diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index ed90982801..55086d6bf2 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -21,6 +21,9 @@ "arm-teleop-piper": "dimos.teleop.quest.blueprints:arm_teleop_piper", "arm-teleop-visualizing": "dimos.teleop.quest.blueprints:arm_teleop_visualizing", "arm-teleop-xarm6": "dimos.teleop.quest.blueprints:arm_teleop_xarm6", + "booster-k1-agentic": "dimos.robot.booster.k1.blueprints.agentic.booster_k1_agentic:booster_k1_agentic", + "booster-k1-basic": "dimos.robot.booster.k1.blueprints.basic.booster_k1_basic:booster_k1_basic", + "booster-k1-spatial": "dimos.robot.booster.k1.blueprints.smart.booster_k1_spatial:booster_k1_spatial", "coordinator-basic": "dimos.control.blueprints:coordinator_basic", "coordinator-cartesian-ik-mock": "dimos.control.blueprints:coordinator_cartesian_ik_mock", "coordinator-cartesian-ik-piper": "dimos.control.blueprints:coordinator_cartesian_ik_piper", diff --git a/dimos/robot/booster/k1/blueprints/__init__.py b/dimos/robot/booster/k1/blueprints/__init__.py new file mode 100644 index 0000000000..cd415048a1 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/__init__.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Cascaded Booster K1 blueprints split into focused modules.""" + +import lazy_loader as lazy + +__getattr__, __dir__, __all__ = lazy.attach( + __name__, + submod_attrs={ + "agentic._common_agentic": ["_common_agentic"], + "agentic.booster_k1_agentic": ["booster_k1_agentic"], + "basic.booster_k1_basic": ["booster_k1_basic"], + "smart.booster_k1_spatial": ["booster_k1_spatial"], + }, +) diff --git a/dimos/robot/booster/k1/blueprints/agentic/__init__.py b/dimos/robot/booster/k1/blueprints/agentic/__init__.py new file mode 100644 index 0000000000..176d41733d --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/agentic/__init__.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Agentic blueprints for Booster K1.""" diff --git a/dimos/robot/booster/k1/blueprints/agentic/_common_agentic.py b/dimos/robot/booster/k1/blueprints/agentic/_common_agentic.py new file mode 100644 index 0000000000..5f03053442 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/agentic/_common_agentic.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Shared agentic skills for Booster K1 blueprints.""" + +from dimos.agents.skills.navigation import navigation_skill +from dimos.agents.skills.speak_skill import speak_skill +from dimos.agents.web_human_input import web_input +from dimos.core.blueprints import autoconnect +from dimos.robot.booster.k1.skill_container import booster_k1_skills + +_common_agentic = autoconnect( + navigation_skill(), + booster_k1_skills(), + web_input(), + speak_skill(), +) + +__all__ = ["_common_agentic"] diff --git a/dimos/robot/booster/k1/blueprints/agentic/booster_k1_agentic.py b/dimos/robot/booster/k1/blueprints/agentic/booster_k1_agentic.py new file mode 100644 index 0000000000..827e70b765 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/agentic/booster_k1_agentic.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Booster K1 agentic blueprint: spatial + agent + skills.""" + +from dimos.agents.agent import agent +from dimos.core.blueprints import autoconnect +from dimos.robot.booster.k1.blueprints.agentic._common_agentic import _common_agentic +from dimos.robot.booster.k1.blueprints.smart.booster_k1_spatial import booster_k1_spatial + +booster_k1_agentic = autoconnect( + booster_k1_spatial, + agent(), + _common_agentic, +) + +__all__ = ["booster_k1_agentic"] diff --git a/dimos/robot/booster/k1/blueprints/basic/__init__.py b/dimos/robot/booster/k1/blueprints/basic/__init__.py new file mode 100644 index 0000000000..b3e4d7d724 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/basic/__init__.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Basic blueprints for Booster K1.""" diff --git a/dimos/robot/booster/k1/blueprints/basic/booster_k1_basic.py b/dimos/robot/booster/k1/blueprints/basic/booster_k1_basic.py new file mode 100644 index 0000000000..33f9dd21e7 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/basic/booster_k1_basic.