chore: Update poetry dependencies (pydantic v2)

pyproject.toml

@@ -12,6 +12,13 @@ classifiers = [
 package-mode = false
 [tool.poetry.dependencies]
 python = "^3.10, <3.13"
+langchain-core = "^0.3"
+langchain = "*"
+langgraph = "*"
+langchain-aws = "*"
+langchain-openai = "*"
+langchain-ollama = "*"
+langchain-community = "*"
 requests = "^2.32.2"
 pre-commit = "^3.7.0"
 openai = "^1.23.3"
@@ -23,12 +30,7 @@ tqdm = "^4.66.4"
 pytest = "^8.2.0"
 xxhash = "^3.4.1"
 optuna = "^3.6.1"
-langchain = "^0.2.3"
-langchain-aws = "^0.1.7"
-langchain-openai = "^0.1.8"
-langchain-community = "^0.2.4"
 transforms3d = "^0.4.1"
-langgraph = "^0.1.0"
 tabulate = "^0.9.0"
 lark = "^1.1.9"
 langfuse = "^2.36.1"
@@ -43,7 +45,6 @@ faiss-cpu = "^1.8.0.post1"
 rich = "^13.7.1"
 docx2txt = "^0.8"
 pypdf = "^4.2.0"
-langchain-ollama = "^0.1.1"
 
 streamlit = "^1.37.1"
 deprecated = "^1.2.14"

src/rai/rai/agents/state_based.py

@@ -42,15 +42,15 @@
     ToolCall,
     ToolMessage,
 )
-from langchain_core.pydantic_v1 import BaseModel, Field, ValidationError
 from langchain_core.runnables import Runnable, RunnableConfig
 from langchain_core.runnables.config import get_executor_for_config
 from langchain_core.tools import BaseTool
 from langchain_core.tools import tool as create_tool
 from langgraph.graph import END, START, StateGraph
 from langgraph.graph.graph import CompiledGraph
 from langgraph.prebuilt.tool_node import str_output
-from langgraph.utils import RunnableCallable
+from langgraph.utils.runnable import RunnableCallable
+from pydantic import BaseModel, Field, ValidationError
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
 from rai.messages import (

src/rai/rai/apps/state_analyzer.py

@@ -15,7 +15,7 @@
 
 from langchain_core.language_models.chat_models import BaseChatModel
 from langchain_core.prompts import ChatPromptTemplate
-from langchain_core.pydantic_v1 import BaseModel, Field
+from pydantic import BaseModel, Field
 
 STATE_ANALYZER_PROMPT = """
 I am a part of a robot's supervising system. I am responsible for analyzing current robot's state with respect to the planned mission.

src/rai/rai/apps/talk_to_docs.py

@@ -24,11 +24,11 @@
 from langchain_core.language_models.chat_models import BaseChatModel
 from langchain_core.messages import AIMessage, BaseMessage, HumanMessage
 from langchain_core.prompts.chat import ChatPromptTemplate
-from langchain_core.pydantic_v1 import BaseModel, Field
 from langchain_core.tools import BaseTool
 from langchain_core.vectorstores import VectorStore
 from langchain_openai import OpenAIEmbeddings
 from langgraph.graph import StateGraph
+from pydantic import BaseModel, Field
 
 from rai.apps.document_loader import ingest_documentation
 

src/rai/rai/apps/task_executor.py

@@ -27,9 +27,9 @@
     ToolMessage,
 )
 from langchain_core.prompts import ChatPromptTemplate
-from langchain_core.pydantic_v1 import BaseModel, Field
 from langchain_core.runnables import RunnableConfig
 from langchain_core.tools import BaseTool, tool
+from pydantic import BaseModel, Field
 
 logger = logging.getLogger(__name__)
 

src/rai/rai/apps/task_planner.py

@@ -15,7 +15,7 @@
 
 from langchain_core.language_models.chat_models import BaseChatModel
 from langchain_core.prompts import ChatPromptTemplate
-from langchain_core.pydantic_v1 import BaseModel, Field
+from pydantic import BaseModel, Field
 
 PLANNER_PROMPT = """
 I am a part of a robot's planning system. I am responsible for planning the robot's actions by splitting tasks in to atomic steps.

