diff --git a/poetry.lock b/poetry.lock
index 8b8350fc35..2bb7cb994b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -107,6 +107,19 @@ yarl = ">=1.0,<2.0"
 [package.extras]
 speedups = ["Brotli", "aiodns", "brotlicffi"]
 
+[[package]]
+name = "aioserial"
+version = "1.3.1"
+description = "An asynchronous serial port library of Python"
+optional = true
+python-versions = ">=3.6,<4.0"
+files = [
+    {file = "aioserial-1.3.1.tar.gz", hash = "sha256:702bf03b0eb84b8ef2d8dac5cb925e1e685dce98f77b125569bc6fd2b3b58228"},
+]
+
+[package.dependencies]
+pyserial = "*"
+
 [[package]]
 name = "aiosignal"
 version = "1.3.1"
@@ -131,6 +144,115 @@ files = [
     {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
 ]
 
+[[package]]
+name = "anyio"
+version = "4.4.0"
+description = "High level compatibility layer for multiple asynchronous event loop implementations"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "anyio-4.4.0-py3-none-any.whl", hash = "sha256:c1b2d8f46a8a812513012e1107cb0e68c17159a7a594208005a57dc776e1bdc7"},
+    {file = "anyio-4.4.0.tar.gz", hash = "sha256:5aadc6a1bbb7cdb0bede386cac5e2940f5e2ff3aa20277e991cf028e0585ce94"},
+]
+
+[package.dependencies]
+exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""}
+idna = ">=2.8"
+sniffio = ">=1.1"
+typing-extensions = {version = ">=4.1", markers = "python_version < \"3.11\""}
+
+[package.extras]
+doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
+test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"]
+trio = ["trio (>=0.23)"]
+
+[[package]]
+name = "appnope"
+version = "0.1.4"
+description = "Disable App Nap on macOS >= 10.9"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "appnope-0.1.4-py2.py3-none-any.whl", hash = "sha256:502575ee11cd7a28c0205f379b525beefebab9d161b7c964670864014ed7213c"},
+    {file = "appnope-0.1.4.tar.gz", hash = "sha256:1de3860566df9caf38f01f86f65e0e13e379af54f9e4bee1e66b48f2efffd1ee"},
+]
+
+[[package]]
+name = "argon2-cffi"
+version = "23.1.0"
+description = "Argon2 for Python"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "argon2_cffi-23.1.0-py3-none-any.whl", hash = "sha256:c670642b78ba29641818ab2e68bd4e6a78ba53b7eff7b4c3815ae16abf91c7ea"},
+    {file = "argon2_cffi-23.1.0.tar.gz", hash = "sha256:879c3e79a2729ce768ebb7d36d4609e3a78a4ca2ec3a9f12286ca057e3d0db08"},
+]
+
+[package.dependencies]
+argon2-cffi-bindings = "*"
+
+[package.extras]
+dev = ["argon2-cffi[tests,typing]", "tox (>4)"]
+docs = ["furo", "myst-parser", "sphinx", "sphinx-copybutton", "sphinx-notfound-page"]
+tests = ["hypothesis", "pytest"]
+typing = ["mypy"]
+
+[[package]]
+name = "argon2-cffi-bindings"
+version = "21.2.0"
+description = "Low-level CFFI bindings for Argon2"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "argon2-cffi-bindings-21.2.0.tar.gz", hash = "sha256:bb89ceffa6c791807d1305ceb77dbfacc5aa499891d2c55661c6459651fc39e3"},
+    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ccb949252cb2ab3a08c02024acb77cfb179492d5701c7cbdbfd776124d4d2367"},
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+    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:f1152ac548bd5b8bcecfb0b0371f082037e47128653df2e8ba6e914d384f3c3e"},
+    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-win32.whl", hash = "sha256:603ca0aba86b1349b147cab91ae970c63118a0f30444d4bc80355937c950c082"},
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+    {file = "argon2_cffi_bindings-21.2.0-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:e415e3f62c8d124ee16018e491a009937f8cf7ebf5eb430ffc5de21b900dad93"},
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+    {file = "argon2_cffi_bindings-21.2.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6a22ad9800121b71099d0fb0a65323810a15f2e292f2ba450810a7316e128ee5"},
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+    {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:3b9ef65804859d335dc6b31582cad2c5166f0c3e7975f324d9ffaa34ee7e6583"},
+    {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d4966ef5848d820776f5f562a7d45fdd70c2f330c961d0d745b784034bd9f48d"},
+    {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:20ef543a89dee4db46a1a6e206cd015360e5a75822f76df533845c3cbaf72670"},
+    {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed2937d286e2ad0cc79a7087d3c272832865f779430e0cc2b4f3718d3159b0cb"},
+    {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"},
+]
+
+[package.dependencies]
+cffi = ">=1.0.1"
+
+[package.extras]
+dev = ["cogapp", "pre-commit", "pytest", "wheel"]
+tests = ["pytest"]
+
+[[package]]
+name = "arrow"
+version = "1.3.0"
+description = "Better dates & times for Python"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "arrow-1.3.0-py3-none-any.whl", hash = "sha256:c728b120ebc00eb84e01882a6f5e7927a53960aa990ce7dd2b10f39005a67f80"},
+    {file = "arrow-1.3.0.tar.gz", hash = "sha256:d4540617648cb5f895730f1ad8c82a65f2dad0166f57b75f3ca54759c4d67a85"},
+]
+
+[package.dependencies]
+python-dateutil = ">=2.7.0"
+types-python-dateutil = ">=2.8.10"
+
+[package.extras]
+doc = ["doc8", "sphinx (>=7.0.0)", "sphinx-autobuild", "sphinx-autodoc-typehints", "sphinx_rtd_theme (>=1.3.0)"]
+test = ["dateparser (==1.*)", "pre-commit", "pytest", "pytest-cov", "pytest-mock", "pytz (==2021.1)", "simplejson (==3.*)"]
+
 [[package]]
 name = "asciitree"
 version = "0.3.3"
@@ -141,6 +263,38 @@ files = [
     {file = "asciitree-0.3.3.tar.gz", hash = "sha256:4aa4b9b649f85e3fcb343363d97564aa1fb62e249677f2e18a96765145cc0f6e"},
 ]
 
+[[package]]
+name = "asttokens"
+version = "2.4.1"
+description = "Annotate AST trees with source code positions"
+optional = true
+python-versions = "*"
+files = [
+    {file = "asttokens-2.4.1-py2.py3-none-any.whl", hash = "sha256:051ed49c3dcae8913ea7cd08e46a606dba30b79993209636c4875bc1d637bc24"},
+    {file = "asttokens-2.4.1.tar.gz", hash = "sha256:b03869718ba9a6eb027e134bfdf69f38a236d681c83c160d510768af11254ba0"},
+]
+
+[package.dependencies]
+six = ">=1.12.0"
+
+[package.extras]
+astroid = ["astroid (>=1,<2)", "astroid (>=2,<4)"]
+test = ["astroid (>=1,<2)", "astroid (>=2,<4)", "pytest"]
+
+[[package]]
+name = "async-lru"
+version = "2.0.4"
+description = "Simple LRU cache for asyncio"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "async-lru-2.0.4.tar.gz", hash = "sha256:b8a59a5df60805ff63220b2a0c5b5393da5521b113cd5465a44eb037d81a5627"},
+    {file = "async_lru-2.0.4-py3-none-any.whl", hash = "sha256:ff02944ce3c288c5be660c42dbcca0742b32c3b279d6dceda655190240b99224"},
+]
+
+[package.dependencies]
+typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""}
+
 [[package]]
 name = "async-timeout"
 version = "4.0.3"
@@ -171,6 +325,20 @@ tests = ["attrs[tests-no-zope]", "zope-interface"]
 tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
 tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
 
