diff --git a/airbot_ie/lerobot_plugin/configs/act_infer_aao.yaml b/airbot_ie/lerobot_plugin/configs/act_infer_aao.yaml
new file mode 100644
index 0000000..5367cb4
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/configs/act_infer_aao.yaml
@@ -0,0 +1,30 @@
+# ACT inference on AAO MuJoCo simulator via lerobot-rollout + aao_sim robot plugin.
+#
+# This uses the absolute_random_wrist checkpoint trained with observation_rotation=rot6d
+# (10-dim state = pos[3] + rot6d[6] + gripper[1]). The env must match by setting
+# observation_rotation: rot6d below.
+#
+# Run:
+#   pixi run -e infer-aao mcap-lerobot-infer -c airbot_ie/lerobot_plugin/configs/act_infer_aao.yaml
+
+preserve_keys: [sim_cameras]
+
+robot:
+  type: aao_sim
+  task_config: open_door
+  operator: arm
+  kinematic: false
+  substeps: 1
+  has_gripper: true
+  observation_rotation: rot6d      # → 10-dim state = pos(3) + rot6d(6) + grip(1)
+  sim_cameras:
+    wrist_cam: wrist_cam
+  camera_shape: [352, 640, 3]
+  mujoco_gl: egl
+
+policy:
+  path: models_open_door/absolute_random_wrist/pretrained_model
+
+task: "open the door"
+fps: 30
+duration: 10
diff --git a/airbot_ie/lerobot_plugin/configs/act_infer_mock.yaml b/airbot_ie/lerobot_plugin/configs/act_infer_mock.yaml
new file mode 100644
index 0000000..a41fdf3
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/configs/act_infer_mock.yaml
@@ -0,0 +1,36 @@
+# ACT inference on MOCK AIRBOT Play arm (no hardware needed).
+#
+# Uses pose control mode with arm + eef components:
+#   observation.state = eef pos(3) + quat(4) + gripper(1) = (8,)
+#   action            = target eef pos(3) + quat(4) + gripper(1) = (8,)
+#
+# Run:
+#   pixi run -e act-infer mcap-lerobot-infer -c airbot_ie/lerobot_plugin/configs/act_infer_mock.yaml
+
+preserve_keys: [cameras]
+
+robot:
+  type: airbot_play
+  mock: true
+  control_mode: pose
+  components: [arm, eef]       # observation.state (8,): eef pos+quat+gripper
+  cameras:
+    eef_wrist_cam:
+      target: airdc.common.devices.cameras.mock.MockCamera
+      width: 640
+      height: 352
+      fps: 30
+      extra: { random: true }
+    env1_cam:
+      target: airdc.common.devices.cameras.mock.MockCamera
+      width: 640
+      height: 352
+      fps: 30
+      extra: { random: true }
+
+policy:
+  path: outputs/train/my_act/checkpoints/last/pretrained_model
+
+task: "open the door"
+fps: 30
+duration: 3
diff --git a/airbot_ie/lerobot_plugin/configs/act_infer_real.yaml b/airbot_ie/lerobot_plugin/configs/act_infer_real.yaml
new file mode 100644
index 0000000..6c74870
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/configs/act_infer_real.yaml
@@ -0,0 +1,39 @@
+# ACT inference on REAL AIRBOT Play arm.
+#
+# Before running: update `url` and camera `camera_index` values for your setup.
+# Uses pose control mode with arm + eef components:
+#   observation.state = eef pos(3) + quat(4) + gripper(1) = (8,)
+#   action            = target eef pos(3) + quat(4) + gripper(1) = (8,)
+#
+# Run:
+#   pixi run -e act-infer mcap-lerobot-infer -c airbot_ie/lerobot_plugin/configs/act_infer_real.yaml
+
+preserve_keys: [cameras]
+
+robot:
+  type: airbot_play
+  control_mode: pose
+  components: [arm, eef]       # observation.state (8,): eef pos+quat+gripper
+  url: localhost               # ← change to arm's IP if remote
+  port: 50051
+  return_to_initial_position: true
+  cameras:
+    eef_wrist_cam:
+      target: airdc.common.devices.cameras.v4l2.V4L2Camera
+      camera_index: 0          # ← change to your wrist camera index
+      width: 640
+      height: 352
+      fps: 30
+    env1_cam:
+      target: airdc.common.devices.cameras.v4l2.V4L2Camera
+      camera_index: 1          # ← change to your env camera index
+      width: 640
+      height: 352
+      fps: 30
+
+policy:
+  path: outputs/train/my_act/checkpoints/last/pretrained_model
+
+task: "open the door"
+fps: 30
+duration: 0                    # 0 = run until Ctrl-C
diff --git a/airbot_ie/lerobot_plugin/configs/act_train.yaml b/airbot_ie/lerobot_plugin/configs/act_train.yaml
new file mode 100644
index 0000000..eb9f0fc
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/configs/act_train.yaml
@@ -0,0 +1,57 @@
+# ACT (Action Chunking with Transformers) training config on MCAP dataset.
+#
+# ACT is a lightweight policy (no pretrained backbone), trained from scratch on
+# your own demonstrations. Much smaller than pi0.5/SmolVLA and faster to train.
+#
+# Run:
+#   pixi run -e act mcap-lerobot-train -c airbot_ie/lerobot_plugin/configs/act_train.yaml
+
+env:
+  HF_HUB_OFFLINE: "1"
+  TRANSFORMERS_OFFLINE: "1"
+
+# ============================================================================
+# Common training knobs
+# ============================================================================
+steps: 20000
+save_freq: 5000
+log_freq: 100
+batch_size: 8
+num_workers: 1
+output_dir: outputs/train/my_act
+seed: 1000
+
+wandb:
+  enable: true
+  project: airbot-act
+  mode: offline
+
+policy:
+  type: act
+  push_to_hub: false
+  chunk_size: 100          # ACT action horizon
+  n_action_steps: 100      # steps to execute per chunk
+
+dataset:
+  root: data
+  repo_id: mcap
+  streaming: true
+
+mcap:
+  # observation.state = arm eef pose (position[3] + orientation[4]) + gripper (1) -> (8,)
+  states:
+    - arm/pose/position
+    - arm/pose/orientation
+    - eef/joint_state/position
+  # Wrist cam + env cam -> each (3, H, W)
+  images:
+    - eef_wrist_cam/color/image_raw
+    - env1_cam/color/image_raw
+  # action = target eef pose (position[3] + orientation[4]) + gripper (1) -> (8,)
+  actions:
+    - action/arm/pose/position
+    - action/arm/pose/orientation
+    - action/eef/joint_state/position
+  # ACT does not use language conditioning
+  task_source: none
+  task: "do the task"
diff --git a/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/README.md b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/README.md
new file mode 100644
index 0000000..93a02fd
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/README.md
@@ -0,0 +1,65 @@
+# lerobot_env_aao_sim
+
+LeRobot **Env** plugin: a `gymnasium.Env` over the auto-atomic-operation (aao)
+MuJoCo simulator, for **native success-rate evaluation** with `lerobot-eval`.
+
+## Why this exists
+
+`lerobot-rollout` (the Robot path used by `lerobot_robot_aao_sim`) is written for
+real hardware — it has no success detection and just runs to `duration`.
+`lerobot-eval` drives a gymnasium `VectorEnv` and computes `pc_success` natively
+from each env's `step()` returning `info["is_success"]`. This plugin supplies
+that env, so you get success rate + mp4 videos out of the box.
+
+LeRobot auto-discovers this by the distribution name prefix `lerobot_env_`, and
+`@EnvConfig.register_subclass("aao_sim")` registers `--env.type=aao_sim`.
+
+## Success signal
+
+`step()` reports success via `backend.is_object_displaced(success_object,
+initial_pose, threshold)` — the same displacement check the aao task graph uses.
+For `open_door` the target is `handle_body_phys` (threshold 0.01 m). Both are
+config fields (`success_object`, `displacement_threshold`).
+
+## Usage
+
+```bash
+pixi run -e infer-aao lerobot-eval \
+  --policy.path=models_open_door/absolute_random_wrist/pretrained_model \
+  --env.type=aao_sim \
+  --env.task_config=open_door \
+  --env.observation_rotation=rot6d \
+  --eval.n_episodes=10 \
+  --eval.batch_size=1 \
+  --policy.device=cuda
+```
+
+Outputs: `outputs/eval/<run>/videos/*.mp4` + `metrics.json` with `pc_success`.
+
+## observation_rotation
+
+| Value | observation.state dim | Use when |
+|---|---|---|
+| `rot6d` (default) | 10 (pos3 + rot6d6 + grip1) | checkpoint trained with 6-D obs (e.g. absolute_random_wrist) |
+| `quat` | 8 (pos3 + quat4 + grip1) | checkpoint trained with quaternion obs |
+
+`action_rotation` controls the policy action representation:
+
+| Value | action dim | Execution path |
+|---|---|---|
+| `quat` (default) | 8 (pos3 + quat4 + grip1) | passed directly to `apply_pose_action` |
+| `rot6d` | 10 (pos3 + rot6d6 + grip1) | converted to quaternion before `apply_pose_action` |
+
+## rot6d convention
+
+AAO simulation, MCAP `Rotation6D.quat_to_rot6d()` conversion, and real-robot
+data all use the same column-vector convention:
+
+```text
+[r00, r10, r20, r01, r11, r21]
+```
+
+It is the first two columns of the 3×3 rotation matrix. No observation or action
+convention wrapper is required. Checkpoints trained with the old row-major
+simulation representation are not compatible with this unified path and must
+be converted or retrained.
diff --git a/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/__init__.py b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/__init__.py
new file mode 100644
index 0000000..c9ab8df
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/__init__.py
@@ -0,0 +1,14 @@
+"""LeRobot Env plugin: a gymnasium env over the auto-atomic-operation MuJoCo
+simulator, for native success-rate evaluation via ``lerobot-eval``.
+
+Unlike ``lerobot_robot_aao_sim`` (which drives ``lerobot-rollout`` and has no
+success signal), this exposes a ``gym.Env`` whose ``step()`` returns
+``info["is_success"]`` so ``lerobot-eval`` computes ``pc_success`` natively.
+
+LeRobot auto-discovers this by the distribution name prefix ``lerobot_env_``,
+and ``@EnvConfig.register_subclass("aao_sim")`` registers ``--env.type=aao_sim``.
+"""
+
+from .config_aao_sim_env import AAOSimEnvConfig
+
+__all__ = ["AAOSimEnvConfig"]
diff --git a/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/aao_sim_env.py b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/aao_sim_env.py
new file mode 100644
index 0000000..2437a3b
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/aao_sim_env.py
@@ -0,0 +1,459 @@
+"""gymnasium.Env wrapping the auto-atomic-operation MuJoCo simulator.
+
+Drives the same MujocoTaskBackend that AAOSimRobot uses, but exposes a
+gym.Env interface so lerobot-eval can compute pc_success natively from
+info["is_success"] and record mp4 videos per episode.
+
+This package has NO runtime dependency on lerobot_robot_aao_sim — all
+pose-data helpers are defined locally below.
+"""
+
+from __future__ import annotations
+
+from typing import Any, Dict, List, Optional, Tuple
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+# ---------------------------------------------------------------------------
+# aao observation key templates (same constants as in the robot adapter)
+# ---------------------------------------------------------------------------
+_POSE_POS   = "{op}/pose/position"
+_POSE_ORI   = "{op}/pose/orientation"
+_POSE_ROT6D = "{op}/pose/rotation_6d"   # native 6-D rotation emitted by sim
+# Gripper joint. The mocap gripper operator sets eef_output_name=gripper
+# (aao_configs/basis_mocap_eef.yaml), so the sim emits `gripper/joint_state/
+# position` — matching the MCAP topic used in training. (Was `eef/...`, which
+# does not exist, so the gripper silently read 0.0 at inference.)
+_EEF_JS     = "gripper/joint_state/position"
+_CAM_COLOR  = "{cam}/color/image_raw"
+
+
+# ---------------------------------------------------------------------------
+# Pose-data helpers (independent copy — no import from robot plugin)
+# ---------------------------------------------------------------------------
+
+def _as_flat(data: Any, n: int) -> List[float]:
+    """First ``n`` values of an array-like, returned as Python floats."""
+    arr = np.asarray(data, dtype=float).reshape(-1)
+    return [float(v) for v in arr[:n]]
+
+
+def _as_xyz(data: Any) -> List[float]:
+    """Position as {x,y,z} dict (structured mode) or array (flat mode)."""
+    if isinstance(data, dict):
+        return [float(data["x"]), float(data["y"]), float(data["z"])]
+    return _as_flat(data, 3)
+
+
+def _as_quat(data: Any) -> List[float]:
+    """Orientation as {x,y,z,w} dict (structured mode) or array (flat mode)."""
+    if isinstance(data, dict):
+        return [float(data[k]) for k in ("x", "y", "z", "w")]
+    return _as_flat(data, 4)
+
+
+def _rot6d_to_quat(rot6d: np.ndarray) -> np.ndarray:
+    """Convert column-major rot6d (first 2 matrix columns) to xyzw quaternion.
+
+    This mirrors ``mcap_data_loader.utils.rot6d.Rotation6D.rot6d_to_quat`` but
+    avoids its NumPy-2-incompatible ``np.array(..., copy=False)`` path.
+    """
+    v = np.asarray(rot6d, dtype=np.float64).reshape(6)
+    a1, a2 = v[:3], v[3:6]
+
+    n1 = np.linalg.norm(a1)
+    b1 = a1 / (n1 if n1 > 1e-12 else 1.0)
+    a2 = a2 - np.dot(b1, a2) * b1
+    n2 = np.linalg.norm(a2)
+    if n2 <= 1e-12:
+        # Degenerate policy output: pick a stable vector perpendicular to b1.
+        basis = np.array([1.0, 0.0, 0.0])
+        if abs(np.dot(b1, basis)) > 0.9:
+            basis = np.array([0.0, 1.0, 0.0])
+        a2 = basis - np.dot(b1, basis) * b1
+        n2 = np.linalg.norm(a2)
+    b2 = a2 / n2
+    b3 = np.cross(b1, b2)
+    m = np.stack((b1, b2, b3), axis=1)
+
+    tr = float(np.trace(m))
+    if tr > 0.0:
+        s = np.sqrt(tr + 1.0) * 2.0
+        q = np.array(
+            [
+                (m[2, 1] - m[1, 2]) / s,
+                (m[0, 2] - m[2, 0]) / s,
+                (m[1, 0] - m[0, 1]) / s,
+                0.25 * s,
+            ],
+            dtype=np.float32,
+        )
+    elif m[0, 0] > m[1, 1] and m[0, 0] > m[2, 2]:
+        s = np.sqrt(1.0 + m[0, 0] - m[1, 1] - m[2, 2]) * 2.0
+        q = np.array(
+            [
+                0.25 * s,
+                (m[0, 1] + m[1, 0]) / s,
+                (m[0, 2] + m[2, 0]) / s,
+                (m[2, 1] - m[1, 2]) / s,
+            ],
+            dtype=np.float32,
+        )
+    elif m[1, 1] > m[2, 2]:
+        s = np.sqrt(1.0 + m[1, 1] - m[0, 0] - m[2, 2]) * 2.0
+        q = np.array(
+            [
+                (m[0, 1] + m[1, 0]) / s,
+                0.25 * s,
+                (m[1, 2] + m[2, 1]) / s,
+                (m[0, 2] - m[2, 0]) / s,
+            ],
+            dtype=np.float32,
+        )
+    else:
+        s = np.sqrt(1.0 + m[2, 2] - m[0, 0] - m[1, 1]) * 2.0
+        q = np.array(
+            [
+                (m[0, 2] + m[2, 0]) / s,
+                (m[1, 2] + m[2, 1]) / s,
+                0.25 * s,
+                (m[1, 0] - m[0, 1]) / s,
+            ],
+            dtype=np.float32,
+        )
+    q /= max(np.linalg.norm(q), 1e-12)
+    return q
+
+
+class AAOSimEnv(gym.Env):
+    """gymnasium.Env over a single AAO MuJoCo episode.
+
+    Observation
+    -----------
+    ``pixels``    : dict[str, np.ndarray HWC uint8]  -- one entry per camera
+    ``agent_pos`` : np.ndarray float32 shape determined by observation_rotation:
+                    rot6d -> (10,) = pos(3)+rot6d(6)+grip(1)
+                    quat  -> (8,)  = pos(3)+quat(4)+grip(1)
+
+    Rotation convention (observation)
+    ----------------------------------
+    When ``observation_rotation="rot6d"`` the rotation is read directly from
+    the sim's ``{op}/pose/rotation_6d`` topic, which emits **column-major**
+    ``[r00,r10,r20, r01,r11,r21]`` (first 2 columns of R).  This matches the
+    real-robot convention produced by ``Rotation6D.quat_to_rot6d()``.
+    ``mujoco_env.py`` writes ``rot9d.reshape(3,3).T.ravel()[:6]`` to achieve
+    this.  ``sampler_flb._RelativeFlbWriter`` preserves the topic as-is
+    (first-writer-wins), so MCAP files contain the same column-major value.
+    Reading from the topic directly (not re-computing) is correct and keeps
+    sim/real distributions aligned.
+
+    Action
+    ------
+    np.ndarray float32, shape determined by ``action_rotation``:
+        quat  -> (8,)  = pos(3)+quat(4)+grip(1)   default, matches ACT ckpt
+        rot6d -> (10,) = pos(3)+rot6d(6)+grip(1)  for future rot6d-action ckpts
+
+    Success
+    -------
+    ``info["is_success"]`` is True when the target object has moved more than
+    ``displacement_threshold`` metres from its initial pose at episode start.
