From bd22407d9390f6973868fed9a883b4f295db105e Mon Sep 17 00:00:00 2001 From: Caroline Pascal Date: Tue, 9 Jun 2026 23:31:43 +0200 Subject: [PATCH] fix(pyproject): adding ceiling bound on mujoco (<3.9.0) (#3751) * fix(pyproject): adding ceiling bound on mujoco (<3.9.0) * chore(uv.lock): updating uv.lock * fix(linux): adding missing linux dependencies * chore(uv.lock): updating uv.lock --- pyproject.toml | 9 +++++---- uv.lock | 15 ++++++++++++++- 2 files changed, 19 insertions(+), 5 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 2b4c22f12..9690a0d2c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -216,7 +216,7 @@ robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot 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]"] +hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]", "lerobot[mujoco-dep]"] vla_jepa = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[qwen-vl-utils-dep]"] # Features @@ -231,10 +231,11 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"] # Simulation # NOTE: Explicitly listing scipy helps flatten the dependecy tree. -aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"] +mujoco-dep = ["mujoco<3.9.0"] # TODO: Fix issues to remove temporary upper bound +aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]", "lerobot[mujoco-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]"] +libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]", "lerobot[mujoco-dep]"] +metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]", "lerobot[mujoco-dep]"] # NOTE: vlabench is NOT exposed as a `lerobot` extra. Its only distribution # is the OpenMOSS/VLABench GitHub repo (package name `VLABench`, no PyPI # release), so any `vlabench>=X` pip spec is unresolvable. Install it diff --git a/uv.lock b/uv.lock index 6acacab56..14b7f6f79 100644 --- a/uv.lock +++ b/uv.lock @@ -2712,6 +2712,7 @@ all = [ { name = "mock-serial", marker = "sys_platform != 'win32'" }, { name = "motorbridge" }, { name = "motorbridge-smart-servo" }, + { name = "mujoco" }, { name = "mypy" }, { name = "num2words" }, { name = "pandas" }, @@ -2749,6 +2750,7 @@ aloha = [ { name = "datasets" }, { name = "gym-aloha" }, { name = "jsonlines" }, + { name = "mujoco" }, { name = "pandas" }, { name = "pyarrow" }, { name = "scipy" }, @@ -2864,6 +2866,7 @@ hilserl = [ { name = "grpcio" }, { name = "gym-hil" }, { name = "jsonlines" }, + { name = "mujoco" }, { name = "pandas" }, { name = "placo" }, { name = "protobuf" }, @@ -2895,6 +2898,7 @@ libero = [ { name = "datasets" }, { name = "hf-libero", marker = "sys_platform == 'linux'" }, { name = "jsonlines" }, + { name = "mujoco" }, { name = "pandas" }, { name = "pyarrow" }, { name = "scipy" }, @@ -2910,6 +2914,7 @@ metaworld = [ { name = "datasets" }, { name = "jsonlines" }, { name = "metaworld" }, + { name = "mujoco" }, { name = "pandas" }, { name = "pyarrow" }, { name = "scipy" }, @@ -2926,6 +2931,9 @@ motorbridge-dep = [ motorbridge-smart-servo-dep = [ { name = "motorbridge-smart-servo" }, ] +mujoco-dep = [ + { name = "mujoco" }, +] multi-task-dit = [ { name = "diffusers" }, { name = "transformers" }, @@ -3150,6 +3158,10 @@ requires-dist = [ { name = "lerobot", extras = ["molmoact2"], marker = "extra == 'all'" }, { name = "lerobot", extras = ["motorbridge-dep"], marker = "extra == 'rebot'" }, { name = "lerobot", extras = ["motorbridge-smart-servo-dep"], marker = "extra == 'rebot'" }, + { name = "lerobot", extras = ["mujoco-dep"], marker = "extra == 'aloha'" }, + { name = "lerobot", extras = ["mujoco-dep"], marker = "extra == 'hilserl'" }, + { name = "lerobot", extras = ["mujoco-dep"], marker = "extra == 'libero'" }, + { name = "lerobot", extras = ["mujoco-dep"], marker = "extra == 'metaworld'" }, { name = "lerobot", extras = ["multi-task-dit"], marker = "extra == 'all'" }, { name = "lerobot", extras = ["notebook"], marker = "extra == 'dev'" }, { name = "lerobot", extras = ["openarms"], marker = "extra == 'all'" }, @@ -3223,6 +3235,7 @@ requires-dist = [ { name = "mock-serial", marker = "sys_platform != 'win32' and extra == 'test'", specifier = ">=0.0.1,<0.1.0" }, { name = "motorbridge", marker = "extra == 'motorbridge-dep'", specifier = ">=0.3.2,<0.4.0" }, { name = "motorbridge-smart-servo", marker = "extra == 'motorbridge-smart-servo-dep'", specifier = ">=0.0.4,<0.1.0" }, + { name = "mujoco", marker = "extra == 'mujoco-dep'", specifier = "<3.9.0" }, { name = "mypy", marker = "extra == 'dev'", specifier = ">=1.19.1" }, { name = "ninja", marker = "extra == 'groot'", specifier = ">=1.11.1,<2.0.0" }, { name = "num2words", marker = "extra == 'smolvla'", specifier = ">=0.5.14,<0.6.0" }, @@ -3276,7 +3289,7 @@ requires-dist = [ { name = "transformers", marker = "extra == 'transformers-dep'", specifier = ">=5.4.0,<5.6.0" }, { name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.25.0" }, ] -provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "vla-jepa", "async", "peft", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"] +provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "vla-jepa", "async", "peft", "dev", "notebook", "test", "video-benchmark", "mujoco-dep", "aloha", "pusht", "libero", "metaworld", "all"] [[package]] name = "librt"