fix(pyproject): drop unresolvable robocasa extra

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

docker/Dockerfile.benchmark.robocasa

@@ -24,9 +24,18 @@ FROM huggingface/lerobot-gpu:latest
 # Install robocasa + robosuite as editable clones. pip-installing from git
 # omits data files like robocasa/models/assets/box_links/box_links_assets.json
 # (not declared in package_data), which download_kitchen_assets needs at import.
+#
+# `--no-deps` on robocasa is deliberate: its setup.py pins `lerobot==0.3.3`
+# in install_requires, which would shadow the editable lerobot baked into
+# this image. We install robocasa's actual runtime deps explicitly instead.
 RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \
     git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \
-    uv pip install --no-cache -e ~/robocasa -e ~/robosuite
+    uv pip install --no-cache -e ~/robocasa --no-deps && \
+    uv pip install --no-cache -e ~/robosuite && \
+    uv pip install --no-cache \
+      "numpy==2.2.5" "numba==0.61.2" "scipy==1.15.3" "mujoco==3.3.1" \
+      pygame Pillow opencv-python pyyaml pynput tqdm termcolor \
+      imageio h5py lxml hidapi "tianshou==0.4.10" gymnasium
 
 # Set up robocasa macros and download kitchen assets. We need:
 #   - tex              : base environment textures

docs/source/robocasa.mdx

@@ -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
 ```
 
 <Tip>

pyproject.toml

@@ -212,7 +212,11 @@ aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["lerobot[dataset]", "gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
 libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
 metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
-robocasa = ["lerobot[dataset]", "robocasa @ git+https://github.com/robocasa/robocasa.git", "robosuite @ git+https://github.com/ARISE-Initiative/robosuite.git", "lerobot[scipy-dep]"]
+# NOTE: robocasa is NOT exposed as a `lerobot` extra. Its setup.py pins
+# `lerobot==0.3.3` in install_requires, which cyclically shadows our own
+# workspace `lerobot` and makes the graph unsolvable under any resolver
+# (uv, pip). Install it manually alongside robosuite — see
+# docs/source/robocasa.mdx for the recipe.
 
 # All
 all = [