+    """
+
+    metadata: Dict[str, Any] = {"render_modes": ["rgb_array"]}
+
+    def __init__(
+        self,
+        task_config: str,
+        operator: str,
+        observation_rotation: str,
+        action_rotation: str,
+        relative_pose: bool,
+        substeps: int,
+        kinematic: bool,
+        has_gripper: bool,
+        sim_cameras: Dict[str, str],
+        camera_shape: Tuple[int, int, int],
+        mujoco_gl: str,
+        success_object: str,
+        displacement_threshold: float,
+        config_dir: str,
+        hydra_overrides: List[str],
+        fps: int,
+        max_episode_steps: int,
+        task_description: str,
+    ) -> None:
+        super().__init__()
+
+        if observation_rotation not in ("quat", "rot6d"):
+            raise ValueError(
+                f"observation_rotation must be 'quat' or 'rot6d', "
+                f"got {observation_rotation!r}"
+            )
+        if action_rotation not in ("quat", "rot6d"):
+            raise ValueError(
+                f"action_rotation must be 'quat' or 'rot6d', "
+                f"got {action_rotation!r}"
+            )
+
+        self._task_config            = task_config
+        self._operator               = operator
+        self._observation_rotation   = observation_rotation
+        self._action_rotation        = action_rotation
+        self._relative_pose          = relative_pose
+        self._substeps               = substeps
+        self._kinematic              = kinematic
+        self._has_gripper            = has_gripper
+        self._sim_cameras            = sim_cameras
+        self._camera_shape           = camera_shape
+        self._mujoco_gl              = mujoco_gl
+        self._success_object         = success_object
+        self._displacement_threshold = displacement_threshold
+        self._config_dir             = config_dir
+        self._hydra_overrides        = hydra_overrides
+
+        # Pre-formatted topic keys — constant after init, so format once.
+        self._pose_pos_key   = _POSE_POS.format(op=operator)
+        self._pose_ori_key   = _POSE_ORI.format(op=operator)
+        self._pose_rot6d_key = _POSE_ROT6D.format(op=operator)
+        self._cam_keys       = {
+            lk: _CAM_COLOR.format(cam=cn) for lk, cn in sim_cameras.items()
+        }
+
+        # Lazily loaded conversion utilities (relative pose / rot6d action modes).
+        self._Rot6D: Any   = None
+        self._Rela: Any    = None
+        self._quat_mat: Any = None   # quaternion_matrix function
+
+        # Reference pose for relative mode (set in reset).
+        self._ref_pos:  Optional[np.ndarray] = None
+        self._ref_quat: Optional[np.ndarray] = None
+
+        self._backend: Any             = None
+        self._env: Any                 = None
+        self._initial_object_pose: Any = None
+
+        # gym metadata expected by lerobot-eval
+        self.metadata           = {"render_modes": ["rgb_array"], "render_fps": fps}
+        self._max_episode_steps = max_episode_steps
+        self.task_description   = task_description
+        self.task               = task_description
+
+        # Spaces
+        H, W, C    = camera_shape
+        grip_dim   = 1 if has_gripper else 0
+        obs_rot_dim = 6 if observation_rotation == "rot6d" else 4
+        act_rot_dim = 6 if action_rotation      == "rot6d" else 4
+        state_dim  = 3 + obs_rot_dim + grip_dim
+        action_dim = 3 + act_rot_dim + grip_dim
+
+        self.observation_space = spaces.Dict({
+            "pixels": spaces.Dict({
+                k: spaces.Box(0, 255, (H, W, C), dtype=np.uint8)
+                for k in sim_cameras
+            }),
+            "agent_pos": spaces.Box(-np.inf, np.inf, (state_dim,), dtype=np.float32),
+        })
+        self.action_space = spaces.Box(-np.inf, np.inf, (action_dim,), dtype=np.float32)
+
+        # NOTE: MuJoCo backend is initialized lazily in reset() — NOT here.
+        # gymnasium's AsyncVectorEnv (>=1.0) instantiates env_fn() once in the
+        # main process as a "dummy env" to read spaces, then closes it and forks
+        # worker processes that call env_fn() again.  If we init the MuJoCo EGL
+        # context here, the main-process dummy leaves global EGL state that the
+        # forked worker inherits, causing "Offscreen framebuffer is not complete
+        # (0x8cdd)" on NVIDIA.  Delaying setup to reset() keeps the dummy env
+        # entirely MuJoCo-free.
+
+    # ------------------------------------------------------------------
+    # Internal: lazy imports
+    # ------------------------------------------------------------------
+
+    def _ensure_utils(self) -> None:
+        """Load mcap_data_loader utilities on first use."""
+        if self._Rot6D is None:
+            from mcap_data_loader.utils.rot6d import Rotation6D
+            from mcap_data_loader.utils.rela_abs import PoseGlobalRelaAbsTool
+            from mcap_data_loader.utils.transformations import quaternion_matrix
+            self._Rot6D    = Rotation6D
+            self._Rela     = PoseGlobalRelaAbsTool
+            self._quat_mat = quaternion_matrix
+
+    # ------------------------------------------------------------------
+    # Internal: backend lifecycle
+    # ------------------------------------------------------------------
+
+    def _setup(self) -> None:
+        """Build the MujocoTaskBackend (mirrors AAOSimRobot.connect logic)."""
+        import os
+
+        if self._sim_cameras:
+            os.environ.setdefault("MUJOCO_GL", self._mujoco_gl)
+            # For EGL GPU rendering with NVIDIA, explicitly select device 0
+            # to avoid fallback to Mesa software renderer (fixes 0x8cdd error)
+            if self._mujoco_gl == "egl":
+                os.environ.setdefault("MUJOCO_EGL_DEVICE_ID", "0")
+
+        import auto_atom
+        from auto_atom import load_task_file_hydra
+
+        pkg_parent = os.path.normpath(
+            os.path.join(os.path.dirname(auto_atom.__file__), "..")
+        )
+        config_dir = self._config_dir or os.path.join(pkg_parent, "aao_configs")
+        overrides = list(self._hydra_overrides) + [
+            "env.batch_size=1",
+            f"assets_dir={os.path.join(pkg_parent, 'assets')}",
+        ]
+        tf = load_task_file_hydra(
+            self._task_config, config_dir=config_dir, overrides=overrides
+        )
+        backend = tf.backend(tf.task, tf.task_operators)
+        backend.reset()
+        self._backend = backend
+        self._env     = backend.env.envs[0]
+
+    # ------------------------------------------------------------------
+    # gym.Env interface
+    # ------------------------------------------------------------------
+
+    def reset(
+        self,
+        *,
+        seed: Optional[int] = None,
+        options: Optional[Dict[str, Any]] = None,
+    ) -> Tuple[Dict[str, Any], Dict[str, Any]]:
+        super().reset(seed=seed)
+        # Lazy init: build the MuJoCo backend on first reset (not in __init__)
+        # so that the gymnasium AsyncVectorEnv dummy-env pass is MuJoCo-free.
+        if self._backend is None:
+            self._setup()
+        self._backend.reset()
+        # Snapshot per-episode initial pose for displacement-based success.
+        self._initial_object_pose = (
+            self._backend.get_object_handler(self._success_object).get_pose()
+        )
+        # Snapshot reference pose for relative mode — capture obs once and
+        # reuse it in _get_obs to avoid a second capture_observation call.
+        if self._relative_pose:
+            raw = self._env.capture_observation()
+            self._ref_pos  = np.array(_as_xyz(raw[self._pose_pos_key]["data"]))
+            self._ref_quat = np.array(_as_quat(raw[self._pose_ori_key]["data"]))
+            return self._get_obs(raw=raw), {}
+        return self._get_obs(), {}
+
+    def step(
+        self, action: np.ndarray
+    ) -> Tuple[Dict[str, Any], float, bool, bool, Dict[str, Any]]:
+        pos = action[:3].astype(np.float32)
+
+        if self._action_rotation == "rot6d":
+            # Convert column-major rot6d action back to quaternion.
+            # Future checkpoints trained with rot6d actions are expected to use
+            # Rotation6D.quat_to_rot6d() (column-major) for their action space.
+            quat    = _rot6d_to_quat(action[3:9])
+            gripper = action[9:10].astype(np.float32) if self._has_gripper else None
+        else:
+            quat    = action[3:7].astype(np.float32)
+            gripper = action[7:8].astype(np.float32) if self._has_gripper else None
+
+        # Restore absolute pose when the policy was trained with relative actions.
+        if self._relative_pose:
+            self._ensure_utils()
+            pos  = self._Rela.to_abs_position(pos,  self._ref_pos).astype(np.float32)
+            quat = self._Rela.to_abs_orientation(quat, self._ref_quat).astype(np.float32)
+
+        self._env.apply_pose_action(
+            self._operator, pos, quat, gripper, kinematic=self._kinematic
+        )
+        if not self._kinematic:
+            for _ in range(max(1, self._substeps)):
+                self._env.step(np.empty(0))
+
+        obs = self._get_obs()
+
+        displaced = self._backend.is_object_displaced(
+            self._success_object,
+            self._initial_object_pose,
+            self._displacement_threshold,
+        )
+        is_success = bool(displaced[0])
+
+        info: Dict[str, Any] = {"is_success": is_success}
+        if is_success:
+            info["final_info"] = {"is_success": True}
+
+        return obs, float(is_success), is_success, False, info
+
+    def render(self) -> np.ndarray:
+        """Return an HWC uint8 frame from the first configured camera."""
+        raw       = self._env.capture_observation()
+        first_cam = next(iter(self._sim_cameras.values()))
+        return np.asarray(raw[_CAM_COLOR.format(cam=first_cam)]["data"], dtype=np.uint8)
+
+    def close(self) -> None:
+        if self._backend is not None:
+            try:
+                self._backend.teardown()
+            except Exception:   # noqa: BLE001
+                pass
+        self._backend = None
+        self._env     = None
+
+    # ------------------------------------------------------------------
+    # Internal: observation builder
+    # ------------------------------------------------------------------
+
+    def _get_obs(self, raw: Optional[Dict[str, Any]] = None) -> Dict[str, Any]:
+        if raw is None:
+            raw = self._env.capture_observation()
+
+        pos = np.array(_as_xyz(raw[self._pose_pos_key]["data"]))
+
+        if self._observation_rotation == "rot6d":
+            if not self._relative_pose:
+                # Read sim's native rotation_6d topic directly (column-major: first
+                # 2 columns of R, i.e. [r00,r10,r20, r01,r11,r21]).
+                # mujoco_env.py writes rot9d.reshape(3,3).T.ravel()[:6], which equals
+                # column-major — identical to Rotation6D.quat_to_rot6d() used by the
+                # real robot sampler.  sampler_flb._RelativeFlbWriter uses first-writer-
+                # wins, so the MCAP preserves this column-major value unmodified.
+                # Reading from the topic directly (no re-computation) is correct and
+                # keeps obs/training distributions aligned.
+                rot = np.array(_as_flat(raw[self._pose_rot6d_key]["data"], 6))
+            else:
+                # Relative rot6d: compute from quaternion so PoseGlobalRelaAbsTool
+                # can be used, then encode the first two matrix columns, matching
+                # the unified absolute-observation and MCAP convention.
+                self._ensure_utils()
+                quat     = np.array(_as_quat(raw[self._pose_ori_key]["data"]))
+                rela_q   = self._Rela.to_rela_orientation(quat, self._ref_quat)
+                R        = self._quat_mat(rela_q)[:3, :3]
+                rot      = np.concatenate((R[:, 0], R[:, 1]))
+                pos      = self._Rela.to_rela_position(pos, self._ref_pos)
+        else:  # quat
+            quat = np.array(_as_quat(raw[self._pose_ori_key]["data"]))
+            if self._relative_pose:
+                self._ensure_utils()
+                quat = self._Rela.to_rela_orientation(quat, self._ref_quat)
+                pos  = self._Rela.to_rela_position(pos, self._ref_pos)
+            rot = quat
+
+        state = np.concatenate([pos, rot])
+        if self._has_gripper:
+            grip_raw = raw.get(_EEF_JS, {}).get("data")
+            g = np.float32(
+                np.asarray(grip_raw).reshape(-1)[0]
+            ) if grip_raw is not None else np.float32(0.0)
+            state = np.concatenate([state, [g]])
+
+        pixels = {
+            lk: np.asarray(raw[cam_key]["data"], dtype=np.uint8)
+            for lk, cam_key in self._cam_keys.items()
+        }
+
+        return {
+            "pixels":    pixels,
+            "agent_pos": state.astype(np.float32),
+        }
diff --git a/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/config_aao_sim_env.py b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/config_aao_sim_env.py
new file mode 100644
index 0000000..d6f56b1
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/lerobot_env_aao_sim/config_aao_sim_env.py
@@ -0,0 +1,177 @@
+"""EnvConfig for the AAO MuJoCo simulator gymnasium environment.
+
+LeRobot auto-discovers this package via the ``lerobot_env_`` distribution-name
+prefix (lerobot/utils/import_utils.py::register_third_party_plugins).
+``@EnvConfig.register_subclass("aao_sim")`` registers ``--env.type=aao_sim``
+for use with ``lerobot-eval``.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import Any, Dict, List, Tuple
+
+from lerobot.configs import FeatureType, PolicyFeature
+from lerobot.envs.configs import EnvConfig
+from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
+
+
+@EnvConfig.register_subclass("aao_sim")
+@dataclass
+class AAOSimEnvConfig(EnvConfig):
+    """Gym env config for the auto-atomic-operation MuJoCo simulator.
+
+    Usage::
+
+        lerobot-eval \\
+          --policy.path=<checkpoint> \\
+          --env.type=aao_sim \\
+          --env.task_config=open_door \\
+          --env.observation_rotation=rot6d \\
+          --eval.n_episodes=10 --eval.batch_size=1 \\
+          --policy.device=cuda
+    """
+
+    type: str = "aao_sim"
+
+    # --- aao backend ---
+    task_config: str = "open_door"
+    """AAO task config name loaded via Hydra (e.g. 'open_door')."""
+
+    operator: str = "arm"
+    """Registered operator whose EEF pose is controlled."""
+
+    config_dir: str = ""
+    """Directory holding aao task configs. Empty = auto-detect next to auto_atom package."""
+
+    hydra_overrides: List[str] = field(default_factory=list)
+    """Extra Hydra overrides passed to load_task_file_hydra."""
+
+    kinematic: bool = False
+    """True = teleport EEF (no physics). False = reach via substeps physics ticks."""
+
+    substeps: int = 1
+    """Physics ticks to advance per action step."""
+
+    has_gripper: bool = True
+    """Whether to read/write a gripper DoF."""
+
+    # --- pose representation ---
+    observation_rotation: str = "rot6d"
+    """Rotation representation in observation.state.
+    'rot6d': pos(3)+rot6d(6)+grip(1) = 10-dim (matches absolute_random_wrist ckpt).
+    'quat':  pos(3)+quat(4)+grip(1)  = 8-dim.
+    Sim now writes rotation_6d as column-major (first 2 columns of rotation matrix),
+    matching the real-robot convention produced by Rotation6D.quat_to_rot6d()."""
+
+    action_rotation: str = "quat"
+    """Rotation representation expected in the action vector.
+    'quat':  pos(3)+quat(4)+grip(1)  = 8-dim  (default; ACT absolute ckpt).
+    'rot6d': pos(3)+rot6d(6)+grip(1) = 10-dim (for future rot6d-action ckpts).
+    rot6d actions are converted back to quaternion via Rotation6D.rot6d_to_quat()
+    before being passed to apply_pose_action()."""
+
+    relative_pose: bool = False
+    """Whether observations and actions use episode-relative coordinates.
+    When True, position/orientation are relative to the episode-start pose,
+    matching the _rela topics in MCAP training data."""
+
+    # --- success detection ---
+    success_object: str = "handle_body_phys"
+    """AAO object name checked for displacement (task-dependent)."""
+
+    displacement_threshold: float = 0.01
+    """Displacement in metres from episode-start pose that counts as success."""
+
+    # --- cameras ---
+    sim_cameras: Dict[str, str] = field(
+        default_factory=lambda: {"wrist_cam": "wrist_cam"}
+    )
+    """Mapping of LeRobot image key -> aao camera name."""
+
+    camera_shape: Tuple[int, int, int] = (352, 640, 3)
+    """(H, W, C) of each camera frame. Must match the task config resolution."""
+
+    mujoco_gl: str = "egl"
+    """MuJoCo GL backend. 'egl' for GPU headless (NVIDIA); 'osmesa' for CPU
+    software rendering; 'glfw' requires X display."""
+
+    # --- gym metadata ---
+    fps: int = 30
+    max_episode_steps: int = 300
+    task_description: str = "complete the task"
+
+    def __post_init__(self) -> None:
+        obs_rot_dim = 6 if self.observation_rotation == "rot6d" else 4
+        act_rot_dim = 6 if self.action_rotation      == "rot6d" else 4
+        grip_dim    = 1 if self.has_gripper else 0
+        state_dim   = 3 + obs_rot_dim + grip_dim
+        action_dim  = 3 + act_rot_dim + grip_dim
+        H, W, C     = self.camera_shape
+
+        # features: PolicyFeature objects as expected by lerobot's env_to_policy_features.
+        # Image shapes use HWC convention here; env_to_policy_features converts to CHW.
+        self.features: Dict[str, Any] = {
+            "agent_pos": PolicyFeature(type=FeatureType.STATE,  shape=(state_dim,)),
+            ACTION:      PolicyFeature(type=FeatureType.ACTION, shape=(action_dim,)),
+            **{
+                f"pixels/{k}": PolicyFeature(type=FeatureType.VISUAL, shape=(H, W, C))
+                for k in self.sim_cameras
+            },
+        }
+
+        # features_map: raw obs key -> lerobot observation key.
+        self.features_map: Dict[str, str] = {
+            "agent_pos": OBS_STATE,
+            ACTION: ACTION,
+            **{f"pixels/{k}": f"{OBS_IMAGES}.{k}" for k in self.sim_cameras},
+        }
+
+    @property
+    def gym_kwargs(self) -> Dict[str, Any]:
+        # create_envs builds kwargs directly; this satisfies the abstract property.
+        return {}
+
+    def create_envs(
+        self, n_envs: int = 1, use_async_envs: bool = False
+    ) -> Dict[str, Any]:
+        """Build a vectorised AAO gym env for use by lerobot-eval."""