+[[package]]
+name = "babel"
+version = "2.16.0"
+description = "Internationalization utilities"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"},
+    {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"},
+]
+
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
 [[package]]
 name = "beautifulsoup4"
 version = "4.12.3"
@@ -192,6 +360,24 @@ charset-normalizer = ["charset-normalizer"]
 html5lib = ["html5lib"]
 lxml = ["lxml"]
 
+[[package]]
+name = "bleach"
+version = "6.1.0"
+description = "An easy safelist-based HTML-sanitizing tool."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "bleach-6.1.0-py3-none-any.whl", hash = "sha256:3225f354cfc436b9789c66c4ee030194bee0568fbf9cbdad3bc8b5c26c5f12b6"},
+    {file = "bleach-6.1.0.tar.gz", hash = "sha256:0a31f1837963c41d46bbf1331b8778e1308ea0791db03cc4e7357b97cf42a8fe"},
+]
+
+[package.dependencies]
+six = ">=1.9.0"
+webencodings = "*"
+
+[package.extras]
+css = ["tinycss2 (>=1.1.0,<1.3)"]
+
 [[package]]
 name = "blinker"
 version = "1.8.2"
@@ -388,6 +574,17 @@ files = [
     {file = "charset_normalizer-3.3.2-py3-none-any.whl", hash = "sha256:3e4d1f6587322d2788836a99c69062fbb091331ec940e02d12d179c1d53e25fc"},
 ]
 
+[[package]]
+name = "chime"
+version = "0.7.0"
+description = "Python sound notifications made easy."
+optional = true
+python-versions = ">=3.6,<4.0"
+files = [
+    {file = "chime-0.7.0-py3-none-any.whl", hash = "sha256:9626f8151cb008b1e0ffb7de6d1834b7013ba5fc4c4e3c9ba6e29dc9bf5feac6"},
+    {file = "chime-0.7.0.tar.gz", hash = "sha256:ba4af8934ec8bd9a89a340b4433b2e500097b979823386432be7128e0b201f0d"},
+]
+
 [[package]]
 name = "click"
 version = "8.1.7"
@@ -413,6 +610,24 @@ files = [
     {file = "cloudpickle-3.0.0.tar.gz", hash = "sha256:996d9a482c6fb4f33c1a35335cf8afd065d2a56e973270364840712d9131a882"},
 ]
 
+[[package]]
+name = "cma"
+version = "4.0.0"
+description = "CMA-ES, Covariance Matrix Adaptation Evolution Strategy for non-linear numerical optimization in Python"
+optional = true
+python-versions = "*"
+files = [
+    {file = "cma-4.0.0-py3-none-any.whl", hash = "sha256:97b86ba1ac9f1cbb189a06c4d4a78f591f0878e5dd3e55c95e88e622e78c1a10"},
+    {file = "cma-4.0.0.tar.gz", hash = "sha256:fd28ce56983bf2fca0e614189d60134ebb80bf604f070d1ea095ea4e856f13a5"},
+]
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+constrained-solution-tracking = ["moarchiving"]
+plotting = ["matplotlib"]
+
 [[package]]
 name = "cmake"
 version = "3.30.0"
@@ -453,6 +668,122 @@ files = [
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
 
+[[package]]
+name = "comm"
+version = "0.2.2"
+description = "Jupyter Python Comm implementation, for usage in ipykernel, xeus-python etc."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "comm-0.2.2-py3-none-any.whl", hash = "sha256:e6fb86cb70ff661ee8c9c14e7d36d6de3b4066f1441be4063df9c5009f0a64d3"},
+    {file = "comm-0.2.2.tar.gz", hash = "sha256:3fd7a84065306e07bea1773df6eb8282de51ba82f77c72f9c85716ab11fe980e"},
+]
+
+[package.dependencies]
+traitlets = ">=4"
+
+[package.extras]
+test = ["pytest"]
+
+[[package]]
+name = "configargparse"
+version = "1.7"
+description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
+optional = true
+python-versions = ">=3.5"
+files = [
+    {file = "ConfigArgParse-1.7-py3-none-any.whl", hash = "sha256:d249da6591465c6c26df64a9f73d2536e743be2f244eb3ebe61114af2f94f86b"},
+    {file = "ConfigArgParse-1.7.tar.gz", hash = "sha256:e7067471884de5478c58a511e529f0f9bd1c66bfef1dea90935438d6c23306d1"},
+]
+
+[package.extras]
+test = ["PyYAML", "mock", "pytest"]
+yaml = ["PyYAML"]
+
+[[package]]
+name = "contourpy"
+version = "1.3.0"
+description = "Python library for calculating contours of 2D quadrilateral grids"
+optional = true
+python-versions = ">=3.9"
+files = [
+    {file = "contourpy-1.3.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:880ea32e5c774634f9fcd46504bf9f080a41ad855f4fef54f5380f5133d343c7"},
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+
+[package.extras]
+bokeh = ["bokeh", "selenium"]
+docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.11.1)", "types-Pillow"]
+test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
+test-no-images = ["pytest", "pytest-cov", "pytest-rerunfailures", "pytest-xdist", "wurlitzer"]
+
 [[package]]
 name = "coverage"
 version = "7.6.0"
@@ -520,6 +851,87 @@ tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.1
 [package.extras]
 toml = ["tomli"]
 
