pyproject.toml

[project]
name = "portal-hitl"
version = "0.1.0"
description = "Human-in-the-loop teleop + recording on top of livekit-portal. SO-101-on-linear-slider (leslider) driven by a remote operator; the operator side records LeRobotDataset episodes and can hand off to a policy."
requires-python = ">=3.12,<3.13"
dependencies = [
    "livekit-portal>=0.2.1",
    "livekit-api>=0.7",
    "lerobot[feetech]>=0.5",
    "lerobot_robot_so101_slider",
    "lerobot_teleoperator_so101_with_slider",
    "rerun-sdk>=0.26",
    "numpy>=1.24",
    "python-dotenv>=1",
    "opencv-python>=4.5",
    "pynput>=1.7",
    "torch>=2.2",
]

[dependency-groups]
# Cloud training environments don't need livekit / pynput / opencv. Match
# leslider's `train` group so `uv sync --only-group train` produces a
# minimal trainer image.
train = [
    "lerobot[feetech]>=0.5",
]

# Flat layout on purpose — `uv run robot.py` / `uv run teleoperator.py` /
# `uv run policy.py` from this directory. No CLI, no package, no wheel.
# Read the scripts top-to-bottom; they are the example.

[tool.uv.sources]
# Same git deps as portal-leslider. Pinning to the leslider repo guarantees
# the slider follower / leader are the exact ones that produced the
# reference checkpoints in policies/<algo>/.
lerobot_robot_so101_slider = { git = "https://github.com/pham-tuan-binh/leslider", subdirectory = "packages/lerobot_robot_so101_slider" }
lerobot_teleoperator_so101_with_slider = { git = "https://github.com/pham-tuan-binh/leslider", subdirectory = "packages/lerobot_teleoperator_so101_with_slider" }