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Basic Booster K1 blueprint: connection + visualization.""" + +import platform + +from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE +from dimos.core.blueprints import autoconnect +from dimos.core.global_config import global_config +from dimos.core.transport import pSHMTransport +from dimos.msgs.sensor_msgs import Image +from dimos.protocol.pubsub.impl.lcmpubsub import LCM +from dimos.robot.booster.k1.connection import k1_connection +from dimos.web.websocket_vis.websocket_vis_module import websocket_vis + +_mac_transports: dict[tuple[str, type], pSHMTransport[Image]] = { + ("color_image", Image): pSHMTransport( + "color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE + ), +} + +_transports_base = ( + autoconnect() if platform.system() == "Linux" else autoconnect().transports(_mac_transports) +) + + +def _k1_blueprint(): + import rerun as rr + import rerun.blueprint as rrb + + return rrb.Blueprint( + rrb.Horizontal( + rrb.Spatial3DView( + origin="world", + background=rrb.Background(kind="SolidColor", color=[0, 0, 0]), + line_grid=rrb.LineGrid3D( + plane=rr.components.Plane3D.XY.with_distance(0.2), + ), + ), + rrb.Spatial2DView( + name="Camera", + origin="world/color_image", + ), + ), + ) + + +rerun_config = { + "pubsubs": [LCM(autoconf=True)], + "blueprint": _k1_blueprint, + "visual_override": { + "world/camera_info": lambda camera_info: camera_info.to_rerun( + image_topic="/world/color_image", + optical_frame="camera_optical", + ), + }, +} + +match global_config.viewer_backend: + case "rerun": + from dimos.visualization.rerun.bridge import rerun_bridge + + with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config)) + case "rerun-web": + from dimos.visualization.rerun.bridge import rerun_bridge + + with_vis = autoconnect(_transports_base, rerun_bridge(viewer_mode="web", **rerun_config)) + case _: + with_vis = autoconnect(_transports_base) + +booster_k1_basic = autoconnect( + with_vis, + k1_connection(), + websocket_vis(), +).global_config(n_dask_workers=4, robot_model="booster_k1") + +__all__ = ["booster_k1_basic"] diff --git a/dimos/robot/booster/k1/blueprints/smart/__init__.py b/dimos/robot/booster/k1/blueprints/smart/__init__.py new file mode 100644 index 0000000000..d4a7833974 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/smart/__init__.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Smart blueprints for Booster K1.""" diff --git a/dimos/robot/booster/k1/blueprints/smart/booster_k1.py b/dimos/robot/booster/k1/blueprints/smart/booster_k1.py new file mode 100644 index 0000000000..509722ba2c --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/smart/booster_k1.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from dimos.core.blueprints import autoconnect +from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic + +booster_k1 = autoconnect( + booster_k1_basic, +).global_config(n_dask_workers=6, robot_model="booster_k1") + +__all__ = ["booster_k1"] diff --git a/dimos/robot/booster/k1/blueprints/smart/booster_k1_spatial.py b/dimos/robot/booster/k1/blueprints/smart/booster_k1_spatial.py new file mode 100644 index 0000000000..2723b31827 --- /dev/null +++ b/dimos/robot/booster/k1/blueprints/smart/booster_k1_spatial.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from dimos.core.blueprints import autoconnect +from dimos.perception.spatial_perception import spatial_memory +from dimos.robot.booster.k1.blueprints.smart.booster_k1 import booster_k1 +from dimos.utils.monitoring import utilization + +booster_k1_spatial = autoconnect( + booster_k1, + spatial_memory(), + utilization(), +).global_config(n_dask_workers=8) + +__all__ = ["booster_k1_spatial"] diff --git a/dimos/robot/booster/k1/connection.py b/dimos/robot/booster/k1/connection.py new file mode 100644 index 0000000000..c719ef745b --- /dev/null +++ b/dimos/robot/booster/k1/connection.py @@ -0,0 +1,255 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Booster K1 connection module using the booster-rpc SDK.""" + +import asyncio +import logging +from threading import Thread +import time + +from booster_rpc import ( + BoosterConnection, + GetRobotStatusResponse, + RobotChangeModeRequest, + RobotMode, + RobotMoveRequest, + RpcApiId, +) +import cv2 +import numpy as np +from reactivex.disposable import Disposable + +from dimos import spec +from dimos.agents.annotation import skill +from dimos.core import In, Module, Out, rpc +from dimos.core.global_config import GlobalConfig, global_config +from dimos.msgs.geometry_msgs import PoseStamped, Twist +from dimos.msgs.sensor_msgs import CameraInfo, Image, PointCloud2 +from dimos.msgs.sensor_msgs.Image import ImageFormat + +logger = logging.getLogger(__name__) + + +def _camera_info_static() -> CameraInfo: + # TODO: replace with actual K1 camera intrinsics + fx, fy, cx, cy = (400.0, 400.0, 272.0, 153.0) + width, height = (544, 306) + + return CameraInfo( + frame_id="camera_optical", + height=height, + width=width, + distortion_model="plumb_bob", + D=[0.0, 0.0, 0.0, 0.0, 0.0], + K=[fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0], + R=[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], + P=[fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0], + binning_x=0, + binning_y=0, + ) + + +class K1Connection(Module, spec.Camera): + """Connection module for the Booster K1 humanoid robot.""" + + cmd_vel: In[Twist] + pointcloud: Out[PointCloud2] + odom: Out[PoseStamped] + lidar: Out[PointCloud2] + color_image: Out[Image] + camera_info: Out[CameraInfo] + + camera_info_static: CameraInfo = _camera_info_static() + _global_config: GlobalConfig + _camera_info_thread: Thread | None = None + _video_thread: Thread | None = None + _latest_video_frame: Image | None = None + _conn: BoosterConnection | None = None + _running: bool = False + + def __init__( + self, + ip: str | None = None, + cfg: GlobalConfig = global_config, + *args, + **kwargs, + ) -> None: + self._global_config = cfg + self._ip = ip if ip is not None else self._global_config.robot_ip + Module.__init__(self, *args, **kwargs) + + @rpc + def start(self) -> None: + super().start() + + self._conn = BoosterConnection(ip=self._ip) + self._running = True + + self._video_thread = Thread(target=self._run_video_stream, daemon=True) + self._video_thread.start() + + self._disposables.add(Disposable(self.cmd_vel.subscribe(self.move))) + + self._camera_info_thread = Thread(target=self._publish_camera_info, daemon=True) + self._camera_info_thread.start() + + logger.info("K1Connection started (ip=%s)", self._ip) + + @rpc + def stop(self) -> None: + self._running = False + + if self._video_thread and self._video_thread.is_alive(): + self._video_thread.join(timeout=3.0) + + if self._camera_info_thread and self._camera_info_thread.is_alive(): + self._camera_info_thread.join(timeout=1.0) + + if self._conn: + self._conn.close() + self._conn = None + + super().stop() + + def _run_video_stream(self) -> None: + """Run the async video stream in a background thread.""" + loop = asyncio.new_event_loop() + asyncio.set_event_loop(loop) + try: + loop.run_until_complete(self._stream_video()) + except Exception as e: + if self._running: + logger.exception(f"Video stream exception: {type(e).__name__}: {e}") + finally: + loop.close() + + async def _stream_video(self) -> None: + import websockets + + assert self._conn is not None + uri = f"ws://{self._conn.ip}:{self._conn.ws_port}" + + JPEG_SOI = b"\xff\xd8" + JPEG_EOI = b"\xff\xd9" + + while self._running: + try: + async with websockets.connect(uri, open_timeout=5) as ws: + while self._running: + data = await ws.recv() + if not isinstance(data, bytes): + continue + start = data.find(JPEG_SOI) + end = data.rfind(JPEG_EOI) + if start >= 0 and end >= 0: + frame = data[start : end + 2] + self._on_frame(frame) + except KeyboardInterrupt: + break + except TimeoutError: + logger.warning(f"Video timeout ({uri}), retrying in 3s...", uri) + await asyncio.sleep(3) + except Exception as e: + if not self._running: + break + logger.warning(f"Video error: {type(e).