refactor: use uv instead of poetry

.dockerignore

@@ -100,12 +100,12 @@ ipython_config.py
 #   install all needed dependencies.
 #Pipfile.lock
 
-# poetry
-#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+# uv
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
 #   This is especially recommended for binary packages to ensure reproducibility, and is more
 #   commonly ignored for libraries.
-#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
-#poetry.lock
+#   https://docs.astral.sh/uv/concepts/projects/layout/#the-lockfile
+#uv.lock
 
 # pdm
 #   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.

.github/workflows/poetry-test.yml → .github/workflows/build-and-test.yml

@@ -34,10 +34,10 @@ jobs:
         with:
           clean: true
 
-      - name: Install Poetry
-        uses: snok/install-poetry@v1
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
         with:
-          version: 2.1.1
+          enable-cache: true
 
       - name: Create virtual audio device
         run: |
@@ -46,7 +46,7 @@ jobs:
           jackd -d dummy -r 44100 &
 
       - name: Install python dependencies
-        run: poetry install --with perception,nomad,s2s,simbench
+        run: uv sync --all-groups
 
       - name: Update rosdep
         shell: bash

.github/workflows/mkdocs-build.yml

@@ -20,28 +20,30 @@ jobs:
         with:
           clean: true
 
-      - name: Cache Poetry and pip
+      - name: Install system dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get --yes install git
+
+      - name: Cache uv and pip
         uses: actions/cache@v4
         with:
           path: |
-            ~/.cache/pypoetry
+            ~/.cache/uv
             ~/.cache/pip
-          key: ${{ runner.os }}-poetry-${{ hashFiles('**/poetry.lock') }}
+          key: ${{ runner.os }}-uv-${{ hashFiles('**/uv.lock') }}
           restore-keys: |
-            ${{ runner.os }}-poetry-
+            ${{ runner.os }}-uv-
 
-      - name: Install Poetry
-        uses: snok/install-poetry@v1
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
         with:
-          version: 2.1.1
+          enable-cache: true
 
       - name: Install python dependencies
-        run: poetry install --with docs
-
-      - name: Install rai packages
-        run: poetry run pip install src/rai_core src/rai_sim src/rai_bench src/rai_s2s --no-deps
+        run: uv sync --frozen --all-groups
 
       - name: Build docs
         shell: bash
         run: |
-          poetry run mkdocs build --strict
+          uv run mkdocs build --strict

.github/workflows/mkdocs-publish.yml

@@ -20,28 +20,25 @@ jobs:
           git config user.name github-actions[bot]
           git config user.email 41898282+github-actions[bot]@users.noreply.github.com
 
-      - name: Cache Poetry and pip
+      - name: Cache uv and pip
         uses: actions/cache@v4
         with:
           path: |
-            ~/.cache/pypoetry
+            ~/.cache/uv
             ~/.cache/pip
-          key: ${{ runner.os }}-poetry-${{ hashFiles('**/poetry.lock') }}
+          key: ${{ runner.os }}-uv-${{ hashFiles('**/uv.lock') }}
           restore-keys: |
-            ${{ runner.os }}-poetry-
+            ${{ runner.os }}-uv-
 
-      - name: Install Poetry
-        uses: snok/install-poetry@v1
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
         with:
-          version: 2.1.1
+          enable-cache: true
 
       - name: Install python dependencies
-        run: poetry install --with docs
-
-      - name: Install rai packages
-        run: poetry run pip install src/rai_core src/rai_sim src/rai_bench src/rai_s2s --no-deps
+        run: uv sync --frozen --all-groups
 
       - name: Build and Deploy
         shell: bash
         run: |
-          poetry run mkdocs gh-deploy --force
+          uv run mkdocs gh-deploy --force

.gitignore

@@ -100,12 +100,12 @@ ipython_config.py
 #   install all needed dependencies.
 #Pipfile.lock
 
-# poetry
-#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+# uv
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
 #   This is especially recommended for binary packages to ensure reproducibility, and is more
 #   commonly ignored for libraries.
-#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
-#poetry.lock
+#   https://docs.astral.sh/uv/concepts/projects/layout/#the-lockfile
+#uv.lock
 
 # pdm
 #   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.

CONTRIBUTING.md

@@ -54,7 +54,7 @@ pre-commit run -a # Run the checks before committing
 Optionally, install all RAI dependencies and run the tests:
 
 ```bash
-poetry install --all-groups
+uv sync --all-groups
 colcon build --symlink-install
 pytest tests/
 ```

docker/Dockerfile

@@ -17,8 +17,6 @@ FROM osrf/ros:${ROS_DISTRO}-desktop-full
 
 ARG DEPENDENCIES=core_only
 ENV DEBIAN_FRONTEND=noninteractive
-# Increase timeout for Poetry requests.
-ENV POETRY_REQUESTS_TIMEOUT=300
 
 # Check whether the $DEPENDENCIES ARG has a valid value
 RUN /bin/bash -c 'if [ "${DEPENDENCIES}" != "core_only" ] && [ "${DEPENDENCIES}" != "all_groups" ]; then \
@@ -33,8 +31,8 @@ RUN apt update && apt install -y \
     git \
     wget \
     zip
-# Install Poetry
-RUN curl -sSL https://install.python-poetry.org | python3 - --version 2.1.3
+# Install uv
+RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:$PATH"
 