+[[package]]
+name = "cycler"
+version = "0.12.1"
+description = "Composable style cycles"
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
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+[package.extras]
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+tests = ["pytest", "pytest-cov", "pytest-xdist"]
+
+[[package]]
+name = "dash"
+version = "2.17.1"
+description = "A Python framework for building reactive web-apps. Developed by Plotly."
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
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+[package.dependencies]
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+dash-html-components = "2.0.0"
+dash-table = "5.0.0"
+Flask = ">=1.0.4,<3.1"
+importlib-metadata = "*"
+nest-asyncio = "*"
+plotly = ">=5.0.0"
+requests = "*"
+retrying = "*"
+setuptools = "*"
+typing-extensions = ">=4.1.1"
+Werkzeug = "<3.1"
+
+[package.extras]
+celery = ["celery[redis] (>=5.1.2)", "redis (>=3.5.3)"]
+ci = ["black (==22.3.0)", "dash-dangerously-set-inner-html", "dash-flow-example (==0.0.5)", "flake8 (==7.0.0)", "flaky (==3.8.1)", "flask-talisman (==1.0.0)", "jupyterlab (<4.0.0)", "mimesis (<=11.1.0)", "mock (==4.0.3)", "numpy (<=1.26.3)", "openpyxl", "orjson (==3.10.3)", "pandas (>=1.4.0)", "pyarrow", "pylint (==3.0.3)", "pytest-mock", "pytest-rerunfailures", "pytest-sugar (==0.9.6)", "pyzmq (==25.1.2)", "xlrd (>=2.0.1)"]
+compress = ["flask-compress"]
+dev = ["PyYAML (>=5.4.1)", "coloredlogs (>=15.0.1)", "fire (>=0.4.0)"]
+diskcache = ["diskcache (>=5.2.1)", "multiprocess (>=0.70.12)", "psutil (>=5.8.0)"]
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+
+[[package]]
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+version = "2.0.0"
+description = "Core component suite for Dash"
+optional = true
+python-versions = "*"
+files = [
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+    {file = "dash_core_components-2.0.0.tar.gz", hash = "sha256:c6733874af975e552f95a1398a16c2ee7df14ce43fa60bb3718a3c6e0b63ffee"},
+]
+
+[[package]]
+name = "dash-html-components"
+version = "2.0.0"
+description = "Vanilla HTML components for Dash"
+optional = true
+python-versions = "*"
+files = [
+    {file = "dash_html_components-2.0.0-py3-none-any.whl", hash = "sha256:b42cc903713c9706af03b3f2548bda4be7307a7cf89b7d6eae3da872717d1b63"},
+    {file = "dash_html_components-2.0.0.tar.gz", hash = "sha256:8703a601080f02619a6390998e0b3da4a5daabe97a1fd7a9cebc09d015f26e50"},
+]
+
+[[package]]
+name = "dash-table"
+version = "5.0.0"
+description = "Dash table"
+optional = true
+python-versions = "*"
+files = [
+    {file = "dash_table-5.0.0-py3-none-any.whl", hash = "sha256:19036fa352bb1c11baf38068ec62d172f0515f73ca3276c79dee49b95ddc16c9"},
+    {file = "dash_table-5.0.0.tar.gz", hash = "sha256:18624d693d4c8ef2ddec99a6f167593437a7ea0bf153aa20f318c170c5bc7308"},
+]
+
 [[package]]
 name = "datasets"
 version = "2.20.0"
@@ -595,6 +1007,17 @@ files = [
     {file = "debugpy-1.8.2.zip", hash = "sha256:95378ed08ed2089221896b9b3a8d021e642c24edc8fef20e5d4342ca8be65c00"},
 ]
 
+[[package]]
+name = "decorator"
+version = "5.1.1"
+description = "Decorators for Humans"
+optional = true
+python-versions = ">=3.5"
+files = [
+    {file = "decorator-5.1.1-py3-none-any.whl", hash = "sha256:b8c3f85900b9dc423225913c5aace94729fe1fa9763b38939a95226f02d37186"},
+    {file = "decorator-5.1.1.tar.gz", hash = "sha256:637996211036b6385ef91435e4fae22989472f9d571faba8927ba8253acbc330"},
+]
+
 [[package]]
 name = "deepdiff"
 version = "7.0.1"
@@ -613,6 +1036,17 @@ ordered-set = ">=4.1.0,<4.2.0"
 cli = ["click (==8.1.7)", "pyyaml (==6.0.1)"]
 optimize = ["orjson"]
 
+[[package]]
+name = "defusedxml"
+version = "0.7.1"
+description = "XML bomb protection for Python stdlib modules"
+optional = true
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
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+    {file = "defusedxml-0.7.1.tar.gz", hash = "sha256:1bb3032db185915b62d7c6209c5a8792be6a32ab2fedacc84e01b52c51aa3e69"},
+]
+
 [[package]]
 name = "diffusers"
 version = "0.29.2"
@@ -807,6 +1241,20 @@ files = [
 [package.dependencies]
 pyarrow = "*"
 
+[[package]]
+name = "drawnow"
+version = "0.72.5"
+description = "MATLAB-like drawnow"
+optional = true
+python-versions = "*"
+files = [
+    {file = "drawnow-0.72.5-py3-none-any.whl", hash = "sha256:4ff83a8b15f61a781edaaa2a3e6b71e2c8fd948960f188b870def701afcfa0d5"},
+    {file = "drawnow-0.72.5.tar.gz", hash = "sha256:9d1855605b2ec6ebc4e8a95201a7a0068eb1e2a5d1695cb1b7c462d660f32593"},
+]
+
+[package.dependencies]
+matplotlib = ">=1.5"
+
 [[package]]
 name = "dynamixel-sdk"
 version = "3.7.31"
@@ -855,6 +1303,20 @@ files = [
 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "executing"
+version = "2.1.0"
+description = "Get the currently executing AST node of a frame, and other information"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "executing-2.1.0-py2.py3-none-any.whl", hash = "sha256:8d63781349375b5ebccc3142f4b30350c0cd9c79f921cde38be2be4637e98eaf"},
+    {file = "executing-2.1.0.tar.gz", hash = "sha256:8ea27ddd260da8150fa5a708269c4a10e76161e2496ec3e587da9e3c0fe4b9ab"},
+]
+
+[package.extras]
+tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
+
 [[package]]
 name = "farama-notifications"
 version = "0.0.4"
@@ -877,6 +1339,20 @@ files = [
     {file = "fasteners-0.19.tar.gz", hash = "sha256:b4f37c3ac52d8a445af3a66bce57b33b5e90b97c696b7b984f530cf8f0ded09c"},
 ]
 
+[[package]]
+name = "fastjsonschema"
+version = "2.20.0"
+description = "Fastest Python implementation of JSON schema"
+optional = true
+python-versions = "*"
+files = [
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+
 [[package]]
 name = "filelock"
 version = "3.15.4"
@@ -915,6 +1391,98 @@ Werkzeug = ">=3.0.0"
 async = ["asgiref (>=3.2)"]
 dotenv = ["python-dotenv"]
 
+[[package]]
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+optional = true
+python-versions = ">=3.8"
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+plot = ["matplotlib"]
+repacker = ["uharfbuzz (>=0.23.0)"]
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+woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
+
+[[package]]
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+description = "Validates fully-qualified domain names against RFC 1123, so that they are acceptable to modern bowsers"
+optional = true
+python-versions = ">=2.7, !=3.0, !=3.1, !=3.2, !=3.3, !=3.4, <4"
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+version = "2.5.1"
+description = "Freetype python bindings"
+optional = true
+python-versions = ">=3.7"
+files = [
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+]
+
 [[package]]
 name = "frozenlist"
 version = "1.4.1"
@@ -1042,6 +1610,17 @@ test-downstream = ["aiobotocore (>=2.5.4,<3.0.0)", "dask-expr", "dask[dataframe,
 test-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "cloudpickle", "dask", "distributed", "dropbox", "dropboxdrivefs", "fastparquet", "fusepy", "gcsfs", "jinja2", "kerchunk", "libarchive-c", "lz4", "notebook", "numpy", "ocifs", "pandas", "panel", "paramiko", "pyarrow", "pyarrow (>=1)", "pyftpdlib", "pygit2", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "python-snappy", "requests", "smbprotocol", "tqdm", "urllib3", "zarr", "zstandard"]
 tqdm = ["tqdm"]
 
+[[package]]
+name = "future"
+version = "1.0.0"
+description = "Clean single-source support for Python 3 and 2"
+optional = true
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
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+    {file = "future-1.0.0.tar.gz", hash = "sha256:bd2968309307861edae1458a4f8a4f3598c03be43b97521076aebf5d94c07b05"},
+]
+
 [[package]]
 name = "gdown"
 version = "5.2.0"
@@ -1253,6 +1832,17 @@ PettingZoo = ">=1.23.0"
 mujoco-py = ["cython (<3)", "mujoco-py (>=2.1,<2.2)"]
 testing = ["Jinja2 (>=3.0.3)", "PettingZoo (>=1.23.0)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "pytest (==7.0.1)"]
 
