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fix(pyproject): drop unresolvable robocasa extra

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robocasa's upstream setup.py hardcodes `lerobot==0.3.3` in
install_requires. Exposing it as the `lerobot[robocasa]` extra made
uv's dep resolver cycle: `lerobot[robocasa]` -> robocasa -> lerobot
(a different version) -> unsolvable. This broke every `uv sync` — even
invocations with an unrelated extra like `--extra test` — because uv
validates the whole lockfile graph.

- Remove the `robocasa` extra from pyproject.toml. Installation
  instructions in docs/source/robocasa.mdx now walk users through the
  manual `git clone` + `pip install --no-deps` flow, which matches
  what the Docker image already does and sidesteps the cyclic dep
  entirely.
- Dockerfile: `uv pip install -e ~/robocasa --no-deps` so the
  shadowed lerobot==0.3.3 never lands in the image; install
  robocasa's actual runtime deps (numpy, numba, scipy, mujoco,
  tianshou, etc.) explicitly.

Made-with: Cursor
This commit is contained in:
Pepijn
2026-04-17 13:37:26 +01:00
parent e9e7cbbbda
commit 5a065c8f87
3 changed files with 35 additions and 8 deletions
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docs/source/robocasa.mdx
+20 -6
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@@ -27,18 +27,32 @@ RoboCasa365 includes **365 tasks** organized into atomic (single-skill) and comp
## Installation
After following the LeRobot installation instructions:
RoboCasa and its dependency `robosuite` are not published on PyPI, and RoboCasa's own `setup.py` hardcodes `lerobot==0.3.3`, which conflicts with this repo's `lerobot`. Install them manually as editable clones (using `--no-deps` on `robocasa` to skip its shadowed `lerobot` pin):
```bash
pip install -e ".[robocasa]"
# After following the standard LeRobot installation instructions.
git clone https://github.com/robocasa/robocasa.git ~/robocasa
git clone https://github.com/ARISE-Initiative/robosuite.git ~/robosuite
pip install -e ~/robocasa --no-deps
pip install -e ~/robosuite
# Robocasa's runtime deps (the ones its setup.py would have pulled,
# minus the bad lerobot pin).
pip install numpy numba scipy mujoco pygame Pillow opencv-python \
pyyaml pynput tqdm termcolor imageio h5py lxml hidapi \
tianshou gymnasium
python -m robocasa.scripts.setup_macros
# Lightweight assets only (lightwheel registry, ~2GB). Enough for the
# default env out of the box.
python -m robocasa.scripts.download_kitchen_assets --type tex fixtures_lw objs_lw
# Lightweight assets only (lightwheel registry, ~2GB + the generative
# textures needed by the fixture XMLs). Enough for the default env out
# of the box.
python -m robocasa.scripts.download_kitchen_assets \
--type tex tex_generative fixtures_lw objs_lw
# Optional: full objaverse/aigen registries (~30GB) for richer object
# variety. If you download these, pass them via `--env.obj_registries`
# at eval/train time (see below).
# python -m robocasa.scripts.download_kitchen_assets --type objaverse
# python -m robocasa.scripts.download_kitchen_assets --type objs_objaverse
```
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