__name__}: {e}, retrying in 3s...", e) + await asyncio.sleep(3) + + def _on_frame(self, jpeg_bytes: bytes) -> None: + if not self._running: + raise KeyboardInterrupt + arr = cv2.imdecode(np.frombuffer(jpeg_bytes, dtype=np.uint8), cv2.IMREAD_COLOR) + if arr is None: + return + image = Image.from_numpy(arr, format=ImageFormat.BGR, frame_id="camera_optical") + self.color_image.publish(image) + self._latest_video_frame = image + + def _publish_camera_info(self) -> None: + while self._running: + self.camera_info.publish(self.camera_info_static) + time.sleep(1.0) + + @rpc + def move(self, twist: Twist, duration: float = 0.0) -> bool: + """Send movement command to robot.""" + if not self._conn: + return False + try: + req = RobotMoveRequest(vx=twist.linear.x, vy=twist.linear.y, vyaw=twist.angular.z) + self._conn._call(RpcApiId.ROBOT_MOVE, bytes(req)) + return True + except Exception as e: + logger.debug("Move command failed: %s", e) + return False + + @rpc + def standup(self) -> bool: + """Make the robot stand up (DAMPING -> PREPARE -> WALKING).""" + if not self._conn: + return False + try: + resp = self._conn._call(RpcApiId.GET_ROBOT_STATUS) + status = GetRobotStatusResponse().parse(resp.payload) + + if status.mode == RobotMode.WALKING: + return True + + if status.mode == RobotMode.DAMPING: + self._conn._call( + RpcApiId.ROBOT_CHANGE_MODE, + bytes(RobotChangeModeRequest(mode=RobotMode.PREPARE)), + ) + logger.info("K1 mode -> PREPARE") + time.sleep(3) + + self._conn._call( + RpcApiId.ROBOT_CHANGE_MODE, + bytes(RobotChangeModeRequest(mode=RobotMode.WALKING)), + ) + logger.info("K1 mode -> WALKING") + time.sleep(3) + return True + except Exception: + logger.exception("Failed to standup") + return False + + @rpc + def sit(self) -> bool: + """Make the robot lie down.""" + if not self._conn: + return False + try: + self._conn._call(RpcApiId.ROBOT_LIE_DOWN) + logger.info("K1 lying down") + return True + except Exception: + logger.exception("Failed to sit") + return False + + @skill + def observe(self) -> Image | None: + """Returns the latest video frame from the robot camera. Use this skill for any visual world queries. + + This skill provides the current camera view for perception tasks. + Returns None if no frame has been captured yet. + """ + return self._latest_video_frame + + +k1_connection = K1Connection.blueprint + +__all__ = ["K1Connection", "k1_connection"] diff --git a/dimos/robot/booster/k1/skill_container.py b/dimos/robot/booster/k1/skill_container.py new file mode 100644 index 0000000000..be5b0b1759 --- /dev/null +++ b/dimos/robot/booster/k1/skill_container.py @@ -0,0 +1,92 @@ +# Copyright 2025-2026 Dimensional Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +""" +Booster K1 skill container for the new agents framework. +Provides movement skills for the K1 humanoid robot. +""" + +from dimos.agents.annotation import skill +from dimos.core.core import rpc +from dimos.core.module import Module +from dimos.msgs.geometry_msgs import Twist, Vector3 +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + + +class BoosterK1SkillContainer(Module): + rpc_calls: list[str] = [ + "K1Connection.move", + "K1Connection.standup", + "K1Connection.sit", + ] + + @rpc + def start(self) -> None: + super().start() + + @rpc + def stop(self) -> None: + super().stop() + + @skill + def move(self, x: float, y: float = 0.0, yaw: float = 0.0, duration: float = 0.0) -> str: + """Move the robot using direct velocity commands. Determine duration required based on user distance instructions. + + Example call: + args = { "x": 0.5, "y": 0.0, "yaw": 0.0, "duration": 2.0 } + move(**args) + + Args: + x: Forward velocity (m/s) + y: Left/right velocity (m/s) + yaw: Rotational velocity (rad/s) + duration: How long to move (seconds) + """ + move_rpc = self.get_rpc_calls("K1Connection.move") + twist = Twist(linear=Vector3(x, y, 0), angular=Vector3(0, 0, yaw)) + move_rpc(twist, duration=duration) + return f"Started moving with velocity=({x}, {y}, {yaw}) for {duration} seconds" + + @skill + def standup(self) -> str: + """Make the robot stand up from a sitting or damping position. + + Example call: + standup() + """ + standup_rpc = self.get_rpc_calls("K1Connection.standup") + success = standup_rpc() + if success: + return "Robot is now standing." + return "Failed to stand up." + + @skill + def sit(self) -> str: + """Make the robot sit down (lie down). + + Example call: + sit() + """ + sit_rpc = self.get_rpc_calls("K1Connection.sit") + success = sit_rpc() + if success: + return "Robot is now sitting." + return "Failed to sit down." + + +booster_k1_skills = BoosterK1SkillContainer.blueprint + +__all__ = ["BoosterK1SkillContainer", "booster_k1_skills"] diff --git a/pyproject.toml b/pyproject.toml index be56bbeb41..b255ae5598 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -168,6 +168,11 @@ unitree = [ "unitree-webrtc-connect-leshy>=2.0.7" ] +booster = [ + "dimos[base]", + "booster-rpc>=0.0.6", +] + manipulation = [ # Planning (Drake) "drake==1.45.0; sys_platform == 'darwin' and platform_machine != 'aarch64'", diff --git a/uv.lock b/uv.lock index 47083b733e..e69cf2e72b 100644 --- a/uv.lock +++ b/uv.lock @@ -2,26 +2,41 @@ version = 1 revision = 3 requires-python = ">=3.10" resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and sys_platform == 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and sys_platform == 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and sys_platform == 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] [[package]] @@ -386,6 +401,16 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl", hash = "sha256:0918bfe44902e6ad8d57732ba310582e98da931428d231a5ecb9e7c703a735bb", size = 107721, upload-time = "2025-11-30T15:08:24.087Z" }, ] +[[package]] +name = "betterproto" +version = "1.2.5" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = "grpclib" }, + { name = "stringcase" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/ff/2e/abfed7a721928e14aeb900182ff695be474c4ee5f07ef0874cc5ecd5b0b1/betterproto-1.2.5.tar.gz", hash = "sha256:74a3ab34646054f674d236d1229ba8182dc2eae86feb249b8590ef496ce9803d", size = 26098, upload-time = "2020-05-27T11:47:32.777Z" } + [[package]] name = "bidict" version = "0.23.1" @@ -400,10 +425,10 @@ name = "bitsandbytes" version = "0.49.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" }, - { name = "packaging", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" }, - { name = "torch", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "packaging" }, + { name = "torch" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/11/dd/5820e09213a3f7c0ee5aff20fce8b362ce935f9dd9958827274de4eaeec6/bitsandbytes-0.49.1-py3-none-manylinux_2_24_aarch64.whl", hash = "sha256:acd4730a0db3762d286707f4a3bc1d013d21dd5f0e441900da57ec4198578d4e", size = 31065659, upload-time = "2026-01-08T14:31:28.676Z" }, @@ -487,6 +512,23 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/f6/a8/877f306720bc114c612579c5af36bcb359026b83d051226945499b306b1a/bokeh-3.8.2-py3-none-any.whl", hash = "sha256:5e2c0d84f75acb25d60efb9e4d2f434a791c4639b47d685534194c4e07bd0111", size = 7207131, upload-time = "2026-01-06T00:20:04.917Z" }, ] +[[package]] +name = "booster-rpc" +version = "0.0.6" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = "betterproto" }, + { name = "grpcio" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "opencv-python" }, + { name = "websockets" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/e7/9d/128b979e97b786253ab76214968e764c453388206d8e825018af15a314fc/booster_rpc-0.0.6.tar.gz", hash = "sha256:8c4b9dba07aa3581546e78d26a05ee518fbdbaf308127f305710574dc5eab8ea", size = 4071, upload-time = "2026-02-25T00:17:35.009Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/08/78/280e3759b081d992bf342cb68eaacc20b377bf653c4c92ddf3090cbe5d9a/booster_rpc-0.0.6-py3-none-any.whl", hash = "sha256:8de98533a048df3008a48e17aabc6a0784fe037ab7aabda9986a8acc32652cb2", size = 5097, upload-time = "2026-02-25T00:17:33.903Z" }, +] + [[package]] name = "brax" version = "0.14.1" @@ -780,10 +822,13 @@ name = "chex" version = "0.1.90" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and sys_platform == 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "absl-py", marker = "python_full_version < '3.11'" }, @@ -803,22 +848,34 @@ name = "chex" version = "0.1.91" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and sys_platform == 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and sys_platform == 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "absl-py", marker = "python_full_version >= '3.11'" }, @@ -1196,10 +1253,13 @@ name = "contourpy" version = "1.3.2" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and sys_platform == 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, @@ -1269,22 +1329,34 @@ name = "contourpy" version = "1.3.3" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and sys_platform == 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and sys_platform == 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, @@ -1552,10 +1624,10 @@ wheels = [ [package.optional-dependencies] cuda = [ - { name = "nvidia-cublas-cu12", version = "12.8.4.1", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'aarch64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "nvidia-cublas-cu12", version = "12.9.1.4", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine == 'aarch64' and sys_platform == 'linux') or sys_platform == 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"nvidia-cublas-cu12", version = "12.9.1.4", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine == 'aarch64') or (python_full_version >= '3.14' and platform_machine == 'aarch64') or (platform_machine == 'aarch64' and sys_platform == 'linux') or sys_platform == 'darwin' or sys_platform == 'win32'" }, + { name = "nvidia-cuda-runtime-cu12", version = "12.8.90", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and python_full_version < '3.14' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32') or (platform_machine != 'aarch64' and sys_platform == 'linux') or (platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32')" }, + { name = "nvidia-cuda-runtime-cu12", version = "12.9.79", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine == 'aarch64') or (python_full_version >= '3.14' and platform_machine == 'aarch64') or (platform_machine == 'aarch64' and sys_platform == 'linux') or sys_platform == 'darwin' or sys_platform == 'win32'" }, ] [[package]] @@ -1563,7 +1635,7 @@ name = "cuda-bindings" version = "12.9.4" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cuda-pathfinder", marker = "(platform_machine != 'aarch64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" }, + { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/7a/d8/b546104b8da3f562c1ff8ab36d130c8fe1dd6a045ced80b4f6ad74f7d4e1/cuda_bindings-12.9.4-cp310-cp310-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:4d3c842c2a4303b2a580fe955018e31aea30278be19795ae05226235268032e5", size = 12148218, upload-time = "2025-10-21T14:51:28.855Z" }, @@ -1588,9 +1660,9 @@ name = "cupy-cuda12x" version = "13.6.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "fastrlock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "fastrlock" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/53/2b/8064d94a6ab6b5c4e643d8535ab6af6cabe5455765540931f0ef60a0bc3b/cupy_cuda12x-13.6.0-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:e78409ea72f5ac7d6b6f3d33d99426a94005254fa57e10617f430f9fd7c3a0a1", size = 112238589, upload-time = "2025-08-18T08:24:15.541Z" }, @@ -1828,6 +1900,39 @@ base = [ { name = "ultralytics" }, { name = "uvicorn" }, ] +booster = [ + { name = "anthropic" }, + { name = "bitsandbytes", marker = "sys_platform == 'linux'" }, + { name = "booster-rpc" }, + { name = "fastapi" }, + { name = "ffmpeg-python" }, + { name = "filterpy" }, + { name = "hydra-core" }, + { name = "langchain" }, + { name = "langchain-chroma" }, + { name = "langchain-core" }, + { name = "langchain-huggingface" }, + { name = "langchain-ollama" }, + { name = "langchain-openai" }, + { name = "langchain-text-splitters" }, + { name = "lap" }, + { name = "moondream" }, + { name = "mujoco" }, + { name = "ollama" }, + { name = "omegaconf" }, + { name = "openai" }, + { name = "openai-whisper" }, + { name = "pillow" }, + { name = "playground" }, + { name = "pygame" }, + { name = "rerun-sdk" }, + { name = "sounddevice" }, + { name = "soundfile" }, + { name = "sse-starlette" }, + { name = "transformers", extra = ["torch"] }, + { name = "ultralytics" }, + { name = "uvicorn" }, +] cpu = [ { name = "ctransformers" }, { name = "onnxruntime" }, @@ -2044,6 +2149,7 @@ requires-dist = [ { name = "anthropic", marker = "extra == 'agents'", specifier = ">=0.19.0" }, { name = "asyncio", specifier = "==3.4.3" }, { name = "bitsandbytes", marker = "sys_platform == 'linux' and extra == 'agents'", specifier = ">=0.48.2,<1.0" }, + { name = "booster-rpc", marker = "extra == 'booster'", specifier = ">=0.0.6" }, { name = "catkin-pkg", marker = "extra == 'misc'" }, { name = "cerebras-cloud-sdk", marker = "extra == 'misc'" }, { name = "colorlog", specifier = "==6.9.0" }, @@ -2055,6 +2161,7 @@ requires-dist = [ { name = "dask", extras = ["complete"], specifier = "==2025.5.1" }, { name = "dask", extras = ["distributed"], marker = "extra == 'docker'", specifier = "==2025.5.1" }, { name = "dimos", extras = ["agents", "web", "perception", "visualization", "sim"], marker = "extra == 'base'" }, + { name = "dimos", extras = ["base"], marker = "extra == 'booster'" }, { name = "dimos", extras = ["base"], marker = "extra == 'unitree'" }, { name = "dimos", extras = ["dev"], marker = "extra == 'dds'" }, { name = "dimos-lcm" }, @@ -2198,7 +2305,7 @@ requires-dist = [ { name = "xformers", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=0.0.20" }, { name = "yapf", marker = "extra == 'misc'", specifier = "==0.40.2" }, ] -provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "manipulation", "cpu", "cuda", "dev", "psql", "sim", "drone", "dds", "docker", "base"] +provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "booster", "manipulation", "cpu", "cuda", "dev", "psql", "sim", "drone", "dds", "docker", "base"] [[package]] name = "dimos-lcm" @@ -2304,19 +2411,19 @@ name = "drake" version = "1.45.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and sys_platform == 'darwin'", - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "matplotlib", marker = "sys_platform == 'darwin'" }, - { name = "mosek", version = "11.0.24", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform == 'darwin'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and sys_platform == 'darwin'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and sys_platform == 'darwin'" }, - { name = "pydot", marker = "sys_platform == 'darwin'" }, - { name = "pyyaml", marker = "sys_platform == 'darwin'" }, + { name = "matplotlib", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "mosek", version = "11.0.24", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "pydot", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "pyyaml", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/a0/31/aa4f1f5523381539e1028354cc535d5a3307d28fd33872f2b403454d8391/drake-1.45.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:b0d9bd6196dc6d3b0e660fc6351fcf236727a45ef6a7123f8dc96f85b8662ac3", size = 57314509, upload-time = "2025-09-16T19:02:10.195Z" }, @@ -2328,24 +2435,24 @@ name = "drake" version = "1.49.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and sys_platform == 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and sys_platform == 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and 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!= 'aarch64' and sys_platform != 'darwin'" }, + { name = "mosek", version = "11.1.