 # Copy the RAI repository
@@ -46,9 +44,9 @@ ENV FASTRTPS_DEFAULT_PROFILES_FILE=/rai/docker/fastrtps_config.xml
 ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 RUN /bin/bash -c 'if [ "${DEPENDENCIES}" = "core_only" ]; then \
-  poetry install; \
+  uv sync --frozen; \
 else \
-  poetry install --all-groups; \
+  uv sync --frozen --all-groups; \
 fi'
 
 # Install ROS dependencies

docs/demos/manipulation.md

@@ -26,7 +26,7 @@ manipulation techniques.
 2. Download additional dependencies:
 
     ```shell
-    poetry install --with perception,simbench
+    uv sync --group perception --group simbench
     vcs import < demos.repos
     rosdep install --from-paths src/examples/rai-manipulation-demo/ros2_ws/src --ignore-src -r -y
     ```

docs/demos/rosbot_xl.md

@@ -30,7 +30,7 @@ platform in a nice apartment.
     sudo apt install ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup
     vcs import < demos.repos
     rosdep install --from-paths src --ignore-src -r -y
-    poetry install --with perception
+    uv sync --group perception
     colcon build
     ```
 

docs/faq/ROS_2_Overview.md

@@ -11,7 +11,7 @@ At the heart of this integration is the `rai.communication.ros2.ROS2Connector`,
     1. **Dependency Management**
          - ROS 2's dependency system (rosdep) is too vague and inflexible for RAI's needs
          - RAI heavily relies on the Python ecosystem, particularly for AI/LLM integration
-         - Poetry provides more precise version control and dependency resolution, crucial for AI/ML components
+         - uv provides more precise version control and dependency resolution, crucial for AI/ML components
 
     2. **Architectural Separation**
          - The initial ROS 2 package approach made it difficult to maintain clear separation between:

docs/setup/install.md

@@ -11,13 +11,13 @@ There are two ways to start using RAI:
 
 1. Installing RAI using pip (recommended for end users)
 
-2. Setting up a developer environment using poetry (recommended for developers)
+2. Setting up a developer environment using uv (recommended for developers)
 
 ## Installing RAI
 
 ??? tip "Virtual environment"
 
-    We recommend installing RAI in a virtual environment (e.g., [virtualenv](https://docs.python.org/3/library/venv.html), [uv](https://docs.astral.sh/uv/), or [poetry](https://python-poetry.org/docs/)) to keep your dependencies organized. Make sure to use the same version of python as the one used for ROS 2 (typically `python3.10` for Humble and `python3.12` for Jazzy).
+    We recommend installing RAI in a virtual environment (e.g., [virtualenv](https://docs.python.org/3/library/venv.html) or [uv](https://docs.astral.sh/uv/)) to keep your dependencies organized. Make sure to use the same version of python as the one used for ROS 2 (typically `python3.10` for Humble and `python3.12` for Jazzy).
 
     If you plan to use ROS 2 commands (`ros2 run` or `ros2 launch`), you'll need to add your virtual environment's Python packages to your `$PYTHONPATH`. This step is only necessary for ROS 2 integration - if you're just running RAI directly with Python, you can skip this step.
 
@@ -74,17 +74,17 @@ There are two ways to start using RAI:
 
 ## Setting up developer environment
 
-### 1.1 Install poetry
+### 1.1 Install uv
 
-RAI uses [Poetry](https://python-poetry.org/)(2.1+) for python packaging and dependency management.
-Install poetry with the following line:
+RAI uses [uv](https://docs.astral.sh/uv/) for python packaging and dependency management.
+Install uv with the following line:
 
 ```bash
-curl -sSL https://install.python-poetry.org | python3 -
+curl -LsSf https://astral.sh/uv/install.sh | sh
 ```
 
 Alternatively, you can opt to do so by following the
-[official docs](https://python-poetry.org/docs/#installation).
+[official docs](https://docs.astral.sh/uv/getting-started/installation/).
 
 ### 1.2 Clone the repository:
 
@@ -99,10 +99,10 @@ cd rai
 vcs import < ros_deps.repos
 ```
 
-### 1.4 Create poetry virtual environment and install dependencies:
+### 1.4 Create virtual environment and install dependencies:
 
 ```bash
-poetry install
+uv sync
 rosdep install --from-paths src --ignore-src -r -y
 ```
 
@@ -113,7 +113,7 @@ rosdep install --from-paths src --ignore-src -r -y
     install additional dependencies:
 
     ```bash
-    poetry install --with perception,nomad,s2s,simbench # or `--all-groups` for full setup
+    uv sync --group perception --group nomad --group s2s --group simbench # or `--all-groups` for full setup
     ```
 
     | Group Name | Description | Dependencies |
@@ -129,7 +129,7 @@ rosdep install --from-paths src --ignore-src -r -y
 Run the configuration tool to set up your LLM vendor and other settings:
 
 ```bash
-poetry run streamlit run src/rai_core/rai/frontend/configurator.py
+uv run streamlit run src/rai_core/rai/frontend/configurator.py
 ```
 
 !!! tip "Web browser"

docs/setup/setup_docker.md

@@ -107,5 +107,5 @@ docker run --net=host --ipc=host --pid=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -it
 ```sh
 cd /rai
 source setup_shell.sh
-poetry run pytest tests/{agents,messages,tools,types}
+uv run pytest tests/{agents,messages,tools,types}
 ```