+        from .aao_sim_env import AAOSimEnv
+        from gymnasium.vector import AsyncVectorEnv, SyncVectorEnv
+
+        kwargs: Dict[str, Any] = dict(
+            task_config=self.task_config,
+            operator=self.operator,
+            observation_rotation=self.observation_rotation,
+            action_rotation=self.action_rotation,
+            relative_pose=self.relative_pose,
+            substeps=self.substeps,
+            kinematic=self.kinematic,
+            has_gripper=self.has_gripper,
+            sim_cameras=dict(self.sim_cameras),
+            camera_shape=tuple(self.camera_shape),
+            mujoco_gl=self.mujoco_gl,
+            success_object=self.success_object,
+            displacement_threshold=self.displacement_threshold,
+            config_dir=self.config_dir,
+            hydra_overrides=list(self.hydra_overrides),
+            fps=self.fps,
+            max_episode_steps=self.max_episode_steps,
+            task_description=self.task_description,
+        )
+
+        # Set GL env vars in the parent process so AsyncVectorEnv workers
+        # inherit them before MuJoCo is initialized in the subprocess.
+        import os
+        if self.sim_cameras:
+            os.environ.setdefault("MUJOCO_GL", self.mujoco_gl)
+            if self.mujoco_gl == "egl":
+                # Force NVIDIA EGL device; avoids Mesa software fallback (0x8cdd)
+                os.environ.setdefault("MUJOCO_EGL_DEVICE_ID", "0")
+
+        from functools import partial
+        VecEnv = AsyncVectorEnv if use_async_envs else SyncVectorEnv
+        fns = [partial(AAOSimEnv, **kwargs) for _ in range(n_envs)]
+
+        vec = VecEnv(fns)
+        return {self.type: {0: vec}}
diff --git a/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/pyproject.toml b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/pyproject.toml
new file mode 100644
index 0000000..e9223d1
--- /dev/null
+++ b/airbot_ie/lerobot_plugin/lerobot_env_aao_sim/pyproject.toml
@@ -0,0 +1,21 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "lerobot_env_aao_sim"
+version = "0.1.0"
+description = "LeRobot Env plugin: a gymnasium env over the auto-atomic-operation (aao) MuJoCo simulator, for native success-rate evaluation with `lerobot-eval` (--env.type=aao_sim)."
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "lerobot",
+    "gymnasium",
+    "numpy",
+]
+
+# LeRobot auto-discovers plugins whose distribution name starts with
+# `lerobot_env_`. `--env.type=aao_sim` is registered via
+# `@EnvConfig.register_subclass("aao_sim")` in config_aao_sim_env.py.
+[tool.hatch.build.targets.wheel]
+packages = ["lerobot_env_aao_sim"]
diff --git a/pixi.lock b/pixi.lock
index 816cb14..7ea888d 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,6 +1,13 @@
-version: 6
+version: 7
+platforms:
+- name: linux-64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
 environments:
-  collect:
+  act:
     channels:
     - url: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
     - url: https://conda.anaconda.org/conda-forge/
@@ -8,127 +15,175 @@ environments:
     - https://pypi.org/simple
     - https://mirrors.ustc.edu.cn/pypi/simple
     - https://mirrors.aliyun.com/pypi/simple/
-    options:
-      pypi-prerelease-mode: if-necessary-or-explicit
     packages:
       linux-64:
       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/hf-xet-1.5.2-py310hb823017_2.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/icu-78.3-h54a6638_2.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_102.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libexpat-2.8.1-hecca717_1.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libffi-3.5.2-h3435931_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libgcc-15.2.0-he0feb66_20.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_20.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libgomp-15.2.0-he0feb66_20.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/liblzma-5.8.3-hb03c661_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libsqlite-3.53.4-hf4e2dac_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_20.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libuuid-2.42.2-h5347b49_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/openssl-3.6.3-h35e630c_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/python-3.12.13-hd63d673_0_cpython.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/pyyaml-6.0.3-py312h8a5da7c_1.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/readline-8.3-h853b02a_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/tk-8.6.13-noxft_hd70dff1_3.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/antlr-python-runtime-4.9.3-pyhd8ed1ab_1.tar.bz2
       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/anyio-4.14.2-pyhcf101f3_0.conda
-      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
-      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/ca-certificates-2026.6.17-hbd8a1cb_0.conda
-      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/certifi-2026.6.17-pyhd8ed1ab_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/ca-certificates-2026.7.22-hbd8a1cb_0.conda
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     - url: https://conda.anaconda.org/conda-forge/
@@ -136,129 +191,177 @@ environments:
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-      - pypi: ../../auto-atomic-operation
-      - pypi: ./
-  collect-aao-gs:
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+  collect:
     channels:
     - url: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
     - url: https://conda.anaconda.org/conda-forge/
@@ -266,26 +369,45 @@ environments:
     - https://pypi.org/simple
     - https://mirrors.ustc.edu.cn/pypi/simple
     - https://mirrors.aliyun.com/pypi/simple/
-    options:
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-      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/filelock-3.31.1-pyhd8ed1ab_0.conda
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       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/h2-4.3.0-pyhcf101f3_0.conda
-      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/hf-xet-1.5.2-py310hb823017_0.conda
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       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/httpx-0.28.1-pyhd8ed1ab_0.conda
@@ -296,6 +418,87 @@ environments:
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       - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/joblib-1.5.3-pyhd8ed1ab_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/natsort-8.4.0-pyhcf101f3_2.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/omegaconf-2.3.0-pyhd8ed1ab_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/packaging-26.2-pyhc364b38_0.conda
+      - conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/pluggy-1.6.0-pyhf9edf01_1.conda
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-      - pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_airbot_play
-  pi05:
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     - url: https://conda.anaconda.org/conda-forge/
@@ -905,15 +899,34 @@ environments:
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     - https://mirrors.ustc.edu.cn/pypi/simple
     - https://mirrors.aliyun.com/pypi/simple/
-    options:
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@@ -924,7 +937,6 @@ environments:
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@@ -935,155 +947,127 @@ environments:
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     channels:
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     - url: https://conda.anaconda.org/conda-forge/
@@ -1091,15 +1075,35 @@ environments:
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     - https://mirrors.ustc.edu.cn/pypi/simple
     - https://mirrors.aliyun.com/pypi/simple/
-    options:
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@@ -1110,7 +1114,6 @@ environments:
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@@ -1121,211 +1124,169 @@ environments:
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     - url: https://conda.anaconda.org/conda-forge/
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-      - pypi: https://mirrors.nju.edu.cn/pytorch/whl/cu128/torchvision-0.26.0%2Bcu128-cp312-cp312-manylinux_2_28_x86_64.whl
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       - pypi: https://mirrors.ustc.edu.cn/pypi/packages/e5/6d/b53b99a9f2766d095985947a5782f1702cabb129a34f7a802d7197af832f/tzdata-2026.3-py2.py3-none-any.whl
-      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
-      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/18/96/34db781c8f0cf99c544ca1f2bc2e5bf55426e1eb4ca6de8ea5da56a9f352/xxhash-3.8.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
-      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
-      - pypi: ./
-      - pypi: ./airbot_ie/deps/airbot_py-5.1.6-py3-none-any.whl
-      - pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_airbot_play
-packages:
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
-  build_number: 20
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-  license: BSD-3-Clause
-  license_family: BSD
-  purls: []
-  size: 28948
-  timestamp: 1770939786096
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
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-  md5: 3845f3d75991bae0fb90884662f4327c
-  depends:
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-  - python-gil
-  license: MIT
-  license_family: MIT
-  size: 8144
-  timestamp: 1784221492234
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/58/0a/a10b45aab35b175aded078a462dc8d0c698f5b13946e7cb0869097b78bb6/absl_py-2.5.0-py3-none-any.whl
-  name: absl-py
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-  sha256: 0f17b89f2a4eaaedc4f28c622998aa690564b3012a396a4ffad0821007fe03ba
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-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/a8/db/253133d7e7cb40d3af384bb2f5c0b4a2b7fdcffbc95c688cc67a20a3c103/accelerate-1.14.0-py3-none-any.whl
-  name: accelerate
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-  sha256: e94390c2863b873be18f623f9df48a0d8fe5eff13ea7f1a00092b0a7904888c6
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-  - packaging>=20.0
-  - psutil
-  - pyyaml
-  - torch>=2.0.0
-  - huggingface-hub>=0.21.0
-  - safetensors>=0.4.3
-  - ruff==0.13.1 ; extra == 'quality'
-  - pytest>=7.2.0 ; extra == 'test-prod'
-  - pytest-xdist ; extra == 'test-prod'
-  - pytest-subtests ; extra == 'test-prod'
-  - parameterized ; extra == 'test-prod'
-  - pytest-order ; extra == 'test-prod'
-  - datasets ; extra == 'test-dev'
-  - diffusers ; extra == 'test-dev'
-  - evaluate ; extra == 'test-dev'
-  - torchdata>=0.8.0 ; extra == 'test-dev'
-  - torchpippy>=0.2.0 ; extra == 'test-dev'
-  - transformers ; extra == 'test-dev'
-  - scipy ; extra == 'test-dev'
-  - scikit-learn ; extra == 'test-dev'
-  - tqdm ; extra == 'test-dev'
-  - bitsandbytes ; extra == 'test-dev'
-  - timm ; extra == 'test-dev'
-  - pytest>=7.2.0 ; extra == 'testing'
-  - pytest-xdist ; extra == 'testing'
-  - pytest-subtests ; extra == 'testing'
-  - parameterized ; extra == 'testing'
-  - pytest-order ; extra == 'testing'
-  - datasets ; extra == 'testing'
-  - diffusers ; extra == 'testing'
-  - evaluate ; extra == 'testing'
-  - torchdata>=0.8.0 ; extra == 'testing'
-  - torchpippy>=0.2.0 ; extra == 'testing'
-  - transformers ; extra == 'testing'
-  - scipy ; extra == 'testing'
-  - scikit-learn ; extra == 'testing'
-  - tqdm ; extra == 'testing'
-  - bitsandbytes ; extra == 'testing'
-  - timm ; extra == 'testing'
-  - deepspeed ; extra == 'deepspeed'
-  - rich ; extra == 'rich'
-  - torchao ; extra == 'test-fp8'
-  - wandb ; extra == 'test-trackers'
-  - tensorboard ; extra == 'test-trackers'
-  - dvclive ; extra == 'test-trackers'
-  - matplotlib ; extra == 'test-trackers'
-  - swanlab[dashboard] ; extra == 'test-trackers'
-  - trackio ; extra == 'test-trackers'
-  - ruff==0.13.1 ; extra == 'dev'
-  - pytest>=7.2.0 ; extra == 'dev'
-  - pytest-xdist ; extra == 'dev'
-  - pytest-subtests ; extra == 'dev'
-  - parameterized ; extra == 'dev'
-  - pytest-order ; extra == 'dev'
-  - datasets ; extra == 'dev'
-  - diffusers ; extra == 'dev'
-  - evaluate ; extra == 'dev'
-  - torchdata>=0.8.0 ; extra == 'dev'
-  - torchpippy>=0.2.0 ; extra == 'dev'
-  - transformers ; extra == 'dev'
-  - scipy ; extra == 'dev'
-  - scikit-learn ; extra == 'dev'
-  - tqdm ; extra == 'dev'
-  - bitsandbytes ; extra == 'dev'
-  - timm ; extra == 'dev'
-  - rich ; extra == 'dev'
-  - sagemaker ; extra == 'sagemaker'
-  requires_python: '>=3.10.0'
-- pypi: ./airbot_ie/deps/airbot_py-5.1.6-py3-none-any.whl
-  name: airbot-py
-  version: 5.1.6
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-  - grpcio-tools==1.70.0
-  - typeguard==4.4.0
-  - pyspark>=3.0.0 ; extra == 'spark'
-  - mkdocstrings[python]>=0.18 ; extra == 'doc'
-  - mkdocs==1.6.1 ; extra == 'doc'
-  - mkdocs-material[imaging]==9.5.45 ; extra == 'doc'
-  - mkdocs-print-site-plugin==2.7.2 ; extra == 'doc'
-  - mkdocs-enumerate-headings-plugin @ git+https://git.qiuzhi.tech/airbot/external/dependency/mkdocs-enumerate-headings-plugin.git@eda478c ; extra == 'doc'
-  - mkautodoc==0.2.0 ; extra == 'doc'
-  - mkdocs-static-i18n ; extra == 'doc'
-  - mike==2.1.3 ; extra == 'doc'
-  - bandit[toml]==1.7.5 ; extra == 'test'
-  - yapf==0.43.0 ; extra == 'test'
-  - check-manifest==0.49 ; extra == 'test'
-  - flake8-bugbear==23.5.9 ; extra == 'test'
-  - flake8-docstrings ; extra == 'test'
-  - flake8-formatter-junit-xml ; extra == 'test'
-  - flake8 ; extra == 'test'
-  - flake8-pyproject ; extra == 'test'
-  - mike==2.1.3 ; extra == 'test'
-  - pre-commit==3.3.1 ; extra == 'test'
-  - pylint==3.3.1 ; extra == 'test'
-  - pylint-junit ; extra == 'test'
-  - pytest-cov==6.0.0 ; extra == 'test'
-  - pytest-mock<3.10.1 ; extra == 'test'
-  - pytest-runner ; extra == 'test'
-  - pytest==8.3.3 ; extra == 'test'
-  - pytest-github-actions-annotate-failures ; extra == 'test'
-  - shellcheck-py==0.9.0.2 ; extra == 'test'
-  - wheel==0.45.1 ; extra == 'test'
-  requires_python: '>=3.8.1'
-- pypi: ./
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-  - ruamel-yaml ; extra == 'airbot'
-  - opencv-python ; extra == 'cv2'
-  - fastapi ; extra == 'web'
-  - uvicorn ; extra == 'web'
-  - linuxpy ; extra == 'v4l2'
-  - pyturbojpeg ; extra == 'v4l2'
-  - pyudev ; extra == 'udev'
-  - mcap-ros1-support ; extra == 'mcap-ros1'
-  - pyturbojpeg ; extra == 'image'
-  - av ; extra == 'image'
-  - pydantic-settings ; extra == 'soft'
-  - omegaconf>=2.3.0 ; extra == 'soft'
-  - hydra-zen ; extra == 'soft'
-  - transitions ; extra == 'soft'
-  - bidict ; extra == 'soft'
-  - tqdm ; extra == 'soft'
-  - pynput>=1.8.1 ; extra == 'hard'
-  - linuxpy ; extra == 'hard'
-  - pyturbojpeg ; extra == 'hard'
-  - pyudev ; extra == 'hard'
-  - torch ; extra == 'ml'
-  - torchvision ; extra == 'ml'
-  - ipykernel ; extra == 'plt'
-  - holoviews ; extra == 'plt'
-  - pydantic-settings ; extra == 'cfg'
-  - omegaconf>=2.3.0 ; extra == 'cfg'
-  - hydra-zen ; extra == 'cfg'
-  - bidict ; extra == 'basic'
-  - tqdm ; extra == 'basic'
-  - flatten-dict ; extra == 'basic'
-  - airdc[basic] ; extra == 'all'
-  - airdc[cfg] ; extra == 'all'
-  - airdc[soft] ; extra == 'all'
-  - airdc[hard] ; extra == 'all'
-  - airdc[cv2] ; extra == 'all'
-  - transitions ; extra == 'assis'
-  - hydra-zen ; extra == 'assis'
-  - flatten-dict ; extra == 'assis'
-  - tqdm ; extra == 'assis'
-  - auto-atomic-operation[mujoco,gs]==0.2.3 ; extra == 'auto-atom'
-  requires_python: '>=3.9'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/1e/d3/26bf1008eb3d2daa8ef4cacc7f3bfdc11818d111f7e2d0201bc6e3b49d45/annotated_doc-0.0.4-py3-none-any.whl
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-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/antlr-python-runtime-4.9.3-pyhd8ed1ab_1.tar.bz2
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-  size: 101065
-  timestamp: 1638309284042
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/anyio-4.14.2-pyhcf101f3_0.conda
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-  license: MIT
-  license_family: MIT
-  size: 164465
-  timestamp: 1783889660383
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/noarch/argcomplete-3.7.0-pyhcf101f3_0.conda
-  sha256: fca7deee4f28060413d483851703c1287351797c1f660fb9ab63f8d175576e3f
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-  license: Apache-2.0
-  license_family: APACHE
-  size: 46445
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-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/86/16/1a8fd2b19544b84575cf84ef7aa3ad4c173b756d5f087c91f85d1b295777/array_api_compat-1.15.0-py3-none-any.whl
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-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/attr-2.5.2-hb03c661_1.conda
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-  license: GPL-2.0-or-later
-  license_family: GPL
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-  size: 31386
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-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl
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-- pypi: ../../auto-atomic-operation
-  name: auto-atomic-operation
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-  - pyopengl-accelerate ; extra == 'mujoco'
-  - gsplat ; extra == 'gs'
-  - torch ; extra == 'gs'
-  - scipy ; extra == 'gs'
-  - plyfile ; extra == 'gs'
-  - natsort ; extra == 'gs'
-  - einops ; extra == 'gs'
-  - e3nn ; extra == 'gs'
-  - gaussian-renderer @ git+https://github.com/OpenGHz/GaussianRenderer.git ; extra == 'gs'
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-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/ac/13/37737ef2193e83862ccacff23580c39de251da456a1bf0459e762cca273c/av-15.1.0-cp312-cp312-manylinux_2_28_x86_64.whl
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-  - nvidia-cuda-nvcc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvcc') or (sys_platform == 'win32' and extra == 'nvcc')
-  - nvidia-nvfatbin-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvfatbin') or (sys_platform == 'win32' and extra == 'nvfatbin')
-  - nvidia-nvjitlink-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvjitlink') or (sys_platform == 'win32' and extra == 'nvjitlink')
-  - nvidia-nvjpeg-cu12==12.3.5.92.* ; (sys_platform == 'linux' and extra == 'nvjpeg') or (sys_platform == 'win32' and extra == 'nvjpeg')
-  - nvidia-nvml-dev-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvml') or (sys_platform == 'win32' and extra == 'nvml')
-  - nvidia-cuda-nvrtc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvrtc') or (sys_platform == 'win32' and extra == 'nvrtc')
-  - nvidia-nvtx-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvtx') or (sys_platform == 'win32' and extra == 'nvtx')
-  - nvidia-cuda-opencl-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'opencl') or (sys_platform == 'win32' and extra == 'opencl')
-  - nvidia-cuda-profiler-api-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'profiler') or (sys_platform == 'win32' and extra == 'profiler')
-  - nvidia-cuda-sanitizer-api-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'sanitizer') or (sys_platform == 'win32' and extra == 'sanitizer')
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d1/c7/a79086a62c98befcdb8349656c6f114e2db3b8b2422f6e25c97a7f2a9a3c/cuda_toolkit-13.0.3.0-py2.py3-none-any.whl