+[[package]]
+name = "h11"
+version = "0.14.0"
+description = "A pure-Python, bring-your-own-I/O implementation of HTTP/1.1"
+optional = true
+python-versions = ">=3.7"
+files = [
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+    {file = "h11-0.14.0.tar.gz", hash = "sha256:8f19fbbe99e72420ff35c00b27a34cb9937e902a8b810e2c88300c6f0a3b699d"},
+]
+
 [[package]]
 name = "h5py"
 version = "3.11.0"
@@ -1287,16 +1877,162 @@ files = [
 numpy = ">=1.17.3"
 
 [[package]]
-name = "hf-transfer"
-version = "0.1.6"
-description = ""
-optional = false
-python-versions = ">=3.7"
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+name = "hello-robot-stretch-body"
+version = "0.7.26"
+description = "Stretch Body low level Python API"
+optional = true
+python-versions = "*"
+files = []
+develop = true
+
+[package.dependencies]
+aioserial = "*"
+chime = "*"
+click = "*"
+cma = "*"
+colorama = "*"
+drawnow = "*"
+dynamixel-sdk = "*"
+filelock = "*"
+gitpython = "*"
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+hello-robot-stretch-factory = ">=0.3.5"
+hello-robot-stretch-tool-share = ">=0.3.3"
+hello-robot-stretch-urdf = ">=0.0.19"
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+jupyter = "*"
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+numba = "*"
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+pixel-ring = "*"
+playsound = "*"
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+rplidar-roboticia = "*"
+scikit-image = "*"
+scipy = "*"
+snakeviz = "*"
+SpeechRecognition = "*"
+sympy = "*"
+transforms3d = ">=0.4.2"
+urchin = "*"
+urdf-parser-py = "*"
+
+[package.source]
+type = "git"
+url = "https://github.com/hello-robot/stretch_body.git"
+reference = "master"
+resolved_reference = "2b340af4d072149b04fb6357c93f6d14431d3a0b"
+subdirectory = "body"
+
+[[package]]
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+version = "0.4.17"
+description = "Stretch Body Tools"
+optional = true
+python-versions = "*"
+files = [
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+snakeviz = "*"
+SpeechRecognition = "*"
+sympy = "*"
+trimesh = "3.6.38"
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+
+[[package]]
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+version = "0.5.6"
+description = "Stretch Factory Tools"
+optional = true
+python-versions = "*"
+files = [
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+pyserial = "*"
+python-xlib = "*"
+pyusb = "*"
+tabulate = "*"
+
+[[package]]
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+version = "0.3.4"
+description = "Stretch end of arm tool interfaces"
+optional = true
+python-versions = "*"
+files = [
+    {file = "hello_robot_stretch_tool_share-0.3.4-py3-none-any.whl", hash = "sha256:230d24f88a84cc983c019078911c579882d9c2c9e24129e5acbe1c756189a1d1"},
+    {file = "hello_robot_stretch_tool_share-0.3.4.tar.gz", hash = "sha256:8e0a2cea088dcb50e41257aade5c6190964a0f1407f1f54f24d114ff31ecb2c6"},
+]
+
+[[package]]
+name = "hello-robot-stretch-urdf"
+version = "0.0.29"
+description = "Stretch URDF"
+optional = true
+python-versions = "*"
+files = [
+    {file = "hello-robot-stretch-urdf-0.0.29.tar.gz", hash = "sha256:6ae05263c0ca4b817f57ff41feaf149c8284ebd1aa511b65bd230e6ab6d39bdc"},
+    {file = "hello_robot_stretch_urdf-0.0.29-py3-none-any.whl", hash = "sha256:d33fb4cdea14b508ee56d177084cbd157f7fbc25c4048cfd00b465e94a72a2e5"},
+]
+
+[package.dependencies]
+urchin = "*"
+
+[[package]]
+name = "hf-transfer"
+version = "0.1.6"
+description = ""
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:6fd3d61f9229d27def007e53540412507b74ac2fdb1a29985ae0b6a5137749a2"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b043bb78df1225de043eb041de9d97783fcca14a0bdc1b1d560fc172fc21b648"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7db60dd18eae4fa6ea157235fb82196cde5313995b396d1b591aad3b790a7f8f"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:30d31dbab9b5a558cce407b8728e39d87d7af1ef8745ddb90187e9ae0b9e1e90"},
     {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f6b368bddd757efc7af3126ba81f9ac8f9435e2cc00902cb3d64f2be28d8f719"},
     {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa2086d8aefaaa3e144e167324574882004c0cec49bf2d0638ec4b74732d8da0"},
     {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:45d8985a0940bfe1535cb4ca781f5c11e47c83798ef3373ee1f5d57bbe527a9c"},
@@ -1358,6 +2094,52 @@ files = [
     {file = "hf_transfer-0.1.6.tar.gz", hash = "sha256:deb505a7d417d7055fd7b3549eadb91dfe782941261f3344025c486c16d1d2f9"},
 ]
 
+[[package]]
+name = "httpcore"
+version = "1.0.5"
+description = "A minimal low-level HTTP client."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "httpcore-1.0.5-py3-none-any.whl", hash = "sha256:421f18bac248b25d310f3cacd198d55b8e6125c107797b609ff9b7a6ba7991b5"},
+    {file = "httpcore-1.0.5.tar.gz", hash = "sha256:34a38e2f9291467ee3b44e89dd52615370e152954ba21721378a87b2960f7a61"},
+]
+
+[package.dependencies]
+certifi = "*"
+h11 = ">=0.13,<0.15"
+
+[package.extras]
+asyncio = ["anyio (>=4.0,<5.0)"]
+http2 = ["h2 (>=3,<5)"]
+socks = ["socksio (==1.*)"]
+trio = ["trio (>=0.22.0,<0.26.0)"]
+
+[[package]]
+name = "httpx"
+version = "0.27.2"
+description = "The next generation HTTP client."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "httpx-0.27.2-py3-none-any.whl", hash = "sha256:7bb2708e112d8fdd7829cd4243970f0c223274051cb35ee80c03301ee29a3df0"},
+    {file = "httpx-0.27.2.tar.gz", hash = "sha256:f7c2be1d2f3c3c3160d441802406b206c2b76f5947b11115e6df10c6c65e66c2"},
+]
+
+[package.dependencies]
+anyio = "*"
+certifi = "*"
+httpcore = "==1.*"
+idna = "*"
+sniffio = "*"
+
+[package.extras]
+brotli = ["brotli", "brotlicffi"]
+cli = ["click (==8.*)", "pygments (==2.*)", "rich (>=10,<14)"]
+http2 = ["h2 (>=3,<5)"]
+socks = ["socksio (==1.*)"]
+zstd = ["zstandard (>=0.18.0)"]
+
 [[package]]
 name = "huggingface-hub"
 version = "0.23.5"
@@ -1560,6 +2342,17 @@ files = [
     {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
 
