lerobot/.github/workflows/release.yml

# 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.

name: Create Release and Publish to PyPI

on:
  push:
    tags:
      - 'v*.*.*' # Trigger on tags like v0.1.0, v1.0.0

# Sets up the environment variables
env:
  UV_VERSION: "0.8.0"
  PYTHON_VERSION: "3.10"

jobs:
  # 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

    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          persist-credentials: false

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.10'

      - name: Extract Version
        id: extract_info
        # Extract version from tag (e.g., v0.1.0 -> 0.1.0)
        # zizmor: ignore[template-injection]
        run: |
          VERSION=${{ github.ref_name }}
          VERSION_NUMBER=${VERSION#v}
          echo "tag_version=$VERSION_NUMBER" >> $GITHUB_OUTPUT
      - name: Check if version matches pyproject.toml
        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '-')
        # zizmor: ignore[template-injection]
        run: |
          TAG_VERSION=${{ steps.extract_info.outputs.tag_version }}

          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: |
          NEW_VERSION=${{ steps.extract_info.outputs.tag_version }}

          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
            echo "Error: Version $NEW_VERSION already exists on PyPI. Aborting."
            exit 1
          fi

      - name: Remove Tags with Git dependencies
        # TODO(Steven): Temporary patch to remove libero and pi from PyPi 0.4.0 release due to its reliance on git dependencies.
        run: |
          echo "::info:: Checking for Git dependencies to remove from pyproject.toml..."
          grep -E '@ git\+https|lerobot\[pi\]|lerobot\[libero\]' pyproject.toml | sed 's/^/::warning:: Removing line: /' || true
          sed -E -i '/@ git\+https|lerobot\[pi\]|lerobot\[libero\]/d' pyproject.toml
          echo "::info:: Git dependencies removed. Proceeding with build."

      - name: Install build dependencies
        run: python -m pip install build

      - name: Build package
        run: python -m build

      - name: Create GitHub Release
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        # zizmor: ignore[template-injection]
        run: |
          gh release create ${{ github.ref_name }} \
            --title "Release ${{ github.ref_name }}" \
            --generate-notes \
            --draft=$([[ "${{ github.ref_name }}" == *-* ]] && echo true || echo false) \
            --prerelease=$([[ "${{ github.ref_name }}" == *-* ]] && echo true || echo false) \
            ./dist/*

      - name: Publish to TestPyPI for pre-releases
        # True for tags like 'v0.2.0-rc1'
        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '-')
        uses: pypa/gh-action-pypi-publish@v1.13.0 # zizmor: ignore[unpinned-uses, use-trusted-publishing]
        with:
          repository-url: https://test.pypi.org/legacy/
          verbose: true
          print-hash: true

      - name: Publish to PyPI
        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '-')
        uses: pypa/gh-action-pypi-publish@v1.13.0 # zizmor: ignore[unpinned-uses, use-trusted-publishing]
        with:
          verbose: true
          print-hash: true

  # 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 # zizmor: ignore[cache-poisoning]
          version: ${{ env.UV_VERSION }}
          python-version: ${{ env.PYTHON_VERSION }}
      - name: Create uv virtual environment
        run: uv venv
      - name: Install lerobot release
        # zizmor: ignore[template-injection]
        run: |
          VERSION="${{ needs.build-and-publish.outputs.version }}"
          if [[ "$VERSION" == *-* ]]; then
            BASE_VERSION="${VERSION%%-*}"
            echo "Installing pre-release version $BASE_VERSION from TestPyPI..."
            uv pip install \
              --index-url https://test.pypi.org/simple/ \
              --extra-index-url https://pypi.org/simple \
              --index-strategy unsafe-best-match \
               "lerobot[all]==$BASE_VERSION"
          else
            echo "Installing release version $VERSION from PyPI..."
            uv pip install "lerobot[all]==$VERSION"
          fi
      - name: Check lerobot version
        run: uv run python -c "import lerobot; print(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 weekly
# TODO(Steven): Separate build and publish job
# TODO(Steven): Tag documentation with the same version as the package