-  name: cuda-toolkit
-  version: 13.0.3.0
-  sha256: d693caaa261214ddd7dbb60d68e71cbed884e68c2be7509778f3051da0b91c3f
-  requires_dist:
-  - nvidia-cublas==13.1.1.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-cccl==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-crt==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-culibos==13.0.85.* ; (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-cupti==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-cuxxfilt==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-nvcc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-nvrtc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-opencl==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-profiler-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-runtime==13.0.96.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-sanitizer-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cufft==12.0.0.61.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cufile==1.15.1.6.* ; (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-curand==10.4.0.35.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cusolver==12.0.4.66.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cusparse==12.6.3.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-npp==13.0.1.2.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvfatbin==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvjpeg==13.0.1.86.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvml-dev==13.0.87.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvptxcompiler==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvtx==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-nvvm==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'all') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'all') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'all')
-  - nvidia-cuda-cccl==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cccl') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cccl') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cccl')
-  - nvidia-cuda-crt==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'crt') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'crt') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'crt')
-  - nvidia-cublas==13.1.1.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cublas') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cublas') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cublas')
-  - nvidia-cuda-nvrtc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cublas') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cublas') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cublas')
-  - nvidia-cuda-runtime==13.0.96.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cudart') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cudart') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cudart')
-  - nvidia-cufft==12.0.0.61.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cufft') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cufft') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cufft')
-  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cufft') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cufft') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cufft')
-  - nvidia-cufile==1.15.1.6.* ; (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cufile') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cufile')
-  - nvidia-cuda-culibos==13.0.85.* ; (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'culibos') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'culibos')
-  - nvidia-cuda-cupti==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cupti') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cupti') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cupti')
-  - nvidia-curand==10.4.0.35.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'curand') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'curand') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'curand')
-  - nvidia-cublas==13.1.1.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
-  - nvidia-cusolver==12.0.4.66.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
-  - nvidia-cusparse==12.6.3.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
-  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
-  - nvidia-cusparse==12.6.3.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusparse') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusparse') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusparse')
-  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusparse') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusparse') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusparse')
-  - nvidia-cuda-cuxxfilt==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cuxxfilt') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cuxxfilt') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuxxfilt')
-  - nvidia-npp==13.0.1.2.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'npp') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'npp') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'npp')
-  - nvidia-cuda-crt==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
-  - nvidia-cuda-nvcc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
-  - nvidia-cuda-runtime==13.0.96.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
-  - nvidia-nvvm==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
-  - nvidia-nvfatbin==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvfatbin') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvfatbin') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvfatbin')
-  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvjitlink') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvjitlink') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvjitlink')
-  - nvidia-nvjpeg==13.0.1.86.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvjpeg') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvjpeg') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvjpeg')
-  - nvidia-nvml-dev==13.0.87.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvml') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvml') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvml')
-  - nvidia-nvptxcompiler==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvptxcompiler') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvptxcompiler') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvptxcompiler')
-  - nvidia-cuda-nvrtc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvrtc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvrtc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvrtc')
-  - nvidia-nvtx==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvtx') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvtx') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvtx')
-  - nvidia-nvvm==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvvm') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvvm') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvvm')
-  - nvidia-cuda-opencl==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'opencl') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'opencl')
-  - nvidia-cuda-profiler-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'profiler') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'profiler') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'profiler')
-  - nvidia-cuda-sanitizer-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'sanitizer') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'sanitizer') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'sanitizer')
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/65/99/00f3196036501b53032c4b1ab8337a0b978dee832ed276dae3815df4e8b5/datasets-4.8.5-py3-none-any.whl
-  name: datasets
-  version: 4.8.5
-  sha256: 5079900781719c0e063a8efdd2cd95a31ad0c63209178669cd23cf1b926149ff
-  requires_dist:
-  - filelock
-  - numpy>=1.17
-  - pyarrow>=21.0.0
-  - dill>=0.3.0,<0.4.2
-  - pandas
-  - requests>=2.32.2
-  - httpx<1.0.0
-  - tqdm>=4.66.3
-  - xxhash
-  - multiprocess<0.70.20
-  - fsspec[http]>=2023.1.0,<=2026.2.0
-  - huggingface-hub>=0.25.0,<2.0
-  - packaging
-  - pyyaml>=5.1
-  - torchcodec>=0.6.0 ; extra == 'audio'
-  - torch>=2.8.0 ; extra == 'audio'
-  - pillow>=9.4.0 ; extra == 'vision'
-  - tensorflow>=2.6.0 ; extra == 'tensorflow'
-  - tensorflow>=2.6.0 ; extra == 'tensorflow-gpu'
-  - torch ; extra == 'torch'
-  - jax>=0.3.14 ; extra == 'jax'
-  - jaxlib>=0.3.14 ; extra == 'jax'
-  - numba>=0.56.4 ; python_full_version < '3.14' and extra == 'dev'
-  - absl-py ; extra == 'dev'
-  - decorator ; extra == 'dev'
-  - joblib<1.3.0 ; extra == 'dev'
-  - joblibspark ; python_full_version < '3.14' and extra == 'dev'
-  - pytest ; extra == 'dev'
-  - pytest-datadir ; extra == 'dev'
-  - pytest-xdist ; extra == 'dev'
-  - aiohttp ; extra == 'dev'
-  - elasticsearch>=7.17.12,<8.0.0 ; extra == 'dev'
-  - faiss-cpu>=1.8.0.post1 ; extra == 'dev'
-  - h5py ; extra == 'dev'
-  - pylance ; extra == 'dev'
-  - jax>=0.3.14 ; sys_platform != 'win32' and extra == 'dev'
-  - jaxlib>=0.3.14 ; sys_platform != 'win32' and extra == 'dev'
-  - lz4 ; python_full_version < '3.14' and extra == 'dev'
-  - moto[server] ; extra == 'dev'
-  - pyspark>=3.4 ; extra == 'dev'
-  - py7zr ; extra == 'dev'
-  - rarfile>=4.0 ; extra == 'dev'
-  - sqlalchemy ; extra == 'dev'
-  - protobuf<4.0.0 ; extra == 'dev'
-  - tensorflow>=2.6.0 ; python_full_version < '3.10' and sys_platform != 'win32' and extra == 'dev'
-  - tensorflow>=2.16.0 ; python_full_version >= '3.10' and python_full_version < '3.14' and sys_platform != 'win32' and extra == 'dev'
-  - tiktoken ; extra == 'dev'
-  - torch>=2.8.0 ; extra == 'dev'
-  - torchdata ; extra == 'dev'
-  - transformers>=4.42.0 ; extra == 'dev'
-  - zstandard ; extra == 'dev'
-  - polars[timezone]>=0.20.0 ; extra == 'dev'
-  - pillow>=9.4.0 ; extra == 'dev'
-  - torchcodec>=0.7.0 ; python_full_version < '3.14' and extra == 'dev'
-  - nibabel>=5.3.1 ; extra == 'dev'
-  - ruff>=0.3.0 ; extra == 'dev'
-  - transformers ; extra == 'dev'
-  - torch ; extra == 'dev'
-  - tensorflow>=2.6.0 ; extra == 'dev'
-  - numba>=0.56.4 ; python_full_version < '3.14' and extra == 'tests'
-  - absl-py ; extra == 'tests'
-  - decorator ; extra == 'tests'
-  - joblib<1.3.0 ; extra == 'tests'
-  - joblibspark ; python_full_version < '3.14' and extra == 'tests'
-  - pytest ; extra == 'tests'
-  - pytest-datadir ; extra == 'tests'
-  - pytest-xdist ; extra == 'tests'
-  - aiohttp ; extra == 'tests'
-  - elasticsearch>=7.17.12,<8.0.0 ; extra == 'tests'
-  - faiss-cpu>=1.8.0.post1 ; extra == 'tests'
-  - h5py ; extra == 'tests'
-  - pylance ; extra == 'tests'
-  - jax>=0.3.14 ; sys_platform != 'win32' and extra == 'tests'
-  - jaxlib>=0.3.14 ; sys_platform != 'win32' and extra == 'tests'
-  - lz4 ; python_full_version < '3.14' and extra == 'tests'
-  - moto[server] ; extra == 'tests'
-  - pyspark>=3.4 ; extra == 'tests'
-  - py7zr ; extra == 'tests'
-  - rarfile>=4.0 ; extra == 'tests'
-  - sqlalchemy ; extra == 'tests'
-  - protobuf<4.0.0 ; extra == 'tests'
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-  - tensorflow>=2.16.0 ; python_full_version >= '3.10' and python_full_version < '3.14' and sys_platform != 'win32' and extra == 'tests'
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-  - lerobot[damiao] ; extra == 'all'
-  - lerobot[robstride] ; extra == 'all'
-  - lerobot[gamepad] ; extra == 'all'
-  - lerobot[hopejr] ; extra == 'all'
-  - lerobot[lekiwi] ; extra == 'all'
-  - lerobot[openarms] ; extra == 'all'
-  - lerobot[reachy2] ; extra == 'all'
-  - lerobot[rebot] ; extra == 'all'
-  - lerobot[kinematics] ; extra == 'all'
-  - lerobot[intelrealsense] ; extra == 'all'
-  - lerobot[diffusion] ; extra == 'all'
-  - lerobot[multi-task-dit] ; extra == 'all'
-  - lerobot[wallx] ; extra == 'all'
-  - lerobot[pi] ; extra == 'all'
-  - lerobot[molmoact2] ; extra == 'all'
-  - lerobot[smolvla] ; extra == 'all'
-  - lerobot[fastwam] ; extra == 'all'
-  - lerobot[groot] ; extra == 'all'
-  - lerobot[xvla] ; extra == 'all'
-  - lerobot[evo1] ; extra == 'all'
-  - lerobot[hilserl] ; extra == 'all'
-  - lerobot[vla-jepa] ; extra == 'all'
-  - lerobot[lingbot-va] ; extra == 'all'
-  - lerobot[async] ; extra == 'all'
-  - lerobot[dev] ; extra == 'all'
-  - lerobot[test] ; extra == 'all'
-  - lerobot[video-benchmark] ; extra == 'all'
-  - lerobot[aloha] ; extra == 'all'
-  - lerobot[pusht] ; extra == 'all'
-  - lerobot[phone] ; extra == 'all'
-  - lerobot[libero] ; sys_platform == 'linux' and extra == 'all'
-  - lerobot[metaworld] ; extra == 'all'
-  - lerobot[sarm] ; extra == 'all'
-  - lerobot[robometer] ; extra == 'all'
-  - lerobot[topreward] ; extra == 'all'
-  - lerobot[peft] ; extra == 'all'
-  requires_python: '>=3.12'
-- pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_aao_sim
-  name: lerobot-robot-aao-sim
-  version: 0.1.0
-  sha256: 01e022dfa81ebf15988047bc81b8807d4152d2a1c947456f3029ec9cb910b038
-  requires_dist:
-  - lerobot
-  - numpy
-  requires_python: '>=3.10'
-- pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_airbot_play
-  name: lerobot-robot-airbot-play
-  version: 0.1.0
-  sha256: 412ade2329080a4cd3a25bc0209b1e19dbd216aab8fddc6f6bc0d010f1f0fe73
-  requires_dist:
-  - lerobot
-  - numpy
-  requires_python: '>=3.10'
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/libacl-2.3.2-h0f662aa_0.conda
-  sha256: 1b704cf161c6f84658a7ac534555ef365ec982f23576b1c4ae4cac4baeb61685
-  md5: ef8039969013acacf5b741092aef2ee7
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/e8/2d/d2a548598be01649e2d46231d151a6c56d10b964d94043a335ae56ea2d92/flatbuffers-25.12.19-py2.py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/e8/3d/1087453384dbde46a8c7f9356eead2c58be8a7bf156bca40243377c85715/more_itertools-11.1.0-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/e8/b6/f54d676ed93cc2dd2234c3b172ea9c8c3d7d29361e66b1b23dec57a67465/peft-0.19.1-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/e9/73/fda6a25f3beeb5e49d74330b44092b9e5a547395ccd478d1103ddcbff1fc/gymnasium-1.3.0-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/ec/57/56b9bcc3c9c6a792fcbaf139543cee77261f3651ca9da0c93f5c1221264b/python_dateutil-2.9.0.post0-py2.py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/ec/dd/96da98f892250475bdf2328112d7468abdd4acc7b902b6af23f4ed958ea0/pytz-2026.2-py2.py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/ef/2f/c5464532e965badff2f4c4c1a3a83f5697f0d7c407ed0cda44aaa99bb451/certifi-2026.6.17-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/f4/05/fea3020e90aa378941ff10de8860fb3b1288313c27efd10fa0c476498f7e/transitions-0.9.3-py2.py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/f6/74/86a07f1d0f42998ca31312f998bd3b9a7eff7f52378f4f270c8679c77fb9/nvidia_nvjitlink_cu12-12.8.93-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/f8/02/2adcaa145158bf1a8295d83591d22e4103dbfd821bcaf6f3f53151ca4ffa/nvidia_cuda_cupti_cu12-12.8.90-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/f8/62/d9ba6323b9202dd2fe166beab8a86d29465c41a0288cbe229fac60c1ab8d/jsonlines-4.0.0-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/fb/12/5911ae3eeec47800503a238d971e51722ccea5feb8569b735184d5fcdbc0/toolz-1.1.0-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/fb/aa/6584b56dc84ebe9cf93226a5cde4d99080c8e90ab40f0c27bda7a0f29aa1/nvidia_curand_cu12-10.3.9.90-py3-none-manylinux_2_27_x86_64.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/fb/e2/79c688af8b210d232694e31e59da9f6ec747bae31c3f5946e4e9b98860d5/click-8.4.2-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/fd/0a/c2345ebf1ebe70840ce3f6c6ee612f8fa749cfbd1b03069c53bf0c62aaad/redis-8.0.1-py3-none-any.whl
+      - pypi: https://mirrors.ustc.edu.cn/pypi/packages/fd/7b/122376b1fd3c62c1ed9dc80c931ace4844b3c55407b6fb2d199377c9736f/pydantic-2.13.4-py3-none-any.whl
+  ros:
+    channels:
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    - url: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
+    - url: https://conda.anaconda.org/conda-forge/
+    indexes:
+    - https://pypi.org/simple
+    - https://mirrors.ustc.edu.cn/pypi/simple
+    - https://mirrors.aliyun.com/pypi/simple/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-action-msgs-2.0.3-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-actionlib-msgs-5.3.7-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-auto-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-copyright-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-core-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cppcheck-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cpplint-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-definitions-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-dependencies-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-include-directories-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-interfaces-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-libraries-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-link-flags-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-targets-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-flake8-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-gen-version-h-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-gmock-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-gtest-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-include-directories-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-libraries-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-lint-cmake-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-pep257-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-pytest-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-python-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-ros-0.12.0-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-target-dependencies-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-test-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-uncrustify-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-version-2.5.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-xmllint-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-copyright-0.17.5-np2py312h2ed9cc7_18.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-lint-common-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-package-0.16.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-pep257-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-uncrustify-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-xmllint-0.17.5-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-builtin-interfaces-2.0.3-np2py312h2ed9cc7_18.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-posh-2.0.6-np2py312h2ed9cc7_18.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-3.4.10-np2py312h2ed9cc7_18.conda
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   - __glibc >=2.17,<3.0.a0
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   - libgcc >=14
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-  md5: 33a413f1095f8325e5c30fde3b0d2445
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+  - ros-jazzy-ament-cmake-core
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+  - __glibc >=2.17,<3.0.a0
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+  - ros-jazzy-rmw-implementation