+[[package]]
+name = "inputs"
+version = "0.5"
+description = "Cross-platform Python support for keyboards, mice and gamepads."
+optional = true
+python-versions = "*"
+files = [
+    {file = "inputs-0.5-py2.py3-none-any.whl", hash = "sha256:13f894564e52134cf1e3862b1811da034875eb1f2b62e6021e3776e9669a96ec"},
+    {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
+]
+
 [[package]]
 name = "inquirerpy"
 version = "0.3.4"
@@ -1592,6 +2385,111 @@ files = [
     {file = "intel_openmp-2021.4.0-py2.py3-none-win_amd64.whl", hash = "sha256:eef4c8bcc8acefd7f5cd3b9384dbf73d59e2c99fc56545712ded913f43c4a94f"},
 ]
 
+[[package]]
+name = "ipykernel"
+version = "6.29.5"
+description = "IPython Kernel for Jupyter"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "ipykernel-6.29.5-py3-none-any.whl", hash = "sha256:afdb66ba5aa354b09b91379bac28ae4afebbb30e8b39510c9690afb7a10421b5"},
+    {file = "ipykernel-6.29.5.tar.gz", hash = "sha256:f093a22c4a40f8828f8e330a9c297cb93dcab13bd9678ded6de8e5cf81c56215"},
+]
+
+[package.dependencies]
+appnope = {version = "*", markers = "platform_system == \"Darwin\""}
+comm = ">=0.1.1"
+debugpy = ">=1.6.5"
+ipython = ">=7.23.1"
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+matplotlib-inline = ">=0.1"
+nest-asyncio = "*"
+packaging = "*"
+psutil = "*"
+pyzmq = ">=24"
+tornado = ">=6.1"
+traitlets = ">=5.4.0"
+
+[package.extras]
+cov = ["coverage[toml]", "curio", "matplotlib", "pytest-cov", "trio"]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "trio"]
+pyqt5 = ["pyqt5"]
+pyside6 = ["pyside6"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.23.5)", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "ipython"
+version = "8.27.0"
+description = "IPython: Productive Interactive Computing"
+optional = true
+python-versions = ">=3.10"
+files = [
+    {file = "ipython-8.27.0-py3-none-any.whl", hash = "sha256:f68b3cb8bde357a5d7adc9598d57e22a45dfbea19eb6b98286fa3b288c9cd55c"},
+    {file = "ipython-8.27.0.tar.gz", hash = "sha256:0b99a2dc9f15fd68692e898e5568725c6d49c527d36a9fb5960ffbdeaa82ff7e"},
+]
+
+[package.dependencies]
+decorator = "*"
+exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
+jedi = ">=0.16"
+matplotlib-inline = "*"
+pexpect = {version = ">4.3", markers = "sys_platform != \"win32\" and sys_platform != \"emscripten\""}
+prompt-toolkit = ">=3.0.41,<3.1.0"
+pygments = ">=2.4.0"
+stack-data = "*"
+traitlets = ">=5.13.0"
+typing-extensions = {version = ">=4.6", markers = "python_version < \"3.12\""}
+
+[package.extras]
+all = ["ipython[black,doc,kernel,matplotlib,nbconvert,nbformat,notebook,parallel,qtconsole]", "ipython[test,test-extra]"]
+black = ["black"]
+doc = ["docrepr", "exceptiongroup", "intersphinx-registry", "ipykernel", "ipython[test]", "matplotlib", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "sphinxcontrib-jquery", "tomli", "typing-extensions"]
+kernel = ["ipykernel"]
+matplotlib = ["matplotlib"]
+nbconvert = ["nbconvert"]
+nbformat = ["nbformat"]
+notebook = ["ipywidgets", "notebook"]
+parallel = ["ipyparallel"]
+qtconsole = ["qtconsole"]
+test = ["packaging", "pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
+test-extra = ["curio", "ipython[test]", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.23)", "pandas", "trio"]
+
+[[package]]
+name = "ipywidgets"
+version = "8.1.5"
+description = "Jupyter interactive widgets"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "ipywidgets-8.1.5-py3-none-any.whl", hash = "sha256:3290f526f87ae6e77655555baba4f36681c555b8bdbbff430b70e52c34c86245"},
+    {file = "ipywidgets-8.1.5.tar.gz", hash = "sha256:870e43b1a35656a80c18c9503bbf2d16802db1cb487eec6fab27d683381dde17"},
+]
+
+[package.dependencies]
+comm = ">=0.1.3"
+ipython = ">=6.1.0"
+jupyterlab-widgets = ">=3.0.12,<3.1.0"
+traitlets = ">=4.3.1"
+widgetsnbextension = ">=4.0.12,<4.1.0"
+
+[package.extras]
+test = ["ipykernel", "jsonschema", "pytest (>=3.6.0)", "pytest-cov", "pytz"]
+
+[[package]]
+name = "isoduration"
+version = "20.11.0"
+description = "Operations with ISO 8601 durations"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "isoduration-20.11.0-py3-none-any.whl", hash = "sha256:b2904c2a4228c3d44f409c8ae8e2370eb21a26f7ac2ec5446df141dde3452042"},
+    {file = "isoduration-20.11.0.tar.gz", hash = "sha256:ac2f9015137935279eac671f94f89eb00584f940f5dc49462a0c4ee692ba1bd9"},
+]
+
+[package.dependencies]
+arrow = ">=0.15.0"
+
 [[package]]
 name = "itsdangerous"
 version = "2.2.0"
@@ -1603,6 +2501,25 @@ files = [
     {file = "itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173"},
 ]
 
+[[package]]
+name = "jedi"
+version = "0.19.1"
+description = "An autocompletion tool for Python that can be used for text editors."
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "jedi-0.19.1-py2.py3-none-any.whl", hash = "sha256:e983c654fe5c02867aef4cdfce5a2fbb4a50adc0af145f70504238f18ef5e7e0"},
+    {file = "jedi-0.19.1.tar.gz", hash = "sha256:cf0496f3651bc65d7174ac1b7d043eff454892c708a87d1b683e57b569927ffd"},
+]
+
+[package.dependencies]
+parso = ">=0.8.3,<0.9.0"
+
+[package.extras]
+docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alabaster (==0.7.12)", "babel (==2.9.1)", "chardet (==4.0.0)", "commonmark (==0.8.1)", "docutils (==0.17.1)", "future (==0.18.2)", "idna (==2.10)", "imagesize (==1.2.0)", "mock (==1.0.1)", "packaging (==20.9)", "pyparsing (==2.4.7)", "pytz (==2021.1)", "readthedocs-sphinx-ext (==2.1.4)", "recommonmark (==0.5.0)", "requests (==2.25.1)", "six (==1.15.0)", "snowballstemmer (==2.1.0)", "sphinx (==1.8.5)", "sphinx-rtd-theme (==0.4.3)", "sphinxcontrib-serializinghtml (==1.1.4)", "sphinxcontrib-websupport (==1.2.4)", "urllib3 (==1.26.4)"]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
+
 [[package]]
 name = "jinja2"
 version = "3.1.4"
@@ -1620,6 +2537,453 @@ MarkupSafe = ">=2.0"
 [package.extras]
 i18n = ["Babel (>=2.7)"]
 
