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

pyproject.toml

@@ -14,6 +14,7 @@
 
 [build-system]
 requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
 
 [project.urls]
 homepage = "https://huggingface.co/lerobot"
@@ -58,7 +59,7 @@ keywords = ["lerobot", "huggingface", "robotics",  "machine learning", "artifici
 dependencies = [
 
     # Hugging Face dependencies
-    "datasets>=2.19.0",
+    "datasets>=2.19.0,<=3.6.0", # TODO: Bumb dependency
     "diffusers>=0.27.2",
     "huggingface-hub[hf-transfer,cli]>=0.27.1",
 
@@ -91,20 +92,20 @@ dependencies = [
 [project.optional-dependencies]
 
 # 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"]
+pygame-dep = ["pygame>=2.5.1"]
+placo-dep = ["placo>=0.9.6"]
+transformers-dep = ["transformers>=4.50.3"]
+grpcio-dep = ["grpcio==1.71.0"]
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0"]
 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"]
+gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0"]
+hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
+lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1"]
+kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
     "pyrealsense2-macosx>=2.54 ; sys_platform == 'darwin'",
@@ -116,12 +117,12 @@ stretch = [
 ] # 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"]
+pi0 = ["lerobot[transformers-dep]"]
+smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14", "accelerate>=1.7.0", "safetensors>=0.4.3"]
+hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.9", "protobuf>=5.29.3", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
-async = ["grpcio_dep", "matplotlib>=3.10.3"]
+async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3"]
 
 # Development
 docs = ["hf-doc-builder @ git+https://github.com/huggingface/doc-builder.git@main", "watchdog >= 6.0.0"]
@@ -135,6 +136,9 @@ pusht = ["gym-pusht>=0.1.5", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version
 xarm = ["gym-xarm>=0.1.1"]
 
 # ---------------- Tool Configurations ----------------
+[tool.setuptools.packages.find]
+where = ["src"]
+
 [tool.ruff]
 target-version = "py310"
 line-length = 110

src/lerobot/configs/policies.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import abc
+import builtins
 import json
 import logging
 import os
@@ -31,7 +32,6 @@
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 
-# Generic variable that is either PreTrainedConfig or a subclass thereof
 T = TypeVar("T", bound="PreTrainedConfig")
 
 
@@ -148,7 +148,7 @@ def _save_pretrained(self, save_directory: Path) -> None:
 
     @classmethod
     def from_pretrained(
-        cls: Type[T],
+        cls: builtins.type[T],
         pretrained_name_or_path: str | Path,
         *,
         force_download: bool = False,

src/lerobot/configs/train.py

@@ -11,6 +11,7 @@
 # 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.
+import builtins
 import datetime as dt
 import os
 from dataclasses import dataclass, field
@@ -135,7 +136,7 @@ def _save_pretrained(self, save_directory: Path) -> None:
 
     @classmethod
     def from_pretrained(
-        cls: Type["TrainPipelineConfig"],
+        cls: builtins.type["TrainPipelineConfig"],
         pretrained_name_or_path: str | Path,
         *,
         force_download: bool = False,

src/lerobot/datasets/card_template.md

@@ -1,7 +1,8 @@
 ---
 # For reference on dataset card metadata, see the spec: https://github.com/huggingface/hub-docs/blob/main/datasetcard.md?plain=1
 # Doc / guide: https://huggingface.co/docs/hub/datasets-cards
-{{ card_data }}
+# prettier-ignore
+{{card_data}}
 ---
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

src/lerobot/policies/pretrained.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import abc
+import builtins
 import logging
 import os
 from importlib.resources import files
@@ -67,7 +68,7 @@ def _save_pretrained(self, save_directory: Path) -> None:
 
     @classmethod
     def from_pretrained(
-        cls: Type[T],
+        cls: builtins.type[T],
         pretrained_name_or_path: str | Path,
         *,
         config: PreTrainedConfig | None = None,

src/lerobot/robots/lekiwi/lekiwi_client.py

@@ -22,7 +22,6 @@
 
 import cv2
 import numpy as np
-import zmq
 
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
@@ -35,6 +34,9 @@ class LeKiwiClient(Robot):
     name = "lekiwi_client"
 
     def __init__(self, config: LeKiwiClientConfig):
+        import zmq
+
+        self._zmq = zmq
         super().__init__(config)
         self.config = config
         self.id = config.id
@@ -117,6 +119,7 @@ def connect(self) -> None:
                 "LeKiwi Daemon is already connected. Do not run `robot.connect()` twice."
             )
 
+        zmq = self._zmq
         self.zmq_context = zmq.Context()
         self.zmq_cmd_socket = self.zmq_context.socket(zmq.PUSH)
         zmq_cmd_locator = f"tcp://{self.remote_ip}:{self.port_zmq_cmd}"
@@ -141,6 +144,7 @@ def calibrate(self) -> None:
 
     def _poll_and_get_latest_message(self) -> Optional[str]:
         """Polls the ZMQ socket for a limited time and returns the latest message string."""
+        zmq = self._zmq
         poller = zmq.Poller()
         poller.register(self.zmq_observation_socket, zmq.POLLIN)
 

src/lerobot/robots/robot.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import abc
+import builtins
 from pathlib import Path
 from typing import Any, Type
 
@@ -39,7 +40,7 @@ class Robot(abc.ABC):
     """
 
     # Set these in ALL subclasses
-    config_class: Type[RobotConfig]
+    config_class: builtins.type[RobotConfig]
     name: str
 
     def __init__(self, config: RobotConfig):

src/lerobot/teleoperators/teleoperator.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import abc
+import builtins
 from pathlib import Path
 from typing import Any, Type
 
@@ -37,7 +38,7 @@ class Teleoperator(abc.ABC):
     """
 
     # Set these in ALL subclasses
-    config_class: Type[TeleoperatorConfig]
+    config_class: builtins.type[TeleoperatorConfig]
     name: str
 
     def __init__(self, config: TeleoperatorConfig):

src/lerobot/templates/lerobot_modelcard_template.md

@@ -1,7 +1,8 @@
 ---
 # For reference on model card metadata, see the spec: https://github.com/huggingface/hub-docs/blob/main/modelcard.md?plain=1
 # Doc / guide: https://huggingface.co/docs/hub/model-cards
-{{ card_data }}
+# prettier-ignore
+{{card_data}}
 ---
 
 # Model Card for {{ model_name | default("Model ID", true) }}

src/lerobot/utils/hub.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import builtins
 from pathlib import Path
 from tempfile import TemporaryDirectory
 from typing import Any, Type, TypeVar
@@ -85,7 +86,7 @@ def _save_pretrained(self, save_directory: Path) -> None:
     @classmethod
     @validate_hf_hub_args
     def from_pretrained(
-        cls: Type[T],
+        cls: builtins.type[T],
         pretrained_name_or_path: str | Path,
         *,
         force_download: bool = False,