src/rai/rai/tools/ros/cli.py

@@ -17,7 +17,7 @@
 from typing import Type
 
 from langchain.tools import BaseTool
-from langchain_core.pydantic_v1 import BaseModel, Field
+from pydantic import BaseModel, Field
 
 
 class Ros2TopicToolInput(BaseModel):

src/rai/rai/tools/ros/native.py

@@ -27,7 +27,7 @@
 import rosidl_runtime_py.utilities
 import sensor_msgs.msg
 from langchain.tools import BaseTool
-from langchain_core.pydantic_v1 import BaseModel, Field
+from pydantic import BaseModel, Field
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
 from .utils import convert_ros_img_to_base64, import_message_from_str
@@ -180,7 +180,7 @@ class TopicInput(Ros2BaseInput):
 
 
 class GetMsgFromTopic(Ros2BaseTool):
-    name = "get_msg_from_topic"
+    name: str = "get_msg_from_topic"
     description: str = "Get message from topic"
     args_schema: Type[TopicInput] = TopicInput
     response_format: str = "content_and_artifact"
@@ -195,7 +195,7 @@ def _run(self, topic_name: str):
 
 
 class GetCameraImage(Ros2BaseTool):
-    name = "get_camera_image"
+    name: str = "get_camera_image"
     description: str = "get image from robots camera"
     response_format: str = "content_and_artifact"
     args_schema: Type[TopicInput] = TopicInput

src/rai/rai/tools/ros/native_actions.py

@@ -18,7 +18,7 @@
 import rosidl_runtime_py.set_message
 import rosidl_runtime_py.utilities
 from action_msgs.msg import GoalStatus
-from langchain_core.pydantic_v1 import BaseModel, Field
+from pydantic import BaseModel, Field
 from rclpy.action import ActionClient
 
 from .native import Ros2BaseTool
@@ -155,8 +155,10 @@ def _run(self, uid: str):
 
 
 class Ros2ListActionFeedbacks(Ros2BaseTool):
-    name = "Ros2ListActionFeedbacks"
-    description = "List intermediate feedbacks received during ros2 action. Feedbacks are sent before the action is completed."
+    name: str = "Ros2ListActionFeedbacks"
+    description: str = (
+        "List intermediate feedbacks received during ros2 action. Feedbacks are sent before the action is completed."
+    )
 
     args_schema: Type[OptionalActionUidInput] = OptionalActionUidInput
 

src/rai/rai/tools/ros/tools.py

@@ -22,9 +22,9 @@
 import cv2
 import numpy as np
 from geometry_msgs.msg import Point, Quaternion, TransformStamped
-from langchain_core.pydantic_v1 import BaseModel, Field
 from langchain_core.tools import BaseTool
 from nav_msgs.msg import OccupancyGrid
+from pydantic import BaseModel, Field
 from tf_transformations import euler_from_quaternion
 
 from rai.tools.ros.deprecated import SingleMessageGrabber
@@ -50,7 +50,7 @@ class AddDescribedWaypointToDatabaseToolInput(BaseModel):
 class AddDescribedWaypointToDatabaseTool(BaseTool):
     """Add described waypoint to the database tool."""
 
-    name = "AddDescribedWaypointToDatabaseTool"
+    name: str = "AddDescribedWaypointToDatabaseTool"
     description: str = (
         "A tool for adding a described waypoint to the database for later use. "
     )
@@ -242,7 +242,7 @@ class GetCurrentPositionToolInput(BaseModel):
 class GetCurrentPositionTool(BaseTool):
     """Get the current position of the robot."""
 
-    name = "GetCurrentPositionTool"
+    name: str = "GetCurrentPositionTool"
     description: str = "A tool for getting the current position of the robot."
 
     args_schema: Type[GetCurrentPositionToolInput] = GetCurrentPositionToolInput

src/rai/rai/tools/time.py

@@ -16,8 +16,8 @@
 import time
 from typing import Type
 
-from langchain.pydantic_v1 import BaseModel, Field
 from langchain_core.tools import BaseTool
+from pydantic import BaseModel, Field
 
 
 class WaitForSecondsToolInput(BaseModel):

src/rai_hmi/rai_hmi/task.py

@@ -15,8 +15,7 @@
 
 from enum import Enum
 
-from langchain_core.pydantic_v1 import BaseModel
-from pydantic import UUID4
+from pydantic import UUID4, BaseModel
 
 
 class Priority(str, Enum):

src/rai_hmi/rai_hmi/tools.py

@@ -15,8 +15,8 @@
 
 from typing import Any, Type
 
-from langchain_core.pydantic_v1 import BaseModel, Field
 from langchain_core.tools import BaseTool
+from pydantic import BaseModel, Field
 
 from .task import Task
 

tests/conftest.py

@@ -28,7 +28,7 @@
 
 @pytest.fixture
 def rai_python_modules():
-    packages = glob.glob("src/*")
+    packages = glob.glob("src/rai*") + glob.glob("src/*/rai*")
     package_names = [os.path.basename(p) for p in packages]
     ros2_python_packages = []
     for package_path, package_name in zip(packages, package_names):