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+  - ros-jazzy-unique-identifier-msgs
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   - __glibc >=2.17,<3.0.a0
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   - libgcc >=14
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   - __glibc >=2.17,<3.0.a0
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+  license: Apache-2.0
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+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
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+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  license: Apache-2.0
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   - __glibc >=2.17,<3.0.a0
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+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
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+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros-jazzy-rti-connext-dds-cmake-module
+  - ros-jazzy-tracetools
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   - __glibc >=2.17,<3.0.a0
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-  - ros-jazzy-ament-cmake-gen-version-h
-  - ros-jazzy-ament-cmake-libraries
-  - ros-jazzy-ament-cmake-python
-  - ros-jazzy-ament-cmake-target-dependencies
-  - ros-jazzy-ament-cmake-test
-  - ros-jazzy-ament-cmake-version
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-rmw-fastrtps-shared-cpp
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-dynamic-typesupport-fastrtps
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-tracetools
   - ros2-distro-mutex 0.15.* jazzy_*
-  - cmake
-  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
+  - libgcc >=14
   - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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-  timestamp: 1782299170237
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-auto-2.5.6-np2py312h2ed9cc7_18.conda
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   - python
-  - ros-jazzy-ament-cmake
-  - ros-jazzy-ament-cmake-gmock
-  - ros-jazzy-ament-cmake-gtest
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+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-rmw-fastrtps-shared-cpp
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
   - ros2-distro-mutex 0.15.* jazzy_*
   - __glibc >=2.17,<3.0.a0
   - libgcc >=14
   - libstdcxx >=14
   - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
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   license: Apache-2.0
-  size: 27177
-  timestamp: 1782299239607
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-copyright-0.17.5-np2py312h2ed9cc7_18.conda
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   depends:
   - python
-  - ros-jazzy-ament-cmake-test
-  - ros-jazzy-ament-copyright
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+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros-jazzy-tracetools
   - ros2-distro-mutex 0.15.* jazzy_*
-  - libgcc >=14
   - libstdcxx >=14
+  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
   license: Apache-2.0
-  size: 22443
-  timestamp: 1782299757928
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-core-2.5.6-np2py312h2ed9cc7_18.conda
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-  - catkin_pkg
   - python
-  - ros-jazzy-ament-package
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+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw-connextdds
+  - ros-jazzy-rmw-cyclonedds-cpp
+  - ros-jazzy-rmw-fastrtps-cpp
+  - ros-jazzy-rmw-fastrtps-dynamic-cpp
+  - ros-jazzy-rmw-implementation-cmake
+  - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.15.* jazzy_*
-  - cmake
   - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  size: 54523
+  timestamp: 1782302246588
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-implementation-cmake-7.3.3-np2py312h2ed9cc7_18.conda
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+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.15.* jazzy_*
   - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
-  size: 44908
-  timestamp: 1782298682500
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cppcheck-0.17.5-np2py312h2ed9cc7_18.conda
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   depends:
   - python
-  - ros-jazzy-ament-cmake-core
-  - ros-jazzy-ament-cmake-test
-  - ros-jazzy-ament-cppcheck
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ament-cmake-auto
+  - ros-jazzy-ament-cmake-gmock
+  - ros-jazzy-ament-cmake-gtest
+  - ros-jazzy-ament-cmake-pytest
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ament-lint-auto
+  - ros-jazzy-ament-lint-common
+  - ros-jazzy-class-loader
+  - ros-jazzy-common-interfaces
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-testing
+  - ros-jazzy-launch-testing-ament-cmake
+  - ros-jazzy-launch-testing-ros
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcl-lifecycle
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-environment
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli-common-extensions
+  - ros-jazzy-ros2launch
+  - ros-jazzy-rosidl-default-generators
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sros2
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   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
   license: Apache-2.0
-  size: 24180
-  timestamp: 1782299887676
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cpplint-0.17.5-np2py312h2ed9cc7_18.conda
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-  - python_abi 3.12.* *_cp312
-  license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-definitions-2.5.6-np2py312h2ed9cc7_18.conda
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   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
-  - libgcc >=14
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
-  size: 21796
-  timestamp: 1782298758362
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-dependencies-2.5.6-np2py312h2ed9cc7_18.conda
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-  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   license: Apache-2.0
-  size: 22732
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-include-directories-2.5.6-np2py312h2ed9cc7_18.conda
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   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-runtime-py
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-  - libstdcxx >=14
   - libgcc >=14
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   - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-interfaces-2.5.6-np2py312h2ed9cc7_18.conda
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+  - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.15.* jazzy_*
   - libgcc >=14
   - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
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   - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-libraries-2.5.6-np2py312h2ed9cc7_18.conda
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   - python
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   - ros-jazzy-ros-workspace
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+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2component
+  - ros-jazzy-ros2doctor
+  - ros-jazzy-ros2interface
+  - ros-jazzy-ros2launch
+  - ros-jazzy-ros2lifecycle
+  - ros-jazzy-ros2multicast
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2param
+  - ros-jazzy-ros2pkg
+  - ros-jazzy-ros2plugin
+  - ros-jazzy-ros2run
+  - ros-jazzy-ros2service
+  - ros-jazzy-ros2topic
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-  - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - numpy >=1.25,<3
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   - python_abi 3.12.* *_cp312
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2param
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   - ros2-distro-mutex 0.15.* jazzy_*
   - libgcc >=14
-  - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
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   - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   license: Apache-2.0
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-  - ros-jazzy-ament-cmake-export-libraries
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
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   - ros-jazzy-ros-workspace
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-  - libgcc >=14
+  - rosdistro
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   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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   - python
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-  - ros-jazzy-ament-flake8
+  - ros-jazzy-ament-index-python
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-adapter
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   - __glibc >=2.17,<3.0.a0
-  - libstdcxx >=14
   - libgcc >=14
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+  - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  - numpy >=1.25,<3
   license: Apache-2.0
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+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
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   - libstdcxx >=14
   - libgcc >=14
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   - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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-  timestamp: 1782299057907
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-gmock-2.5.6-np2py312h2ed9cc7_18.conda
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   - python
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-  - ros-jazzy-ament-cmake-test
-  - ros-jazzy-gmock-vendor
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2service
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   - libgcc >=14
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   - libstdcxx >=14
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-  timestamp: 1782299067305
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-gtest-2.5.6-np2py312h2ed9cc7_18.conda
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   - libgcc >=14
-  - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
-  - python_abi 3.12.* *_cp312
+  - libstdcxx >=14
   - numpy >=1.25,<3
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-  - gtest >=1.17.0,<1.17.1.0a0
   license: Apache-2.0
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   - ros-jazzy-ros-workspace
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   - libgcc >=14
   - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
   - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - numpy >=1.25,<3
   license: Apache-2.0
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-  timestamp: 1782298771576
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-libraries-2.5.6-np2py312h2ed9cc7_18.conda
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   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
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   - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
-  size: 21370
-  timestamp: 1782298767859
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-lint-cmake-0.17.5-np2py312h2ed9cc7_18.conda
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+  - catkin_pkg
+  - empy
+  - importlib_resources
   - python
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-  - ros-jazzy-ament-lint-cmake
+  - ros-jazzy-ament-copyright
+  - ros-jazzy-ament-index-python
   - ros-jazzy-ros-workspace
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   - libstdcxx >=14
   - libgcc >=14
-  - numpy >=1.25,<3
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-  timestamp: 1782299242950
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-pep257-0.17.5-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-ament-pep257
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+  - ros-jazzy-ros2cli
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   - libgcc >=14
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   - libstdcxx >=14
   - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-pytest-2.5.6-np2py312h2ed9cc7_18.conda
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   - python
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-  - ros-jazzy-ament-cmake-test
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2pkg
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-  - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
   - libstdcxx >=14
-  - numpy >=1.25,<3
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   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - numpy >=1.25,<3
   license: Apache-2.0
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-  timestamp: 1782298926656
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-python-2.5.6-np2py312h2ed9cc7_18.conda
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+  - pyyaml
+  - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2topic
+  - ros-jazzy-rosidl-runtime-py
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   - __glibc >=2.17,<3.0.a0
   - libgcc >=14
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-ros-0.12.0-np2py312h2ed9cc7_18.conda
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   - python
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-  - ros-jazzy-ament-cmake-gmock
-  - ros-jazzy-ament-cmake-gtest
-  - ros-jazzy-ament-cmake-pytest
-  - ros-jazzy-domain-coordinator
+  - pyyaml
+  - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
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-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
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   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
-  license: Apache-2.0
-  size: 31306
-  timestamp: 1782300260453
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-target-dependencies-2.5.6-np2py312h2ed9cc7_18.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosgraph-msgs-2.0.3-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-ament-cmake-include-directories
-  - ros-jazzy-ament-cmake-libraries
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-rcl-interfaces
   - ros-jazzy-ros-workspace
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   - libgcc >=14
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   - __glibc >=2.17,<3.0.a0
-  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
   license: Apache-2.0
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-  timestamp: 1782298845356
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-test-2.5.6-np2py312h2ed9cc7_18.conda
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   - ros-jazzy-ros-workspace
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   - __glibc >=2.17,<3.0.a0
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   - libstdcxx >=14
   - libgcc >=14
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   - numpy >=1.25,<3
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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   - ros-jazzy-ros-workspace
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   - ros2-distro-mutex 0.15.* jazzy_*
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   - __glibc >=2.17,<3.0.a0
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   - libstdcxx >=14
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
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   - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-  - importlib-metadata
   - python
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+  - ros-jazzy-rosidl-cmake
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+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-generator-py
+  - ros-jazzy-rosidl-generator-rs
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
   - ros2-distro-mutex 0.15.* jazzy_*
+  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
-  - libgcc >=14
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
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-  - cppcheck
   - python
   - ros-jazzy-ros-workspace
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+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
   - ros2-distro-mutex 0.15.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
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   - libgcc >=14
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   - numpy >=1.25,<3
-  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cpplint-0.17.5-np2py312h2ed9cc7_18.conda
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-  - libstdcxx >=14
   - libgcc >=14
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+  - __glibc >=2.17,<3.0.a0
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-flake8-0.17.5-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-ament-lint
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   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros-jazzy-service-msgs
   - ros2-distro-mutex 0.15.* jazzy_*
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   - libstdcxx >=14
-  - libgcc >=14
   - numpy >=1.25,<3
-  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-  timestamp: 1782298816036
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-index-cpp-1.8.4-np2py312h2ed9cc7_19.conda
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   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
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   license: Apache-2.0
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   - numpy >=1.25,<3
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
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+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
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   - ros2-distro-mutex 0.15.* jazzy_*
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   license: Apache-2.0
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+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-cpp
   - ros2-distro-mutex 0.15.* jazzy_*
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-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
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   license: Apache-2.0
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+  - ros-jazzy-ament-cmake-flake8
+  - ros-jazzy-ament-cmake-pep257
+  - ros-jazzy-ament-cmake-uncrustify
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-cmake-module
+  - ros-jazzy-rmw
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+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-interface
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   - libgcc >=14
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+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-interface
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+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-lint-common-0.17.5-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-ament-cmake-flake8
-  - ros-jazzy-ament-cmake-lint-cmake
-  - ros-jazzy-ament-cmake-pep257
-  - ros-jazzy-ament-cmake-uncrustify
-  - ros-jazzy-ament-cmake-xmllint
+  - ros-jazzy-ament-index-python
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-parser
   - ros2-distro-mutex 0.15.* jazzy_*
+  - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - libstdcxx >=14
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
   license: Apache-2.0
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-  timestamp: 1782299953984
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-package-0.16.5-np2py312h2ed9cc7_18.conda