+[[package]]
+name = "json5"
+version = "0.9.25"
+description = "A Python implementation of the JSON5 data format."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "json5-0.9.25-py3-none-any.whl", hash = "sha256:34ed7d834b1341a86987ed52f3f76cd8ee184394906b6e22a1e0deb9ab294e8f"},
+    {file = "json5-0.9.25.tar.gz", hash = "sha256:548e41b9be043f9426776f05df8635a00fe06104ea51ed24b67f908856e151ae"},
+]
+
+[[package]]
+name = "jsonpointer"
+version = "3.0.0"
+description = "Identify specific nodes in a JSON document (RFC 6901)"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "jsonpointer-3.0.0-py2.py3-none-any.whl", hash = "sha256:13e088adc14fca8b6aa8177c044e12701e6ad4b28ff10e65f2267a90109c9942"},
+    {file = "jsonpointer-3.0.0.tar.gz", hash = "sha256:2b2d729f2091522d61c3b31f82e11870f60b68f43fbc705cb76bf4b832af59ef"},
+]
+
+[[package]]
+name = "jsonschema"
+version = "4.23.0"
+description = "An implementation of JSON Schema validation for Python"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "jsonschema-4.23.0-py3-none-any.whl", hash = "sha256:fbadb6f8b144a8f8cf9f0b89ba94501d143e50411a1278633f56a7acf7fd5566"},
+    {file = "jsonschema-4.23.0.tar.gz", hash = "sha256:d71497fef26351a33265337fa77ffeb82423f3ea21283cd9467bb03999266bc4"},
+]
+
+[package.dependencies]
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+fqdn = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+idna = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+isoduration = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+jsonpointer = {version = ">1.13", optional = true, markers = "extra == \"format-nongpl\""}
+jsonschema-specifications = ">=2023.03.6"
+referencing = ">=0.28.4"
+rfc3339-validator = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+rfc3986-validator = {version = ">0.1.0", optional = true, markers = "extra == \"format-nongpl\""}
+rpds-py = ">=0.7.1"
+uri-template = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+webcolors = {version = ">=24.6.0", optional = true, markers = "extra == \"format-nongpl\""}
+
+[package.extras]
+format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
+format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=24.6.0)"]
+
+[[package]]
+name = "jsonschema-specifications"
+version = "2023.12.1"
+description = "The JSON Schema meta-schemas and vocabularies, exposed as a Registry"
+optional = true
+python-versions = ">=3.8"
+files = [
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+    {file = "jsonschema_specifications-2023.12.1.tar.gz", hash = "sha256:48a76787b3e70f5ed53f1160d2b81f586e4ca6d1548c5de7085d1682674764cc"},
+]
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+[package.dependencies]
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+
+[[package]]
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+version = "1.1.1"
+description = "Jupyter metapackage. Install all the Jupyter components in one go."
+optional = true
+python-versions = "*"
+files = [
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+notebook = "*"
+
+[[package]]
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+version = "8.6.2"
+description = "Jupyter protocol implementation and client libraries"
+optional = true
+python-versions = ">=3.8"
+files = [
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+
+[package.extras]
+docs = ["ipykernel", "myst-parser", "pydata-sphinx-theme", "sphinx (>=4)", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["coverage", "ipykernel (>=6.14)", "mypy", "paramiko", "pre-commit", "pytest (<8.2.0)", "pytest-cov", "pytest-jupyter[client] (>=0.4.1)", "pytest-timeout"]
+
+[[package]]
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+version = "6.6.3"
+description = "Jupyter terminal console"
+optional = true
+python-versions = ">=3.7"
+files = [
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+pygments = "*"
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+traitlets = ">=5.4"
+
+[package.extras]
+test = ["flaky", "pexpect", "pytest"]
+
+[[package]]
+name = "jupyter-core"
+version = "5.7.2"
+description = "Jupyter core package. A base package on which Jupyter projects rely."
+optional = true
+python-versions = ">=3.8"
+files = [
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+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "traitlets"]
+test = ["ipykernel", "pre-commit", "pytest (<8)", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-events"
+version = "0.10.0"
+description = "Jupyter Event System library"
+optional = true
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 htmlsoup = ["BeautifulSoup4"]
 source = ["Cython (>=3.0.10)"]
 
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 version = "2021.4.0"
@@ -2138,6 +3643,97 @@ files = [
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 dill = ">=0.3.8"
 
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+traitlets = ">=5.4"
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+
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+optional = true
+python-versions = ">=3.5"
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+optional = true
+python-versions = ">=3.8"
+files = [
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+jupyterlab-server = ">=2.27.1,<3"
+notebook-shim = ">=0.2,<0.3"
+tornado = ">=6.2.0"
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+
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+description = "A shim layer for notebook traits and config"
+optional = true
+python-versions = ">=3.7"
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+
 [[package]]
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 version = "0.60.0"
@@ -2279,6 +3927,21 @@ files = [
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+[[package]]
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+optional = true
+python-versions = ">3.6.0"
+files = [
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+
 [[package]]
 name = "nvidia-cublas-cu12"
 version = "12.1.3.1"
@@ -2437,6 +4100,66 @@ files = [
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 PyYAML = ">=5.1.0"
 
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+python-versions = ">=3.8"
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+    {file = "open3d-0.18.0-cp39-cp39-win_amd64.whl", hash = "sha256:41be2d652f1b9feed9efb8775b29368ece0b4328ba6e90278486ff7643c6d480"},
+]
+
+[package.dependencies]
+configargparse = "*"
+dash = ">=2.6.0"
+nbformat = ">=5.7.0"
+numpy = ">=1.18.0"
+werkzeug = ">=2.2.3"
+
+[[package]]
+name = "opencv-contrib-python"
+version = "4.10.0.84"
+description = "Wrapper package for OpenCV python bindings."
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "opencv-contrib-python-4.10.0.84.tar.gz", hash = "sha256:4a3eae0ed9cadf1abe9293a6938a25a540e2fd6d7fc308595caa5896c8b36a0c"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:ee4b0919026d8c533aeb69b16c6ec4a891a2f6844efaa14121bf68838753209c"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:dea80d4db73b8acccf9e16b5744bf3654f47b22745074263f0a6c10de26c5ef5"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:040575b69e4f3aa761676bace4e3d1b8485fbfaf77ef77b266ab6bda5a3b5e9b"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a261223db41f6e512d76deaf21c8fcfb4fbbcbc2de62ca7f74a05f2c9ee489ef"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-win32.whl", hash = "sha256:2a36257ec1375d1bec2a62177ea39828ff9804de6831ee39646bdc875c343cec"},
+    {file = "opencv_contrib_python-4.10.0.84-cp37-abi3-win_amd64.whl", hash = "sha256:47ec3160dae75f70e099b286d1a2e086d20dac8b06e759f60eaf867e6bdecba7"},
+]
+
+[package.dependencies]
+numpy = [
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\" and python_version < \"3.11\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\" and python_version < \"3.11\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+]
+
 [[package]]
 name = "opencv-python"
 version = "4.10.0.84"
@@ -2475,6 +4198,17 @@ files = [
 [package.extras]
 dev = ["black", "mypy", "pytest"]
 
+[[package]]
+name = "overrides"
+version = "7.7.0"
+description = "A decorator to automatically detect mismatch when overriding a method."
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "overrides-7.7.0-py3-none-any.whl", hash = "sha256:c7ed9d062f78b8e4c1a7b70bd8796b35ead4d9f510227ef9c5dc7626c60d7e49"},
+    {file = "overrides-7.7.0.tar.gz", hash = "sha256:55158fa3d93b98cc75299b1e67078ad9003ca27945c76162c1c0766d6f91820a"},
+]
+
 [[package]]
 name = "packaging"
 version = "24.1"
@@ -2559,6 +4293,43 @@ sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-d
 test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
 xml = ["lxml (>=4.9.2)"]
 
