Merge branch 'main' into feat/vlabench-benchmark

Made-with: Cursor

pyproject.toml

@@ -217,6 +217,10 @@ metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
 # release), so any `vlabench>=X` pip spec is unresolvable. Install it
 # manually alongside MuJoCo / dm-control — see docs/source/vlabench.mdx
 # for the recipe.
+# NOTE: robomme is NOT a pyproject extra — mani-skill hard-pins numpy<2
+# which conflicts with lerobot's numpy>=2 base pin, so the two trees can't
+# resolve into a single env. Install it only in the RoboMME Docker image
+# via `uv pip install --override` (see docker/Dockerfile.benchmark.robomme).
 # 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