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-  - importlib-metadata
-  - importlib_resources
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   - python
+  - ros-jazzy-ros-workspace
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   - ros2-distro-mutex 0.15.* jazzy_*
-  - setuptools
-  - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-pep257-0.17.5-np2py312h2ed9cc7_18.conda
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-  - pydocstyle
   - python
-  - ros-jazzy-ament-lint
   - ros-jazzy-ros-workspace
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   - ros2-distro-mutex 0.15.* jazzy_*
-  - libstdcxx >=14
   - libgcc >=14
+  - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
-  license: Apache-2.0 OR MIT
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-uncrustify-0.17.5-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-uncrustify-vendor
+  - ros-jazzy-rosidl-typesupport-interface
   - ros2-distro-mutex 0.15.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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-  timestamp: 1782299772281
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-xmllint-0.17.5-np2py312h2ed9cc7_18.conda
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-  - libxml2
   - python
-  - ros-jazzy-ament-lint
+  - ros-jazzy-ament-cmake
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
   - ros2-distro-mutex 0.15.* jazzy_*
   - libgcc >=14
-  - libstdcxx >=14
   - __glibc >=2.17,<3.0.a0
-  - numpy >=1.25,<3
+  - libstdcxx >=14
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
   license: Apache-2.0
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-  timestamp: 1782299177893
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-builtin-interfaces-2.0.3-np2py312h2ed9cc7_18.conda
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-  md5: b79c36e2498438b75c55197349130760
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+  - numpy
   - python
+  - pyyaml
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+  - ros-jazzy-rosidl-parser
   - ros2-distro-mutex 0.15.* jazzy_*
+  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
-  - libgcc >=14
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
   license: Apache-2.0
-  size: 81840
-  timestamp: 1782301387199
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-class-loader-2.7.0-np2py312h2ed9cc7_18.conda
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-  md5: dbf3a1140bd8c54150bb0d60abe0719a
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+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-c-3.2.2-np2py312h2ed9cc7_18.conda
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   depends:
-  - console_bridge
   - python
-  - ros-jazzy-console-bridge-vendor
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
   - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-c
   - ros2-distro-mutex 0.15.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
+  - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  - console_bridge >=1.0.2,<1.1.0a0
   - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
-  license: BSD-3-Clause
-  size: 74181
-  timestamp: 1782300845505
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-common-interfaces-5.3.7-np2py312h2ed9cc7_18.conda
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+  license: Apache-2.0
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+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-cpp-3.2.2-np2py312h2ed9cc7_18.conda
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   - python
-  - ros-jazzy-actionlib-msgs
-  - ros-jazzy-builtin-interfaces
-  - ros-jazzy-diagnostic-msgs
-  - ros-jazzy-geometry-msgs
-  - ros-jazzy-nav-msgs
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
   - ros-jazzy-ros-workspace
-  - ros-jazzy-sensor-msgs
-  - ros-jazzy-shape-msgs
-  - ros-jazzy-std-msgs
-  - ros-jazzy-std-srvs
-  - ros-jazzy-stereo-msgs
-  - ros-jazzy-trajectory-msgs
-  - ros-jazzy-visualization-msgs
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
   - ros2-distro-mutex 0.15.* jazzy_*
-  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - libgcc >=14
   - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
+  - python_abi 3.12.* *_cp312
   license: Apache-2.0
-  size: 26714
-  timestamp: 1782302953213
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-composition-interfaces-2.0.3-np2py312h2ed9cc7_18.conda
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   - python
-  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rmw
   - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-interface
   - ros2-distro-mutex 0.15.* jazzy_*
-  - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-console-bridge-vendor-1.7.1-np2py312h2ed9cc7_18.conda
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-  - console_bridge
   - python
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-python
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+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rmw
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-interface
   - ros2-distro-mutex 0.15.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
   - libgcc >=14
   - libstdcxx >=14
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+  - numpy >=1.25,<3
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  - console_bridge >=1.0.2,<1.1.0a0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-cyclonedds-0.10.5-np2py312h2ed9cc7_18.conda
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-  - libstdcxx >=14
-  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - openssl >=3.6.3,<4.0a0
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+  - libstdcxx >=14
   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.15.0,<0.16.0a0
-  license: EPL-2.0 OR BSD-3-Clause
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-diagnostic-msgs-5.3.7-np2py312h2ed9cc7_18.conda
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   - python
-  - ros-jazzy-builtin-interfaces
-  - ros-jazzy-geometry-msgs
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   - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-std-msgs
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-interface
   - ros2-distro-mutex 0.15.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
-  - libstdcxx >=14
   - libgcc >=14
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   - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-domain-coordinator-0.12.0-np2py312h2ed9cc7_18.conda
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+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-c
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   - __glibc >=2.17,<3.0.a0
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   - numpy >=1.25,<3
   license: Apache-2.0
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   - libgcc >=14
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   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
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   license: Apache-2.0
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   license: Apache-2.0
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-  - libgcc >=14
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-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
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   - numpy >=1.25,<3
   license: Apache-2.0
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
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   - python_abi 3.12.* *_cp312
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   - ros-jazzy-ros-workspace
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-  - libgcc >=14
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   - python_abi 3.12.* *_cp312
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-  - python_abi 3.12.* *_cp312
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-hoofs-2.0.6-np2py312h2ed9cc7_18.conda
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   license: Apache-2.0
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - numpy >=1.25,<3
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-3.4.10-np2py312h2ed9cc7_18.conda
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   license: Apache-2.0
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   license: Apache-2.0
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   license: Apache-2.0
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   - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
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   - ros2-distro-mutex 0.15.* jazzy_*
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   - numpy >=1.25,<3
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   - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.15.0,<0.16.0a0
   license: Apache-2.0
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-  timestamp: 1782303653316
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-xml-3.4.10-np2py312h2ed9cc7_18.conda
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   - libgcc >=14
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   - ros2-distro-mutex >=0.15.0,<0.16.0a0
   - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
   license: Apache-2.0
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+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-unique-identifier-msgs-2.5.0-np2py312h2ed9cc7_18.conda
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-  - ros-jazzy-rcl
-  - ros-jazzy-rcpputils
-  - ros-jazzy-rmw
   - ros-jazzy-ros-workspace
-  - ros-jazzy-statistics-msgs
+  - ros-jazzy-rosidl-core-runtime
   - ros2-distro-mutex 0.15.* jazzy_*
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libyaml-vendor-1.6.3-np2py312h2ed9cc7_18.conda
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   - python
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   - ros-jazzy-ros-workspace
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+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.15.* jazzy_*
-  - yaml
-  - yaml-cpp
+  - libstdcxx >=14
   - libgcc >=14
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-  - libstdcxx >=14
   - python_abi 3.12.* *_cp312
-  - yaml >=0.2.5,<0.3.0a0
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-  - libstdcxx >=14
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+  purls: []
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   - python_abi 3.12.* *_cp312
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-python-cmake-module-0.11.1-np2py312h2ed9cc7_18.conda
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-  - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
-  license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-implementation-cmake-7.3.3-np2py312h2ed9cc7_18.conda
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-  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
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   - libstdcxx >=14
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.25,<3
-  - ros2-distro-mutex >=0.15.0,<0.16.0a0
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-  - ros-jazzy-sros2-cmake
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2action-0.32.9-np2py312h2ed9cc7_18.conda
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-0.32.9-np2py312h2ed9cc7_18.conda
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-  - python_abi 3.12.* *_cp312
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tracetools-8.2.5-np2py312h2ed9cc7_18.conda
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   - python
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-  - ros-jazzy-geometry-msgs
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
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+  - python
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+  name: airdc
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+  - pydantic
+  - numpy
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+  - typing-extensions
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+  - opencv-python ; extra == 'cv2'
+  - fastapi ; extra == 'web'
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+  - tqdm ; extra == 'soft'
+  - pynput>=1.8.1 ; extra == 'hard'
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+  - pyudev ; extra == 'hard'
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+  - torchvision ; extra == 'ml'
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+  - airdc[hard] ; extra == 'all'
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+  requires_python: '>=3.9'
+- pypi: ./airbot_ie/deps/airbot_py-5.1.6-py3-none-any.whl
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+  - mkdocs-static-i18n ; extra == 'doc'
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+  - shellcheck-py==0.9.0.2 ; extra == 'test'
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+- pypi: ./airbot_ie/lerobot_plugin/lerobot_env_aao_sim
+  name: lerobot-env-aao-sim
+  requires_dist:
+  - lerobot
+  - gymnasium
+  - numpy
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+- pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_aao_sim
+  name: lerobot-robot-aao-sim
+  requires_dist:
+  - lerobot
+  - numpy
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+- pypi: ./airbot_ie/lerobot_plugin/lerobot_robot_airbot_play
+  name: lerobot-robot-airbot-play
+  requires_dist:
+  - lerobot
+  - numpy
+  requires_python: '>=3.10'
+- pypi: ./third_party/auto-atomic-operation
+  name: auto-atomic-operation
+  requires_dist:
+  - hydra-core
+  - numpy
+  - pydantic>=2
+  - mujoco>=3.4.0 ; extra == 'mujoco'
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+  - gsplat ; extra == 'gs'
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+  - plyfile ; extra == 'gs'
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+  - einops ; extra == 'gs'
+  - e3nn ; extra == 'gs'
+  - gaussian-renderer @ git+https://github.com/OpenGHz/GaussianRenderer.git ; extra == 'gs'
+  requires_python: '>=3.10'
+- pypi: git+https://github.com/OpenGHz/GaussianRenderer.git#8eb95dd690626bdece989b6f1b2cad10371ce652
+  name: gaussian-renderer
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+  - torch
+  - scipy
+  - plyfile
+  - trimesh
+  - gsplat
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+  - pyopengl ; extra == 'viewer'
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+  - e3nn ; extra == 'dev'
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+  - pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin' and extra == 'intelrealsense'
+  - pyrealsense2-macosx>=2.54,<2.57.0 ; sys_platform == 'darwin' and extra == 'intelrealsense'
+  - hebi-py>=2.8.0,<2.12.0 ; extra == 'phone'
+  - teleop>=0.1.0,<0.2.0 ; extra == 'phone'
+  - fastapi<1.0 ; extra == 'phone'
+  - lerobot[scipy-dep] ; extra == 'phone'
+  - lerobot[diffusers-dep] ; extra == 'diffusion'
+  - lerobot[transformers-dep] ; extra == 'wallx'
+  - lerobot[peft-dep] ; extra == 'wallx'
+  - lerobot[scipy-dep] ; extra == 'wallx'
+  - torchdiffeq>=0.2.4,<0.3.0 ; extra == 'wallx'
+  - lerobot[qwen-vl-utils-dep] ; extra == 'wallx'
+  - lerobot[transformers-dep] ; extra == 'pi'
+  - lerobot[scipy-dep] ; extra == 'pi'
+  - lerobot[transformers-dep] ; extra == 'molmoact2'
+  - lerobot[peft-dep] ; extra == 'molmoact2'
+  - lerobot[scipy-dep] ; extra == 'molmoact2'
+  - lerobot[transformers-dep] ; extra == 'smolvla'
+  - num2words>=0.5.14,<0.6.0 ; extra == 'smolvla'
+  - lerobot[accelerate-dep] ; extra == 'smolvla'
+  - lerobot[transformers-dep] ; extra == 'multi-task-dit'
+  - lerobot[diffusers-dep] ; extra == 'multi-task-dit'
+  - lerobot[transformers-dep] ; extra == 'groot'
+  - lerobot[peft-dep] ; extra == 'groot'
+  - lerobot[diffusers-dep] ; extra == 'groot'
+  - lerobot[dataset] ; extra == 'groot'
+  - dm-tree>=0.1.8,<1.0.0 ; extra == 'groot'
+  - lerobot[timm-dep] ; extra == 'groot'
+  - decord>=0.6.0,<1.0.0 ; (platform_machine == 'AMD64' and extra == 'groot') or (platform_machine == 'x86_64' and extra == 'groot')
+  - lerobot[transformers-dep] ; extra == 'sarm'
+  - pydantic>=2.0.0,<3.0.0 ; extra == 'sarm'
+  - faker>=33.0.0,<35.0.0 ; extra == 'sarm'
+  - lerobot[matplotlib-dep] ; extra == 'sarm'
+  - lerobot[qwen-vl-utils-dep] ; extra == 'sarm'
+  - lerobot[transformers-dep] ; extra == 'robometer'
+  - lerobot[qwen-vl-utils-dep] ; extra == 'robometer'
+  - lerobot[peft-dep] ; extra == 'robometer'
+  - lerobot[transformers-dep] ; extra == 'topreward'
+  - lerobot[transformers-dep] ; extra == 'xvla'
+  - lerobot[transformers-dep] ; extra == 'eo1'
+  - lerobot[qwen-vl-utils-dep] ; extra == 'eo1'
+  - lerobot[transformers-dep] ; extra == 'fastwam'
+  - lerobot[diffusers-dep] ; extra == 'fastwam'
+  - lerobot[transformers-dep] ; extra == 'evo1'
+  - lerobot[transformers-dep] ; extra == 'hilserl'
+  - lerobot[dataset] ; extra == 'hilserl'
+  - gym-hil>=0.1.14,<0.2.0 ; extra == 'hilserl'
+  - lerobot[grpcio-dep] ; extra == 'hilserl'
+  - lerobot[placo-dep] ; extra == 'hilserl'
+  - lerobot[transformers-dep] ; extra == 'vla-jepa'
+  - lerobot[diffusers-dep] ; extra == 'vla-jepa'
+  - lerobot[qwen-vl-utils-dep] ; extra == 'vla-jepa'
+  - lerobot[transformers-dep] ; extra == 'lingbot-va'
+  - lerobot[diffusers-dep] ; extra == 'lingbot-va'
+  - lerobot[accelerate-dep] ; extra == 'lingbot-va'
+  - lerobot[grpcio-dep] ; extra == 'async'
+  - lerobot[matplotlib-dep] ; extra == 'async'
+  - lerobot[transformers-dep] ; extra == 'peft'
+  - lerobot[peft-dep] ; extra == 'peft'
+  - lerobot[dataset] ; extra == 'annotations'
+  - lerobot[transformers-dep] ; extra == 'annotations'
+  - openai>=1.40,<2.0 ; extra == 'annotations'
+  - pre-commit>=3.7.0,<5.0.0 ; extra == 'dev'
+  - debugpy>=1.8.1,<1.9.0 ; extra == 'dev'
+  - lerobot[grpcio-dep] ; extra == 'dev'
+  - grpcio-tools>=1.73.1,<2.0.0 ; extra == 'dev'
+  - mypy>=1.19.1 ; extra == 'dev'
+  - ruff>=0.14.1 ; extra == 'dev'
+  - lerobot[notebook] ; extra == 'dev'
+  - jupyter>=1.0.0,<2.0.0 ; extra == 'notebook'
+  - ipykernel>=6.0.0,<7.0.0 ; extra == 'notebook'
+  - pytest>=8.1.0,<9.0.0 ; extra == 'test'
+  - pytest-timeout>=2.4.0,<3.0.0 ; extra == 'test'
+  - pytest-cov>=5.0.0,<8.0.0 ; extra == 'test'
+  - mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32' and extra == 'test'
+  - scikit-image>=0.23.2,<0.26.0 ; extra == 'video-benchmark'
+  - pandas>=2.2.2,<2.4.0 ; extra == 'video-benchmark'
+  - lerobot[dataset] ; extra == 'aloha'
+  - gym-aloha>=0.1.4,<0.2.0 ; extra == 'aloha'
+  - lerobot[scipy-dep] ; extra == 'aloha'
+  - lerobot[dataset] ; extra == 'pusht'
+  - gym-pusht>=0.1.5,<0.2.0 ; extra == 'pusht'
+  - pymunk>=6.6.0,<7.0.0 ; extra == 'pusht'
+  - lerobot[dataset] ; extra == 'libero'
+  - lerobot[transformers-dep] ; extra == 'libero'
+  - hf-libero>=0.1.4,<0.2.0 ; sys_platform == 'linux' and extra == 'libero'
+  - lerobot[scipy-dep] ; extra == 'libero'
+  - lerobot[dataset] ; extra == 'metaworld'
+  - metaworld==3.0.0 ; extra == 'metaworld'
+  - lerobot[scipy-dep] ; extra == 'metaworld'
+  - lerobot[dataset] ; extra == 'all'
+  - lerobot[training] ; extra == 'all'
+  - lerobot[hardware] ; extra == 'all'
+  - lerobot[viz] ; extra == 'all'
+  - scipy>=1.14.0,<2.0.0 ; extra == 'all'
+  - lerobot[dynamixel] ; extra == 'all'
+  - lerobot[feetech] ; extra == 'all'
+  - lerobot[damiao] ; extra == 'all'
+  - lerobot[robstride] ; extra == 'all'
+  - lerobot[gamepad] ; extra == 'all'
+  - lerobot[hopejr] ; extra == 'all'
+  - lerobot[lekiwi] ; extra == 'all'