+[[package]]
+name = "pandocfilters"
+version = "1.5.1"
+description = "Utilities for writing pandoc filters in python"
+optional = true
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "pandocfilters-1.5.1-py2.py3-none-any.whl", hash = "sha256:93be382804a9cdb0a7267585f157e5d1731bbe5545a85b268d6f5fe6232de2bc"},
+    {file = "pandocfilters-1.5.1.tar.gz", hash = "sha256:002b4a555ee4ebc03f8b66307e287fa492e4a77b4ea14d3f934328297bb4939e"},
+]
+
+[[package]]
+name = "parso"
+version = "0.8.4"
+description = "A Python Parser"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "parso-0.8.4-py2.py3-none-any.whl", hash = "sha256:a418670a20291dacd2dddc80c377c5c3791378ee1e8d12bffc35420643d43f18"},
+    {file = "parso-0.8.4.tar.gz", hash = "sha256:eb3a7b58240fb99099a345571deecc0f9540ea5f4dd2fe14c2a99d6b281ab92d"},
+]
+
+[package.extras]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["docopt", "pytest"]
+
+[[package]]
+name = "pathlib"
+version = "1.0.1"
+description = "Object-oriented filesystem paths"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pathlib-1.0.1-py3-none-any.whl", hash = "sha256:f35f95ab8b0f59e6d354090350b44a80a80635d22efdedfa84c7ad1cf0a74147"},
+    {file = "pathlib-1.0.1.tar.gz", hash = "sha256:6940718dfc3eff4258203ad5021090933e5c04707d5ca8cc9e73c94a7894ea9f"},
+]
+
 [[package]]
 name = "pettingzoo"
 version = "1.24.3"
@@ -2584,6 +4355,20 @@ other = ["pillow (>=8.0.1)"]
 sisl = ["box2d-py (==2.3.5)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "scipy (>=1.4.1)"]
 testing = ["AutoROM", "pre-commit", "pynput", "pytest", "pytest-cov", "pytest-markdown-docs", "pytest-xdist"]
 
+[[package]]
+name = "pexpect"
+version = "4.9.0"
+description = "Pexpect allows easy control of interactive console applications."
+optional = true
+python-versions = "*"
+files = [
+    {file = "pexpect-4.9.0-py2.py3-none-any.whl", hash = "sha256:7236d1e080e4936be2dc3e326cec0af72acf9212a7e1d060210e70a47e253523"},
+    {file = "pexpect-4.9.0.tar.gz", hash = "sha256:ee7d41123f3c9911050ea2c2dac107568dc43b2d3b0c7557a33212c398ead30f"},
+]
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
 [[package]]
 name = "pfzy"
 version = "0.3.4"
@@ -2695,6 +4480,21 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 typing = ["typing-extensions"]
 xmp = ["defusedxml"]
 
+[[package]]
+name = "pixel-ring"
+version = "0.1.0"
+description = "respeaker series pixel ring library"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pixel-ring-0.1.0.tar.gz", hash = "sha256:9480f23b58ccb912321b989d00e9d31f087f7bbcd8d970fca0fb319853d03270"},
+    {file = "pixel_ring-0.1.0-py2.py3-none-any.whl", hash = "sha256:c0fa51beb67be81b1f6ab058f651c489d69b47fb884d4361a0cf7594f093885b"},
+]
+
+[package.dependencies]
+pyusb = "*"
+spidev = "*"
+
 [[package]]
 name = "platformdirs"
 version = "4.2.2"
@@ -2711,6 +4511,31 @@ docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-
 test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
 type = ["mypy (>=1.8)"]
 
+[[package]]
+name = "playsound"
+version = "1.3.0"
+description = "Pure Python, cross platform, single function module with no dependencies for playing sounds."
+optional = true
+python-versions = "*"
+files = [
+    {file = "playsound-1.3.0.tar.gz", hash = "sha256:cc6ed11d773034b0ef624e6bb4bf50f4b76b8414a59ce6d38afb89b423297ced"},
+]
+
+[[package]]
+name = "plotly"
+version = "5.24.0"
+description = "An open-source, interactive data visualization library for Python"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "plotly-5.24.0-py3-none-any.whl", hash = "sha256:0e54efe52c8cef899f7daa41be9ed97dfb6be622613a2a8f56a86a0634b2b67e"},
+    {file = "plotly-5.24.0.tar.gz", hash = "sha256:eae9f4f54448682442c92c1e97148e3ad0c52f0cf86306e1b76daba24add554a"},
+]
+
+[package.dependencies]
+packaging = "*"
+tenacity = ">=6.2.0"
+
 [[package]]
 name = "pluggy"
 version = "1.5.0"
@@ -2744,6 +4569,20 @@ nodeenv = ">=0.11.1"
 pyyaml = ">=5.1"
 virtualenv = ">=20.10.0"
 
+[[package]]
+name = "prometheus-client"
+version = "0.20.0"
+description = "Python client for the Prometheus monitoring system."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "prometheus_client-0.20.0-py3-none-any.whl", hash = "sha256:cde524a85bce83ca359cc837f28b8c0db5cac7aa653a588fd7e84ba061c329e7"},
+    {file = "prometheus_client-0.20.0.tar.gz", hash = "sha256:287629d00b147a32dcb2be0b9df905da599b2d82f80377083ec8463309a4bb89"},
+]
+
+[package.extras]
+twisted = ["twisted"]
+
 [[package]]
 name = "prompt-toolkit"
 version = "3.0.47"
@@ -2807,6 +4646,31 @@ files = [
 [package.extras]
 test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
+[[package]]
+name = "ptyprocess"
+version = "0.7.0"
+description = "Run a subprocess in a pseudo terminal"
+optional = true
+python-versions = "*"
+files = [
+    {file = "ptyprocess-0.7.0-py2.py3-none-any.whl", hash = "sha256:4b41f3967fce3af57cc7e94b888626c18bf37a083e3651ca8feeb66d492fef35"},
+    {file = "ptyprocess-0.7.0.tar.gz", hash = "sha256:5c5d0a3b48ceee0b48485e0c26037c0acd7d29765ca3fbb5cb3831d347423220"},
+]
+
+[[package]]
+name = "pure-eval"
+version = "0.2.3"
+description = "Safely evaluate AST nodes without side effects"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pure_eval-0.2.3-py3-none-any.whl", hash = "sha256:1db8e35b67b3d218d818ae653e27f06c3aa420901fa7b081ca98cbedc874e0d0"},
+    {file = "pure_eval-0.2.3.tar.gz", hash = "sha256:5f4e983f40564c576c7c8635ae88db5956bb2229d7e9237d03b3c0b0190eaf42"},
+]
+
+[package.extras]
+tests = ["pytest"]
+
 [[package]]
 name = "pyarrow"
 version = "17.0.0"
@@ -2899,6 +4763,24 @@ files = [
     {file = "pyav-12.2.0.tar.gz", hash = "sha256:6e77f8509c284e972fdac8221dc3f046f9dd69651f4218249d0910c71e041ae2"},
 ]
 