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.15' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pydot", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pyyaml", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/fb/26/2ce3a9caf431f24e39f8b1fc7b3ebba4faafef1d61c849db3194e8d2e21d/drake-1.49.0-cp310-cp310-manylinux_2_34_x86_64.whl", hash = "sha256:6c73dbd061fcb442e82b7b5a94dadcfbf4c44949035d03394df29412114647b2", size = 41482505, upload-time = "2026-01-15T19:44:08.313Z" }, @@ -2468,7 +2575,7 @@ name = "exceptiongroup" version = "1.3.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, + { name = "typing-extensions", marker = "python_full_version < '3.13'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" } wheels = [ @@ -2754,10 +2861,13 @@ name = "flax" version = "0.10.7" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and sys_platform == 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, @@ -2780,22 +2890,34 @@ name = "flax" version = "0.12.4" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", 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sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, @@ -7591,7 +7984,7 @@ name = "pydot" version = "4.0.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyparsing", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pyparsing", marker = "platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/35/b17cb89ff865484c6a20ef46bf9d95a5f07328292578de0b295f4a6beec2/pydot-4.0.1.tar.gz", hash = "sha256:c2148f681c4a33e08bf0e26a9e5f8e4099a82e0e2a068098f32ce86577364ad5", size = 162594, upload-time = "2025-06-17T20:09:56.454Z" } wheels = [ @@ -7831,8 +8224,8 @@ name = "pyquaternion" version = "0.9.9" source = { registry = 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'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "joblib", marker = "python_full_version < '3.11'" }, @@ -8778,22 +9174,34 @@ name = "scikit-learn" version = "1.8.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == 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and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "joblib", marker = "python_full_version >= '3.11'" }, @@ -8846,10 +9254,13 @@ name = "scipy" version = "1.15.3" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and sys_platform == 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, @@ -8908,22 +9319,34 @@ name = "scipy" version = "1.17.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and sys_platform == 'win32'", - "(python_full_version >= '3.14' and platform_machine != 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and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, @@ -9226,6 +9649,12 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/81/0d/13d1d239a25cbfb19e740db83143e95c772a1fe10202dda4b76792b114dd/starlette-0.52.1-py3-none-any.whl", hash = "sha256:0029d43eb3d273bc4f83a08720b4912ea4b071087a3b48db01b7c839f7954d74", size = 74272, upload-time = "2026-01-18T13:34:09.188Z" }, ] +[[package]] +name = "stringcase" +version = "1.2.0" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/f3/1f/1241aa3d66e8dc1612427b17885f5fcd9c9ee3079fc0d28e9a3aeeb36fa3/stringcase-1.2.0.tar.gz", hash = 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!= 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and 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sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and sys_platform == 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", ] dependencies = [ { name = "ml-dtypes", marker = "python_full_version >= '3.11'" }, @@ -10775,9 +11219,9 @@ name = "xformers" version = "0.0.34" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "torch", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "torch" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ef/2b/365151a1e2e6aa70c1bd66e0532e3d71915a28a34ebde3d9b068e8849f66/xformers-0.0.34.tar.gz", hash = "sha256:716bd9ffe61f46c2cc0536abf8b8c43ec594bea47a49394ea5cfa417e9de6a6f", size = 14303297, upload-time = "2026-01-23T18:14:31.457Z" } wheels = [