+  - lerobot[openarms] ; extra == 'all'
+  - lerobot[reachy2] ; extra == 'all'
+  - lerobot[rebot] ; extra == 'all'
+  - lerobot[kinematics] ; extra == 'all'
+  - lerobot[intelrealsense] ; extra == 'all'
+  - lerobot[diffusion] ; extra == 'all'
+  - lerobot[multi-task-dit] ; extra == 'all'
+  - lerobot[wallx] ; extra == 'all'
+  - lerobot[pi] ; extra == 'all'
+  - lerobot[molmoact2] ; extra == 'all'
+  - lerobot[smolvla] ; extra == 'all'
+  - lerobot[fastwam] ; extra == 'all'
+  - lerobot[groot] ; extra == 'all'
+  - lerobot[xvla] ; extra == 'all'
+  - lerobot[evo1] ; extra == 'all'
+  - lerobot[hilserl] ; extra == 'all'
+  - lerobot[vla-jepa] ; extra == 'all'
+  - lerobot[lingbot-va] ; extra == 'all'
+  - lerobot[async] ; extra == 'all'
+  - lerobot[dev] ; extra == 'all'
+  - lerobot[test] ; extra == 'all'
+  - lerobot[video-benchmark] ; extra == 'all'
+  - lerobot[aloha] ; extra == 'all'
+  - lerobot[pusht] ; extra == 'all'
+  - lerobot[phone] ; extra == 'all'
+  - lerobot[libero] ; sys_platform == 'linux' and extra == 'all'
+  - lerobot[metaworld] ; extra == 'all'
+  - lerobot[sarm] ; extra == 'all'
+  - lerobot[robometer] ; extra == 'all'
+  - lerobot[topreward] ; extra == 'all'
+  - lerobot[peft] ; extra == 'all'
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+  - nvidia-cusolver==12.0.4.66.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
+  - nvidia-cusparse==12.6.3.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
+  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusolver') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusolver') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusolver')
+  - nvidia-cusparse==12.6.3.3.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusparse') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusparse') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusparse')
+  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cusparse') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cusparse') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cusparse')
+  - nvidia-cuda-cuxxfilt==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'cuxxfilt') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'cuxxfilt') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuxxfilt')
+  - nvidia-npp==13.0.1.2.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'npp') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'npp') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'npp')
+  - nvidia-cuda-crt==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
+  - nvidia-cuda-nvcc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
+  - nvidia-cuda-runtime==13.0.96.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
+  - nvidia-nvvm==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvcc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvcc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvcc')
+  - nvidia-nvfatbin==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvfatbin') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvfatbin') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvfatbin')
+  - nvidia-nvjitlink>=13.0.88,<14 ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvjitlink') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvjitlink') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvjitlink')
+  - nvidia-nvjpeg==13.0.1.86.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvjpeg') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvjpeg') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvjpeg')
+  - nvidia-nvml-dev==13.0.87.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvml') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvml') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvml')
+  - nvidia-nvptxcompiler==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvptxcompiler') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvptxcompiler') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvptxcompiler')
+  - nvidia-cuda-nvrtc==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvrtc') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvrtc') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvrtc')
+  - nvidia-nvtx==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvtx') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvtx') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvtx')
+  - nvidia-nvvm==13.0.88.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'nvvm') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'nvvm') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'nvvm')
+  - nvidia-cuda-opencl==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'opencl') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'opencl')
+  - nvidia-cuda-profiler-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'profiler') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'profiler') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'profiler')
+  - nvidia-cuda-sanitizer-api==13.0.85.* ; (platform_machine == 'AMD64' and sys_platform == 'win32' and extra == 'sanitizer') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'sanitizer') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'sanitizer')
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d2/53/8fc9b0cdc5b7f62746e6a01b85b6461e5ae27f871010a5fcf8fa6950766d/cuda_pathfinder-1.5.6-py3-none-any.whl
+  name: cuda-pathfinder
+  version: 1.5.6
+  sha256: 7e4c07c117b78ba1fb35dac4c444d21f3677b1b1ff56175c53a8e3025c5b43c0
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_python: '>=3.10'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d3/35/db860aa3a0780660324a506ad4b3d322ddc6ecbba4b9340aed0942cbf21c/hf_xet-1.5.2-cp38-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: hf-xet
+  version: 1.5.2
+  sha256: db78c39c83d6279daddc98e2238f373ab8980685556d42472b4ec51abcf03e8c
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_dist:
+  - pytest ; extra == 'tests'
+  requires_python: '>=3.8'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d4/c8/7dce3a0b15b42a3b58e7d96eb22a687d3bf2c44e01d149a6874629cd9938/cuda_toolkit-12.8.1-py2.py3-none-any.whl
+  name: cuda-toolkit
+  version: 12.8.1
+  sha256: adc7906af4ecbf9a352f9dca5734eceb21daec281ccfcf5675e1d2f724fc2cba
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_dist:
+  - nvidia-cublas-cu12==12.8.4.1.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-cccl-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-cupti-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-cuxxfilt-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-nvcc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-nvrtc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-opencl-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-profiler-api-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-runtime-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-sanitizer-api-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cufft-cu12==11.3.3.83.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cufile-cu12==1.13.1.3.* ; sys_platform == 'linux' and extra == 'all'
+  - nvidia-curand-cu12==10.3.9.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cusolver-cu12==11.7.3.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cusparse-cu12==12.5.8.93.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-npp-cu12==12.3.3.100.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-nvfatbin-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-nvjitlink-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-nvjpeg-cu12==12.3.5.92.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-nvml-dev-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-nvtx-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'all') or (sys_platform == 'win32' and extra == 'all')
+  - nvidia-cuda-cccl-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'cccl') or (sys_platform == 'win32' and extra == 'cccl')
+  - nvidia-cublas-cu12==12.8.4.1.* ; (sys_platform == 'linux' and extra == 'cublas') or (sys_platform == 'win32' and extra == 'cublas')
+  - nvidia-cuda-runtime-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'cudart') or (sys_platform == 'win32' and extra == 'cudart')
+  - nvidia-cufft-cu12==11.3.3.83.* ; (sys_platform == 'linux' and extra == 'cufft') or (sys_platform == 'win32' and extra == 'cufft')
+  - nvidia-cufile-cu12==1.13.1.3.* ; sys_platform == 'linux' and extra == 'cufile'
+  - nvidia-cuda-cupti-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'cupti') or (sys_platform == 'win32' and extra == 'cupti')
+  - nvidia-curand-cu12==10.3.9.90.* ; (sys_platform == 'linux' and extra == 'curand') or (sys_platform == 'win32' and extra == 'curand')
+  - nvidia-cusolver-cu12==11.7.3.90.* ; (sys_platform == 'linux' and extra == 'cusolver') or (sys_platform == 'win32' and extra == 'cusolver')
+  - nvidia-cusparse-cu12==12.5.8.93.* ; (sys_platform == 'linux' and extra == 'cusparse') or (sys_platform == 'win32' and extra == 'cusparse')
+  - nvidia-cuda-cuxxfilt-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'cuxxfilt') or (sys_platform == 'win32' and extra == 'cuxxfilt')
+  - nvidia-npp-cu12==12.3.3.100.* ; (sys_platform == 'linux' and extra == 'npp') or (sys_platform == 'win32' and extra == 'npp')
+  - nvidia-cuda-nvcc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvcc') or (sys_platform == 'win32' and extra == 'nvcc')
+  - nvidia-nvfatbin-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvfatbin') or (sys_platform == 'win32' and extra == 'nvfatbin')
+  - nvidia-nvjitlink-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvjitlink') or (sys_platform == 'win32' and extra == 'nvjitlink')
+  - nvidia-nvjpeg-cu12==12.3.5.92.* ; (sys_platform == 'linux' and extra == 'nvjpeg') or (sys_platform == 'win32' and extra == 'nvjpeg')
+  - nvidia-nvml-dev-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvml') or (sys_platform == 'win32' and extra == 'nvml')
+  - nvidia-cuda-nvrtc-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'nvrtc') or (sys_platform == 'win32' and extra == 'nvrtc')
+  - nvidia-nvtx-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'nvtx') or (sys_platform == 'win32' and extra == 'nvtx')
+  - nvidia-cuda-opencl-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'opencl') or (sys_platform == 'win32' and extra == 'opencl')
+  - nvidia-cuda-profiler-api-cu12==12.8.90.* ; (sys_platform == 'linux' and extra == 'profiler') or (sys_platform == 'win32' and extra == 'profiler')
+  - nvidia-cuda-sanitizer-api-cu12==12.8.93.* ; (sys_platform == 'linux' and extra == 'sanitizer') or (sys_platform == 'win32' and extra == 'sanitizer')
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d5/ca/6a2cc3a73170d10b5af1f1613baa2ed1f8f46f62dd0bfab2bffd2c2fe260/pyyaml_include-1.4.1-py3-none-any.whl
+  name: pyyaml-include
+  version: 1.4.1
+  sha256: 323c7f3a19c82fbc4d73abbaab7ef4f793e146a13383866831631b26ccc7fb00
+  index: https://mirrors.ustc.edu.cn/pypi/simple
   requires_dist:
-  - ruamel-yaml-clib ; platform_python_implementation == 'CPython' and extra == 'oldlibyaml'
-  - ruamel-yaml-clibz>=0.3.7 ; platform_python_implementation == 'CPython' and extra == 'libyaml'
-  - ruamel-yaml-jinja2>=0.2 ; extra == 'jinja2'
-  - ryd ; extra == 'docs'
-  - mercurial>5.7 ; extra == 'docs'
-  requires_python: '>=3.9'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/28/50/f203ff3a3ddfe19308efc83c5a3a29ed02bf786732ec35e68bf9162f3365/safetensors-0.8.0-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
-  name: safetensors
-  version: 0.8.0
-  sha256: fd6f3f93c9a0a7cc2788ee63fb763353d4bd2e89b0751bc78fcf7dda00bea774
+  - pyyaml>=6.0,<7.0
+  - toml ; python_full_version < '3.12' and extra == 'toml'
+  requires_python: '>=3.6'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/d6/5b/545e9267a1cc080c8a1be2746113a063e34bcdd0f5173fd665a5c13cb234/num2words-0.5.14-py3-none-any.whl
+  name: num2words
+  version: 0.5.14
+  sha256: 1c8e5b00142fc2966fd8d685001e36c4a9911e070d1b120e1beb721fa1edb33d
+  index: https://mirrors.ustc.edu.cn/pypi/simple
   requires_dist:
-  - safetensors[torch] ; extra == 'all'
-  - safetensors[numpy] ; extra == 'all'
-  - safetensors[jax] ; extra == 'all'
-  - safetensors[paddlepaddle] ; extra == 'all'
-  - safetensors[convert] ; extra == 'all'
-  - safetensors[quality] ; extra == 'all'
-  - safetensors[testing] ; extra == 'all'
-  - safetensors[torch] ; extra == 'convert'
-  - huggingface-hub>=1.4 ; extra == 'convert'
-  - safetensors[all] ; extra == 'dev'
-  - safetensors[pinned-tf] ; extra == 'dev'
-  - safetensors[numpy] ; extra == 'jax'
-  - flax>=0.6.3 ; extra == 'jax'
-  - jax>=0.3.25 ; extra == 'jax'
-  - jaxlib>=0.3.25 ; extra == 'jax'
-  - mlx>=0.0.9 ; extra == 'mlx'
-  - numpy>=1.24.6 ; extra == 'numpy'
-  - safetensors[numpy] ; extra == 'paddlepaddle'
-  - paddlepaddle>=2.4.1 ; extra == 'paddlepaddle'
-  - safetensors[numpy] ; extra == 'pinned-tf'
-  - tensorflow==2.18.0 ; extra == 'pinned-tf'
-  - ruff ; extra == 'quality'
-  - safetensors[numpy] ; extra == 'tensorflow'
-  - tensorflow>=2.11.0 ; extra == 'tensorflow'
-  - safetensors[numpy] ; extra == 'testing'
-  - h5py>=3.7.0 ; extra == 'testing'
-  - setuptools-rust>=1.12.0 ; extra == 'testing'
-  - pytest>=9.0 ; extra == 'testing'
-  - pytest-benchmark>=5.2 ; extra == 'testing'
-  - hypothesis>=6.70.2 ; extra == 'testing'
-  - fsspec>=2024.6.0 ; extra == 'testing'
-  - s3fs>=2024.6.0 ; extra == 'testing'
-  - safetensors[numpy] ; extra == 'tf-nightly'
-  - tf-nightly ; extra == 'tf-nightly'
-  - safetensors[numpy] ; extra == 'torch'
-  - torch>=2.4 ; extra == 'torch'
-  requires_python: '>=3.10'
+  - docopt>=0.6.2
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/dc/61/e24b560ab2e2eaeb3c839129175fb330dfcfc29e5203196e5541a4c44682/nvidia_cublas_cu12-12.8.4.1-py3-none-manylinux_2_27_x86_64.whl
+  name: nvidia-cublas-cu12
+  version: 12.8.4.1
+  sha256: 8ac4e771d5a348c551b2a426eda6193c19aa630236b418086020df5ba9667142
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_python: '>=3'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/dc/9b/47798a6c91d8bdb567fe2698fe81e0c6b7cb7ef4d13da4114b41d239f65d/typing_inspection-0.4.2-py3-none-any.whl
+  name: typing-inspection
+  version: 0.4.2
+  sha256: 4ed1cacbdc298c220f1bd249ed5287caa16f34d44ef4e9c3d0cbad5b521545e7
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_dist:
+  - typing-extensions>=4.12.0
+  requires_python: '>=3.9'
 - pypi: https://mirrors.ustc.edu.cn/pypi/packages/dd/aa/1b939f6c67ed68635bb538e6752d3dacc02f66535182e939a89581a44e9c/scipy-1.18.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
   name: scipy
   version: 1.18.0
   sha256: 1f55797419e16e7f30cf88ffb3113ce0467f00cfe3f70d5c281730b21769bfc2
+  index: https://mirrors.ustc.edu.cn/pypi/simple
   requires_dist:
   - numpy>=2.0.0,<2.8
   - pytest>=8.0.0 ; extra == 'test'
@@ -9344,364 +11013,326 @@ packages:
   - ruff>=0.12.0 ; extra == 'dev'
   - cython-lint>=0.12.2 ; extra == 'dev'
   requires_python: '>=3.12'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/1c/78/504fdd027da3b84ff1aecd9f6957e65f35134534ccc6da8628eb71e76d3f/send2trash-2.1.0-py3-none-any.whl
-  name: send2trash
-  version: 2.1.0
-  sha256: 0da2f112e6d6bb22de6aa6daa7e144831a4febf2a87261451c4ad849fe9a873c
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/de/e4/1ba6f44e491c4eece978685230dde56b14d51a0365bc1b774ddaa94d14cd/pyopengl-3.1.10-py3-none-any.whl
+  name: pyopengl
+  version: 3.1.10
+  sha256: 794a943daced39300879e4e47bd94525280685f42dbb5a998d336cfff151d74f
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/e0/6c/323c40671c6f1b3e02bb4a7404fbe2bf653190a56e63cf4b6a4f06e876bc/cmake-4.1.3-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: cmake
+  version: 4.1.3
+  sha256: 81f11b72bc59cbe547d9f283487ef0519bf68176edffcdfa1a4dc5a52f292369
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_python: '>=3.8'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/e0/f9/0595336914c5619e5f28a1fb793285925a8cd4b432c9da0a987836c7f822/shellingham-1.5.4-py2.py3-none-any.whl
+  name: shellingham
+  version: 1.5.4
+  sha256: 7ecfff8f2fd72616f7481040475a65b2bf8af90a56c89140852d1120324e8686
+  index: https://mirrors.ustc.edu.cn/pypi/simple
+  requires_python: '>=3.7'
+- pypi: https://mirrors.ustc.edu.cn/pypi/packages/e2/fb/8442f386fa71056abe7ebbc153eaac8cbe32875ed659a641ca526ab9f341/grpcio_tools-1.70.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+  name: grpcio-tools
+  version: 1.70.0
+  sha256: d7fd472fce3b33bdf7fbc24d40da7ab10d7a088bcaf59c37433c2c57330fbcb6
+  index: https://mirrors.ustc.edu.cn/pypi/simple
   requires_dist:
-  - pytest>=8 ; extra == 'test'
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-  - accelerate>=1.1.0 ; extra == 'torch'
-  - torchvision ; extra == 'vision'
-  - pillow>=10.0.1,<=15.0 ; extra == 'vision'
-  - torchaudio ; extra == 'audio'
-  - librosa ; extra == 'audio'
-  - pyctcdecode>=0.4.0 ; extra == 'audio'
-  - phonemizer ; extra == 'audio'
-  - av ; extra == 'video'
-  - timm>=1.0.23 ; extra == 'timm'
-  - datasets>=2.15.0 ; extra == 'quality'
-  - ruff==0.14.10 ; extra == 'quality'
-  - gitpython<3.1.19 ; extra == 'quality'
-  - urllib3<2.0.0 ; extra == 'quality'
-  - libcst ; extra == 'quality'
-  - rich ; extra == 'quality'
-  - ty==0.0.20 ; extra == 'quality'
-  - tomli ; extra == 'quality'
-  - hf-doc-builder ; extra == 'docs'
-  - kernels>=0.12.0,<0.13 ; extra == 'kernels'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'sentencepiece'
-  - protobuf ; extra == 'sentencepiece'
-  - tiktoken ; extra == 'tiktoken'
-  - blobfile ; extra == 'tiktoken'
-  - mistral-common[image]>=1.10.0 ; extra == 'mistral-common'
-  - jinja2>=3.1.0 ; extra == 'chat-template'
-  - jmespath>=1.0.1 ; extra == 'chat-template'
-  - scikit-learn ; extra == 'sklearn'
-  - accelerate>=1.1.0 ; extra == 'accelerate'
-  - faiss-cpu ; extra == 'retrieval'
-  - datasets>=2.15.0 ; extra == 'retrieval'
-  - sagemaker>=2.31.0 ; extra == 'sagemaker'
-  - deepspeed>=0.9.3 ; extra == 'deepspeed'
-  - accelerate>=1.1.0 ; extra == 'deepspeed'
-  - optuna ; extra == 'optuna'
-  - kernels>=0.12.0,<0.13 ; extra == 'integrations'
-  - optuna ; extra == 'integrations'
-  - codecarbon>=2.8.1 ; extra == 'integrations'
-  - ray[tune]>=2.7.0 ; extra == 'integrations'
-  - ray[tune]>=2.7.0 ; extra == 'ray'
-  - codecarbon>=2.8.1 ; extra == 'codecarbon'
-  - openai>=1.98.0 ; extra == 'serving'
-  - pydantic>=2 ; extra == 'serving'
-  - uvicorn ; extra == 'serving'
-  - fastapi ; extra == 'serving'
-  - starlette ; extra == 'serving'
-  - rich ; extra == 'serving'
-  - torch>=2.4 ; extra == 'serving'
-  - accelerate>=1.1.0 ; extra == 'serving'
-  - num2words ; extra == 'num2words'
-  - optimum-benchmark>=0.3.0 ; extra == 'benchmark'
-  - fugashi>=1.0 ; extra == 'ja'
-  - ipadic>=1.0.0,<2.0 ; extra == 'ja'
-  - unidic-lite>=1.0.7 ; extra == 'ja'
-  - unidic>=1.0.2 ; extra == 'ja'
-  - rhoknp>=1.1.0,<1.3.1 ; extra == 'ja'
-  - sudachipy>=0.6.6 ; extra == 'ja'
-  - sudachidict-core>=20220729 ; extra == 'ja'
-  - opentelemetry-api ; extra == 'open-telemetry'
-  - opentelemetry-exporter-otlp ; extra == 'open-telemetry'
-  - opentelemetry-sdk ; extra == 'open-telemetry'
-  - pytest>=7.2.0,<9.0.0 ; extra == 'testing'
-  - pytest-asyncio>=1.2.0 ; extra == 'testing'
-  - pytest-random-order ; extra == 'testing'
-  - pytest-rich ; extra == 'testing'
+  - tqdm>=4.42.1
+  - typing-extensions>=4.1.0
+  - authlib>=1.3.2 ; extra == 'oauth'
+  - fastapi ; extra == 'oauth'
