github.ref, 'refs/tags/v')
-      #   uses: pypa/gh-action-pypi-publish@v1.12.4
-      #   with:
-      #     password: ${{ secrets.PYPI_API_TOKEN }}
+      - name: Publish to PyPI
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: pypa/gh-action-pypi-publish@v1.12.4 # zizmor: ignore[unpinned-uses, use-trusted-publishing]
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}
+
+  # This job runs end-to-end tests on the release
+  test-release:
+    name: Test Release
+    needs: [build-and-publish]
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    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: ${{ env.PYTHON_VERSION }}
+      - name: Install lerobot release
+        run: uv run pip install lerobot==${{ needs.build-and-publish.outputs.version }} # zizmor: ignore[template-injection]
+
+      - name: Check lerobot version
+        run: uv run lerobot --version
+
+      - name: Run end-to-end tests
+        run: uv run make test-end-to-end
+
+
+# TODO(Steven): Publish draft/pre-release and to test pypi
+# TODO(Steven): Tag documentation with the same version as the package

pyproject.toml

@@ -156,6 +156,17 @@ all = [
     "lerobot[xarm]"
 ]
 
+[project.scripts]
+lerobot-calibrate="lerobot.calibrate:main"
+lerobot-find-cameras="lerobot.find_cameras:main"
+lerobot-find-port="lerobot.find_port:main"
+lerobot-record="lerobot.record:main"
+lerobot-replay="lerobot.replay:main"
+lerobot-setup-motors="lerobot.setup_motors:main"
+lerobot-teleoperate="lerobot.teleoperate:main"
+lerobot-eval="lerobot.scripts.eval:main"
+lerobot-train="lerobot.scripts.train:main"
+
 # ---------------- Tool Configurations ----------------
 [tool.setuptools.packages.find]
 where = ["src"]