Merge branch 'main' into feat/add-robometer-rm

pyproject.toml

@@ -95,7 +95,7 @@ dependencies = [
 
 # ── Feature-scoped extras ──────────────────────────────────
 dataset = [
-    "datasets>=4.0.0,<5.0.0",
+    "datasets>=4.7.0,<5.0.0",
     "pandas>=2.0.0,<3.0.0", # NOTE: Transitive dependency of datasets
     "pyarrow>=21.0.0,<30.0.0", # NOTE: Transitive dependency of datasets
     "lerobot[av-dep]",
@@ -138,7 +138,9 @@ dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
 # Common
 av-dep = ["av>=15.0.0,<16.0.0"]
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
-placo-dep = ["placo>=0.9.6,<0.9.17"]
+# NOTE: 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable on Ubuntu 24.04
+# (noble ships urdfdom 3.x). Cap below 0.9.16 until system urdfdom 4.x is broadly available.
+placo-dep = ["placo>=0.9.6,<0.9.16"]
 transformers-dep = ["transformers>=5.4.0,<5.6.0"]
 grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
@@ -151,6 +153,8 @@ pyserial-dep = ["pyserial>=3.5,<4.0"]
 deepdiff-dep = ["deepdiff>=7.0.1,<9.0.0"]
 pynput-dep = ["pynput>=1.7.8,<1.9.0"]
 pyzmq-dep = ["pyzmq>=26.2.1,<28.0.0"]
+motorbridge-dep = ["motorbridge>=0.3.2,<0.4.0"]
+motorbridge-smart-servo-dep = ["motorbridge-smart-servo>=0.0.4,<0.1.0"]
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0", "lerobot[pyserial-dep]", "lerobot[deepdiff-dep]"]
@@ -174,6 +178,9 @@ unitree_g1 = [
     "lerobot[pygame-dep]",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
+# Seeed Studio reBot B601-DM follower (motorbridge / CAN) + StarArm102 / reBot Arm 102
+# leader (motorbridge-smart-servo / FashionStar UART servos).
+rebot = ["lerobot[motorbridge-dep]", "lerobot[motorbridge-smart-servo-dep]"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
@@ -191,6 +198,7 @@ wallx = [
     "lerobot[qwen-vl-utils-dep]",
 ]
 pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
+molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
 smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
 multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
 groot = [
@@ -205,6 +213,7 @@ groot = [
 ]
 sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
 robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot[peft-dep]"]
+topreward = ["lerobot[transformers-dep]"]
 xvla = ["lerobot[transformers-dep]"]
 eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
 hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
@@ -261,12 +270,14 @@ all = [
     "lerobot[lekiwi]",
     "lerobot[openarms]",
     "lerobot[reachy2]",
+    "lerobot[rebot]",
     "lerobot[kinematics]",
     "lerobot[intelrealsense]",
     "lerobot[diffusion]",
     "lerobot[multi_task_dit]",
     "lerobot[wallx]",
     "lerobot[pi]",
+    "lerobot[molmoact2]",
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
     "lerobot[xvla]",
@@ -281,6 +292,8 @@ all = [
     "lerobot[libero]; sys_platform == 'linux'",
     "lerobot[metaworld]",
     "lerobot[sarm]",
+    "lerobot[robometer]",
+    "lerobot[topreward]",
     "lerobot[peft]",
     # "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
 ]
@@ -396,8 +409,11 @@ default.extend-ignore-identifiers-re = [
     "ein",
     "thw",
     "inpt",
+    "arange",
+    "is_compileable",
     "ROBOTIS",
-    "OT_VALUE"
+    "OT_VALUE",
+    "VanderBilt"
 ]
 
 # TODO: Uncomment when ready to use