+  - httpx ; extra == 'oauth'
+  - itsdangerous ; extra == 'oauth'
+  - torch ; extra == 'torch'
+  - safetensors[torch] ; extra == 'torch'
+  - toml ; extra == 'fastai'
+  - fastai>=2.4 ; extra == 'fastai'
+  - fastcore>=1.3.27 ; extra == 'fastai'
+  - hf-xet>=1.5.1,<2.0.0 ; extra == 'hf-xet'
+  - mcp>=1.8.0 ; extra == 'mcp'
+  - authlib>=1.3.2 ; extra == 'testing'
+  - fastapi ; extra == 'testing'
+  - httpx ; extra == 'testing'
+  - itsdangerous ; extra == 'testing'
+  - jedi ; extra == 'testing'
+  - jinja2 ; extra == 'testing'
+  - pytest>=8.4.2 ; extra == 'testing'
+  - pytest-cov ; extra == 'testing'
+  - pytest-env ; extra == 'testing'
   - pytest-xdist ; extra == 'testing'
-  - pytest-order ; extra == 'testing'
+  - pytest-vcr ; extra == 'testing'
+  - pytest-asyncio ; extra == 'testing'
   - pytest-rerunfailures<16.0 ; extra == 'testing'
-  - pytest-timeout ; extra == 'testing'
-  - pytest-env ; extra == 'testing'
-  - timeout-decorator ; extra == 'testing'
-  - parameterized>=0.9 ; extra == 'testing'
-  - psutil ; extra == 'testing'
-  - dill<0.3.5 ; extra == 'testing'
-  - evaluate>=0.4.6 ; extra == 'testing'
-  - rouge-score!=0.0.7,!=0.0.8,!=0.1,!=0.1.1 ; extra == 'testing'
-  - nltk<=3.8.1 ; extra == 'testing'
-  - sacremoses ; extra == 'testing'
-  - rjieba ; extra == 'testing'
-  - beautifulsoup4 ; extra == 'testing'
-  - tensorboard ; extra == 'testing'
-  - sacrebleu>=1.4.12,<2.0.0 ; extra == 'testing'
-  - filelock ; extra == 'testing'
-  - hf-doc-builder ; extra == 'testing'
-  - datasets>=2.15.0 ; extra == 'testing'
-  - ruff==0.14.10 ; extra == 'testing'
-  - gitpython<3.1.19 ; extra == 'testing'
-  - urllib3<2.0.0 ; extra == 'testing'
-  - libcst ; extra == 'testing'
-  - rich ; extra == 'testing'
-  - ty==0.0.20 ; extra == 'testing'
-  - tomli ; extra == 'testing'
-  - faiss-cpu ; extra == 'testing'
-  - datasets>=2.15.0 ; extra == 'testing'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'testing'
-  - protobuf ; extra == 'testing'
-  - openai>=1.98.0 ; extra == 'testing'
-  - pydantic>=2 ; extra == 'testing'
-  - uvicorn ; extra == 'testing'
+  - pytest-mock ; extra == 'testing'
+  - urllib3<2.0 ; extra == 'testing'
+  - soundfile ; extra == 'testing'
+  - pillow ; extra == 'testing'
+  - numpy ; extra == 'testing'
+  - duckdb ; extra == 'testing'
   - fastapi ; extra == 'testing'
-  - starlette ; extra == 'testing'
-  - rich ; extra == 'testing'
-  - torch>=2.4 ; extra == 'testing'
-  - accelerate>=1.1.0 ; extra == 'testing'
-  - mistral-common[image]>=1.10.0 ; extra == 'testing'
-  - deepspeed>=0.9.3 ; extra == 'deepspeed-testing'
-  - accelerate>=1.1.0 ; extra == 'deepspeed-testing'
-  - pytest>=7.2.0,<9.0.0 ; extra == 'deepspeed-testing'
-  - pytest-asyncio>=1.2.0 ; extra == 'deepspeed-testing'
-  - pytest-random-order ; extra == 'deepspeed-testing'
-  - pytest-rich ; extra == 'deepspeed-testing'
-  - pytest-xdist ; extra == 'deepspeed-testing'
-  - pytest-order ; extra == 'deepspeed-testing'
-  - pytest-rerunfailures<16.0 ; extra == 'deepspeed-testing'
-  - pytest-timeout ; extra == 'deepspeed-testing'
-  - pytest-env ; extra == 'deepspeed-testing'
-  - timeout-decorator ; extra == 'deepspeed-testing'
-  - parameterized>=0.9 ; extra == 'deepspeed-testing'
-  - psutil ; extra == 'deepspeed-testing'
-  - dill<0.3.5 ; extra == 'deepspeed-testing'
-  - evaluate>=0.4.6 ; extra == 'deepspeed-testing'
-  - rouge-score!=0.0.7,!=0.0.8,!=0.1,!=0.1.1 ; extra == 'deepspeed-testing'
-  - nltk<=3.8.1 ; extra == 'deepspeed-testing'
-  - sacremoses ; extra == 'deepspeed-testing'
-  - rjieba ; extra == 'deepspeed-testing'
-  - beautifulsoup4 ; extra == 'deepspeed-testing'
-  - tensorboard ; extra == 'deepspeed-testing'
-  - sacrebleu>=1.4.12,<2.0.0 ; extra == 'deepspeed-testing'
-  - filelock ; extra == 'deepspeed-testing'
-  - hf-doc-builder ; extra == 'deepspeed-testing'
-  - datasets>=2.15.0 ; extra == 'deepspeed-testing'
-  - ruff==0.14.10 ; extra == 'deepspeed-testing'
-  - gitpython<3.1.19 ; extra == 'deepspeed-testing'
-  - urllib3<2.0.0 ; extra == 'deepspeed-testing'
-  - libcst ; extra == 'deepspeed-testing'
-  - rich ; extra == 'deepspeed-testing'
-  - ty==0.0.20 ; extra == 'deepspeed-testing'
-  - tomli ; extra == 'deepspeed-testing'
-  - faiss-cpu ; extra == 'deepspeed-testing'
-  - datasets>=2.15.0 ; extra == 'deepspeed-testing'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'deepspeed-testing'
-  - protobuf ; extra == 'deepspeed-testing'
-  - openai>=1.98.0 ; extra == 'deepspeed-testing'
-  - pydantic>=2 ; extra == 'deepspeed-testing'
-  - uvicorn ; extra == 'deepspeed-testing'
-  - fastapi ; extra == 'deepspeed-testing'
-  - starlette ; extra == 'deepspeed-testing'
-  - rich ; extra == 'deepspeed-testing'
-  - torch>=2.4 ; extra == 'deepspeed-testing'
-  - accelerate>=1.1.0 ; extra == 'deepspeed-testing'
-  - mistral-common[image]>=1.10.0 ; extra == 'deepspeed-testing'
-  - optuna ; extra == 'deepspeed-testing'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'deepspeed-testing'
-  - protobuf ; extra == 'deepspeed-testing'
-  - torch>=2.4 ; extra == 'all'
-  - accelerate>=1.1.0 ; extra == 'all'
-  - torchvision ; extra == 'all'
-  - pillow>=10.0.1,<=15.0 ; extra == 'all'
-  - torchaudio ; extra == 'all'
-  - librosa ; extra == 'all'
-  - pyctcdecode>=0.4.0 ; extra == 'all'
-  - phonemizer ; extra == 'all'
-  - av ; extra == 'all'
-  - kernels>=0.12.0,<0.13 ; extra == 'all'
-  - timm>=1.0.23 ; extra == 'all'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'all'
-  - protobuf ; extra == 'all'
-  - tiktoken ; extra == 'all'
-  - blobfile ; extra == 'all'
-  - jinja2>=3.1.0 ; extra == 'all'
-  - jmespath>=1.0.1 ; extra == 'all'
-  - num2words ; extra == 'all'
-  - mistral-common[image]>=1.10.0 ; extra == 'all'
-  - torch>=2.4 ; extra == 'dev'
-  - accelerate>=1.1.0 ; extra == 'dev'
-  - torchvision ; extra == 'dev'
-  - pillow>=10.0.1,<=15.0 ; extra == 'dev'
-  - torchaudio ; extra == 'dev'
-  - librosa ; extra == 'dev'
-  - pyctcdecode>=0.4.0 ; extra == 'dev'
-  - phonemizer ; extra == 'dev'
-  - av ; extra == 'dev'
-  - kernels>=0.12.0,<0.13 ; extra == 'dev'
-  - timm>=1.0.23 ; extra == 'dev'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'dev'
-  - protobuf ; extra == 'dev'
-  - tiktoken ; extra == 'dev'
-  - blobfile ; extra == 'dev'
-  - jinja2>=3.1.0 ; extra == 'dev'
-  - jmespath>=1.0.1 ; extra == 'dev'
-  - num2words ; extra == 'dev'
-  - mistral-common[image]>=1.10.0 ; extra == 'dev'
-  - pytest>=7.2.0,<9.0.0 ; extra == 'dev'
-  - pytest-asyncio>=1.2.0 ; extra == 'dev'
-  - pytest-random-order ; extra == 'dev'
-  - pytest-rich ; extra == 'dev'
+  - gradio>=5.0.0 ; extra == 'gradio'
+  - requests ; extra == 'gradio'
+  - typing-extensions>=4.8.0 ; extra == 'typing'
+  - types-pyyaml ; extra == 'typing'
+  - types-simplejson ; extra == 'typing'
+  - types-toml ; extra == 'typing'
+  - types-tqdm ; extra == 'typing'
+  - types-urllib3 ; extra == 'typing'
+  - ruff>=0.9.0 ; extra == 'quality'
+  - mypy==1.15.0 ; extra == 'quality'
+  - libcst>=1.4.0 ; extra == 'quality'
+  - ty ; extra == 'quality'
+  - authlib>=1.3.2 ; extra == 'all'
+  - fastapi ; extra == 'all'
+  - httpx ; extra == 'all'
+  - itsdangerous ; extra == 'all'
+  - jedi ; extra == 'all'
+  - jinja2 ; extra == 'all'
+  - pytest>=8.4.2 ; extra == 'all'
+  - pytest-cov ; extra == 'all'
+  - pytest-env ; extra == 'all'
+  - pytest-xdist ; extra == 'all'
+  - pytest-vcr ; extra == 'all'
+  - pytest-asyncio ; extra == 'all'
+  - pytest-rerunfailures<16.0 ; extra == 'all'
+  - pytest-mock ; extra == 'all'
+  - urllib3<2.0 ; extra == 'all'
+  - soundfile ; extra == 'all'
+  - pillow ; extra == 'all'
+  - numpy ; extra == 'all'
+  - duckdb ; extra == 'all'
+  - fastapi ; extra == 'all'
+  - ruff>=0.9.0 ; extra == 'all'
+  - mypy==1.15.0 ; extra == 'all'
+  - libcst>=1.4.0 ; extra == 'all'
+  - ty ; extra == 'all'
+  - typing-extensions>=4.8.0 ; extra == 'all'
+  - types-pyyaml ; extra == 'all'
+  - types-simplejson ; extra == 'all'
+  - types-toml ; extra == 'all'
+  - types-tqdm ; extra == 'all'
+  - types-urllib3 ; extra == 'all'
+  - authlib>=1.3.2 ; extra == 'dev'
+  - fastapi ; extra == 'dev'
+  - httpx ; extra == 'dev'
+  - itsdangerous ; extra == 'dev'
+  - jedi ; extra == 'dev'
+  - jinja2 ; extra == 'dev'
+  - pytest>=8.4.2 ; extra == 'dev'
+  - pytest-cov ; extra == 'dev'
+  - pytest-env ; extra == 'dev'
   - pytest-xdist ; extra == 'dev'
-  - pytest-order ; extra == 'dev'
+  - pytest-vcr ; extra == 'dev'
+  - pytest-asyncio ; extra == 'dev'
   - pytest-rerunfailures<16.0 ; extra == 'dev'
-  - pytest-timeout ; extra == 'dev'
-  - pytest-env ; extra == 'dev'
-  - timeout-decorator ; extra == 'dev'
-  - parameterized>=0.9 ; extra == 'dev'
-  - psutil ; extra == 'dev'
-  - dill<0.3.5 ; extra == 'dev'
-  - evaluate>=0.4.6 ; extra == 'dev'
-  - rouge-score!=0.0.7,!=0.0.8,!=0.1,!=0.1.1 ; extra == 'dev'
-  - nltk<=3.8.1 ; extra == 'dev'
-  - sacremoses ; extra == 'dev'
-  - rjieba ; extra == 'dev'
-  - beautifulsoup4 ; extra == 'dev'
-  - tensorboard ; extra == 'dev'
-  - sacrebleu>=1.4.12,<2.0.0 ; extra == 'dev'
-  - filelock ; extra == 'dev'
-  - hf-doc-builder ; extra == 'dev'
-  - datasets>=2.15.0 ; extra == 'dev'
-  - ruff==0.14.10 ; extra == 'dev'
-  - gitpython<3.1.19 ; extra == 'dev'
-  - urllib3<2.0.0 ; extra == 'dev'
-  - libcst ; extra == 'dev'
-  - rich ; extra == 'dev'
-  - ty==0.0.20 ; extra == 'dev'
-  - tomli ; extra == 'dev'
-  - faiss-cpu ; extra == 'dev'
-  - datasets>=2.15.0 ; extra == 'dev'
-  - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'dev'
-  - protobuf ; extra == 'dev'
-  - openai>=1.98.0 ; extra == 'dev'
-  - pydantic>=2 ; extra == 'dev'
-  - uvicorn ; extra == 'dev'
+  - pytest-mock ; extra == 'dev'
+  - urllib3<2.0 ; extra == 'dev'
+  - soundfile ; extra == 'dev'
+  - pillow ; extra == 'dev'
+  - numpy ; extra == 'dev'
+  - duckdb ; extra == 'dev'
   - fastapi ; extra == 'dev'
-  - starlette ; extra == 'dev'
-  - rich ; extra == 'dev'
-  - torch>=2.4 ; extra == 'dev'
-  - accelerate>=1.1.0 ; extra == 'dev'
-  - mistral-common[image]>=1.10.0 ; extra == 'dev'
-  - fugashi>=1.0 ; extra == 'dev'
-  - ipadic>=1.0.0,<2.0 ; extra == 'dev'
-  - unidic-lite>=1.0.7 ; extra == 'dev'
-  - unidic>=1.0.2 ; extra == 'dev'
-  - rhoknp>=1.1.0,<1.3.1 ; extra == 'dev'
-  - sudachipy>=0.6.6 ; extra == 'dev'
-  - sudachidict-core>=20220729 ; extra == 'dev'
-  - scikit-learn ; extra == 'dev'
+  - ruff>=0.9.0 ; extra == 'dev'
+  - mypy==1.15.0 ; extra == 'dev'
+  - libcst>=1.4.0 ; extra == 'dev'
+  - ty ; extra == 'dev'
+  - typing-extensions>=4.8.0 ; extra == 'dev'
+  - types-pyyaml ; extra == 'dev'
+  - types-simplejson ; extra == 'dev'
+  - types-toml ; extra == 'dev'
+  - types-tqdm ; extra == 'dev'
+  - types-urllib3 ; extra == 'dev'
   requires_python: '>=3.10.0'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/f4/05/fea3020e90aa378941ff10de8860fb3b1288313c27efd10fa0c476498f7e/transitions-0.9.3-py2.py3-none-any.whl
-  name: transitions
-  version: 0.9.3
-  sha256: 02463248f2b668d86f66636b1e3c9e8de84d93e22915247f4e1aa9ee1cae28aa
-  requires_dist:
-  - six
-  - pygraphviz ; extra == 'diagrams'
-  - pytest ; extra == 'test'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
-  name: trimesh
-  version: 4.12.2
-  sha256: b5b5afa63c5272345f2858f7676bc8c217dc8a89f4fadf6193fe10a81b5ff2aa
-  requires_dist:
-  - numpy>=1.20
-  - colorlog ; extra == 'easy'
-  - manifold3d>=2.3.0 ; python_full_version < '3.14' and extra == 'easy'
-  - charset-normalizer ; extra == 'easy'
-  - lxml ; extra == 'easy'
-  - jsonschema ; extra == 'easy'
-  - networkx ; extra == 'easy'
-  - svg-path ; extra == 'easy'
-  - pycollada<=0.9.0 ; python_full_version < '3.9' and extra == 'easy'
-  - pycollada ; python_full_version >= '3.9' and extra == 'easy'
-  - shapely ; extra == 'easy'
-  - xxhash ; extra == 'easy'
-  - rtree ; extra == 'easy'
-  - httpx ; extra == 'easy'
-  - scipy ; extra == 'easy'
-  - embreex ; extra == 'easy'
-  - pillow ; extra == 'easy'
-  - vhacdx ; python_full_version >= '3.9' and extra == 'easy'
-  - mapbox-earcut>=1.0.2 ; python_full_version >= '3.9' and extra == 'easy'
-  - sympy ; extra == 'recommend'
-  - pyglet<2 ; extra == 'recommend'
-  - scikit-image ; extra == 'recommend'
-  - fast-simplification ; extra == 'recommend'
-  - python-fcl ; extra == 'recommend'
-  - cascadio ; extra == 'recommend'
-  - manifold3d>=2.3.0 ; python_full_version >= '3.14' and extra == 'recommend'
-  - pytest-cov ; extra == 'test'
-  - pytest ; extra == 'test'
-  - pyinstrument ; extra == 'test'
-  - ruff ; extra == 'test'
-  - coveralls ; extra == 'test-more'
-  - ezdxf ; extra == 'test-more'
-  - meshio ; extra == 'test-more'
-  - xatlas ; extra == 'test-more'
-  - pytest-beartype ; python_full_version >= '3.10' and extra == 'test-more'
-  - matplotlib ; extra == 'test-more'
-  - pymeshlab ; python_full_version < '3.14' and extra == 'test-more'
-  - triangle ; python_full_version < '3.14' and extra == 'test-more'
-  - ipython ; extra == 'test-more'
-  - marimo ; extra == 'test-more'
-  - openctm ; extra == 'deprecated'
-  - trimesh[deprecated,easy,recommend,test,test-more] ; extra == 'all'
-  requires_python: '>=3.8'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/ab/a8/cdf8b3e4c98132f965f88c2313a4b493266832ad47fb52f23d14d4f86bb5/triton-3.6.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
-  name: triton
-  version: 3.6.0
-  sha256: 74caf5e34b66d9f3a429af689c1c7128daba1d8208df60e81106b115c00d6fca
-  requires_dist:
-  - importlib-metadata ; python_full_version < '3.10'
-  - cmake>=3.20,<4.0 ; extra == 'build'
-  - lit ; extra == 'build'
-  - autopep8 ; extra == 'tests'
-  - isort ; extra == 'tests'
-  - numpy ; extra == 'tests'
-  - pytest ; extra == 'tests'
-  - pytest-forked ; extra == 'tests'
-  - pytest-xdist ; extra == 'tests'
-  - scipy>=1.7.1 ; extra == 'tests'
-  - llnl-hatchet ; extra == 'tests'
-  - matplotlib ; extra == 'tutorials'
-  - pandas ; extra == 'tutorials'
-  - tabulate ; extra == 'tutorials'
-  requires_python: '>=3.10,<3.15'
-- pypi: https://mirrors.ustc.edu.cn/pypi/packages/c4/6f/fb96d15db6f36d6eae4cafb998c2e0353bf59d7c4ea1662d7497f269134a/triton-3.7.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
-  name: triton
-  version: 3.7.1
-  sha256: 7e40869937a68206ec70d7f25bb7ec6433cb083f9135e1f36dbd318dc449a728
-  requires_dist:
-  - importlib-metadata ; python_full_version < '3.10'
-  - cmake>=3.20,<4.0 ; extra == 'build'
-  - lit ; extra == 'build'
-  - autopep8 ; extra == 'tests'
-  - isort ; extra == 'tests'
-  - numpy ; extra == 'tests'
-  - pytest ; extra == 'tests'
-  - pytest-forked ; extra == 'tests'
-  - pytest-xdist ; extra == 'tests'
-  - scipy>=1.7.1 ; extra == 'tests'
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-  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - annotated-types>=0.6.0
+  - pydantic-core==2.46.4
+  - typing-extensions>=4.14.1
+  - typing-inspection>=0.4.2
+  - email-validator>=2.0.0 ; extra == 'email'
+  - tzdata ; python_full_version >= '3.9' and sys_platform == 'win32' and extra == 'timezone'
   requires_python: '>=3.9'
-- conda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
-  sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7
-  md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829
-  depends:
-  - __glibc >=2.17,<3.0.a0
-  - libzlib >=1.3.1,<2.0a0
-  license: BSD-3-Clause
-  license_family: BSD
-  purls: []
-  size: 601375
-  timestamp: 1764777111296
diff --git a/pixi.toml b/pixi.toml
index 5da85cd..89ad88c 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -97,6 +97,7 @@ platforms = ["linux-64"]
 python = ">=3.12,<3.13"
 setuptools = ">=71.0.0,<81"
 packaging = ">=24.2,<26"
+tqdm = ">=4.0"
 
 [feature.mlbase.pypi-dependencies]
 # torch/torchvision are NOT listed as direct deps: lerobot (below) is a PyTorch
@@ -181,8 +182,10 @@ jsonlines = ">=4.0.0,<5.0.0"
 #     tensorboard/local-csv logging). Off by default; enable per run with a
 #     `wandb:` block in the train YAML (wandb.enable + wandb.project + wandb.mode).
 #     See configs/smolvla_train.yaml / configs/pi05_train.yaml.
+#   - accelerate: required by lerobot-train's training runtime.
 # ---------------------------------------------------------------------------
 [feature.letrain.pypi-dependencies]
+accelerate = ">=1.0"
 wandb = ">=0.18"
 
 # ---------------------------------------------------------------------------
@@ -276,6 +279,16 @@ description = "Offline self-check: import the SmolVLA training stack and report
 env = { HF_HUB_OFFLINE = "1", TRANSFORMERS_OFFLINE = "1" }
 cmd = """python -c "import torch, cv2, hydra, datasets, av, transformers, num2words; from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy; from mcap_data_loader.datasets.mcap_lerobot import McapLeRobotDataset; print('SMOLVLA SELF-CHECK OK | cuda', torch.cuda.is_available(), '| torch', torch.__version__, '| transformers', transformers.__version__)" """
 
+# ---------------------------------------------------------------------------
+# act feature: ACT (Action Chunking with Transformers) is included in the base
+# lerobot package, so no extra dependencies are needed. Only the self-check task
+# is defined here. Training/inference envs are `act` and `act-infer` below.
+# ---------------------------------------------------------------------------
+[feature.act.tasks.act-check]
+description = "Offline self-check: import the ACT training stack and report versions"
+env = { HF_HUB_OFFLINE = "1", TRANSFORMERS_OFFLINE = "1" }
+cmd = """python -c "import torch, cv2, hydra, datasets, av, accelerate; from lerobot.policies.act.modeling_act import ACTPolicy; from mcap_data_loader.datasets.mcap_lerobot import McapLeRobotDataset; print('ACT SELF-CHECK OK | cuda', torch.cuda.is_available(), '| torch', torch.__version__, '| accelerate', accelerate.__version__)" """
+
 # ---------------------------------------------------------------------------
 # collect feature: the data-collection environment. This is the pixi equivalent
 # of `bash install/install.sh` (system deps + `pip install -e .[all,airbot]`):
@@ -338,6 +351,9 @@ auto-atomic-operation = { path = "third_party/auto-atomic-operation", extras = [
 [feature.aao.pypi-dependencies]
 # Editable so `--robot.type=aao_sim` is discoverable.
 lerobot_robot_aao_sim = { path = "airbot_ie/lerobot_plugin/lerobot_robot_aao_sim", editable = true }
+# Editable so `--env.type=aao_sim` is discoverable by `lerobot-eval` (gym env for
+# native success-rate evaluation). LeRobot auto-discovers `lerobot_env_*` dists.
+lerobot_env_aao_sim = { path = "airbot_ie/lerobot_plugin/lerobot_env_aao_sim", editable = true }
 
 # ---------------------------------------------------------------------------
 # Environments (mlbase = shared torch + lerobot base; ledata = shared dataset
@@ -382,7 +398,10 @@ ros = ["ros", "aao-core"]
 # `airbotpy` provides the airbot_py SDK; `airbot` adds the lerobot plugin on top.
 infer-airbot = ["mlbase", "ledata", "airbotpy", "airbot"]
 infer-aao = ["mlbase", "ledata", "aao-core", "aao"]
+smolvla-aao = ["mlbase", "ledata", "aao-core", "aao", "smolvla"]
 pi05 = ["mlbase", "ledata", "letrain", "pi05"]
 pi05-infer = ["mlbase", "ledata", "airbotpy", "airbot", "pi05", "leviz"]
 smolvla = ["mlbase", "ledata", "letrain", "smolvla"]
 smolvla-infer = ["mlbase", "ledata", "airbotpy", "airbot", "smolvla", "leviz"]
+act = ["mlbase", "ledata", "letrain", "act"]
+act-infer = ["mlbase", "ledata", "airbotpy", "airbot", "act"]