+[[package]]
+name = "pycollada"
+version = "0.8"
+description = "python library for reading and writing collada documents"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pycollada-0.8.tar.gz", hash = "sha256:f3a3759cc4cec1d59e932aad74399dbcf541d18862aad903c770040da42af20e"},
+]
+
+[package.dependencies]
+numpy = "*"
+python-dateutil = ">=2.2"
+
+[package.extras]
+prettyprint = ["lxml"]
+validation = ["lxml"]
+
 [[package]]
 name = "pycparser"
 version = "2.22"
@@ -2976,6 +4858,31 @@ files = [
     {file = "pygame-2.6.0.tar.gz", hash = "sha256:722d33ae676aa8533c1f955eded966411298831346b8d51a77dad22e46ba3e35"},
 ]
 
+[[package]]
+name = "pyglet"
+version = "2.0.17"
+description = "pyglet is a cross-platform games and multimedia package."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "pyglet-2.0.17-py3-none-any.whl", hash = "sha256:c881615a5bf14455af36a0915fd9dad0069da904ab5e0ec19b4d6cdfcf1e84c2"},
+    {file = "pyglet-2.0.17.tar.gz", hash = "sha256:50c533c1a7cafdccccf43041338ad921ae26866e9871b4f12bf608500632900a"},
+]
+
+[[package]]
+name = "pygments"
+version = "2.18.0"
+description = "Pygments is a syntax highlighting package written in Python."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "pygments-2.18.0-py3-none-any.whl", hash = "sha256:b8e6aca0523f3ab76fee51799c488e38782ac06eafcf95e7ba832985c8e7b13a"},
+    {file = "pygments-2.18.0.tar.gz", hash = "sha256:786ff802f32e91311bff3889f6e9a86e81505fe99f2735bb6d60ae0c5004f199"},
+]
+
+[package.extras]
+windows-terminal = ["colorama (>=0.4.6)"]
+
 [[package]]
 name = "pymunk"
 version = "6.8.1"
@@ -3194,6 +5101,87 @@ files = [
 [package.extras]
 diagrams = ["jinja2", "railroad-diagrams"]
 
+[[package]]
+name = "pyrealsense2"
+version = "2.55.1.6486"
+description = "Python Wrapper for Intel Realsense SDK 2.0."
+optional = true
+python-versions = "*"
+files = [
+    {file = "pyrealsense2-2.55.1.6486-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:882613808289c602b23f2e19bf1fbadd63fb3af9be9c2997cc4ea74741a65136"},
+    {file = "pyrealsense2-2.55.1.6486-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:686320811ef30c162c7240cb619e9b152420c0a32337a137139276c87f213336"},
+    {file = "pyrealsense2-2.55.1.6486-cp310-cp310-win_amd64.whl", hash = "sha256:600e7c691c7c50043a2c930471f873da33badce9c5b8c75a8bad499389ac10a4"},
+    {file = "pyrealsense2-2.55.1.6486-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:178f92caec6e8e212a7ced66c678dec47462b0b77e929fa576d02eea297bb177"},
+    {file = "pyrealsense2-2.55.1.6486-cp311-cp311-win_amd64.whl", hash = "sha256:e01939a63bac3e1a4da742f7e1dbc618a4ec03ee0f7b3690ae5d1ad0c983aca8"},
+    {file = "pyrealsense2-2.55.1.6486-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:5a40216386b49a520b5817afe97efa9a53471747b765e8b4e6ca549678945c04"},
+    {file = "pyrealsense2-2.55.1.6486-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:affb80b0cad7a732db4e450e9d4a8f7193499e3b35c0ce0b3e67fde5b1e9cf64"},
+    {file = "pyrealsense2-2.55.1.6486-cp37-cp37m-win_amd64.whl", hash = "sha256:93f81f0955037a325529d93059138e5036fc5e51d5fda4b3c88ae4287fa0b3ed"},
+    {file = "pyrealsense2-2.55.1.6486-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:0f51350ea100215dedc757ea7872ec23342a1d84015e87583911912d882c8ce2"},
+    {file = "pyrealsense2-2.55.1.6486-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:3695ae04d423d6404db4d0a756c66a0f122f9e0858c91d3dcee132adbef35b62"},
+    {file = "pyrealsense2-2.55.1.6486-cp38-cp38-win_amd64.whl", hash = "sha256:f06ea7adadcdcb7d3334b8f067e4f7a361f6421a763988897d52602937c716de"},
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+    {file = "pyrealsense2-2.55.1.6486-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:aac4fb7f9a36ff6ecaa3bf0565f3baa9327b02dd843f14933eece8a4455c6c79"},
+    {file = "pyrealsense2-2.55.1.6486-cp39-cp39-win_amd64.whl", hash = "sha256:5cbede3cd35946f3051ae6df42619ea01419c58379533c596bbad5dbf648c25b"},
+]
+
+[[package]]
+name = "pyrender"
+version = "0.1.45"
+description = "Easy-to-use Python renderer for 3D visualization"
+optional = true
+python-versions = "*"
+files = []
+develop = false
+
+[package.dependencies]
+freetype-py = "*"
+imageio = "*"
+networkx = "*"
+numpy = "*"
+Pillow = "*"
+pyglet = ">=1.4.10"
+PyOpenGL = ">=3.1.0,<3.2.0"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
+[package.source]
+type = "git"
+url = "https://github.com/mmatl/pyrender.git"
+reference = "master"
+resolved_reference = "a59963ef890891656fd17c90e12d663233dcaa99"
+
+[[package]]
+name = "pyribbit"
+version = "0.1.46"
+description = "Easy-to-use Python renderer for 3D visualization"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pyribbit-0.1.46-py3-none-any.whl", hash = "sha256:0d4943f7cc6903f20ef42787e9357d7bb25c95f2c04da9dfa1a8021bdf9e0ab6"},
+    {file = "pyribbit-0.1.46.tar.gz", hash = "sha256:3bb7a31841549ed74c50e31415738d2494b720df825cf387501f17102299940b"},
+]
+
+[package.dependencies]
+freetype-py = "*"
+imageio = "*"
+networkx = "*"
+numpy = "*"
+Pillow = "*"
+pyglet = ">=1.4.10"
+PyOpenGL = ">=3.1.0"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
 [[package]]
 name = "pyserial"
 version = "3.5"
@@ -3274,6 +5262,36 @@ files = [
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "python-json-logger"
+version = "2.0.7"
+description = "A python library adding a json log formatter"
+optional = true
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+
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+version = "0.9.5"
+description = "Simple and lightweight module for working with RPLidar laser scanners"
+optional = true
+python-versions = "*"
+files = [
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+
+[package.dependencies]
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+
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 version = "0.4.3"
@@ -3706,6 +6081,22 @@ dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodest
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+[[package]]
+name = "send2trash"
+version = "1.8.3"
+description = "Send file to trash natively under Mac OS X, Windows and Linux"
+optional = true
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
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+
+[package.extras]
+nativelib = ["pyobjc-framework-Cocoa", "pywin32"]
+objc = ["pyobjc-framework-Cocoa"]
+win32 = ["pywin32"]
+
 [[package]]
 name = "sentry-sdk"
 version = "2.10.0"
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+[[package]]
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+version = "2.0.7"
+description = "Python subprocess replacement"
+optional = true
+python-versions = "<4.0,>=3.8.1"
+files = [
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+]
+
 [[package]]
 name = "shapely"
 version = "2.0.5"
@@ -3946,6 +6348,31 @@ files = [
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 ]
 
+[[package]]
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+version = "2.2.0"
+description = "A web-based viewer for Python profiler output"
+optional = true
+python-versions = ">=3.7"
+files = [
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+]
+
+[package.dependencies]
+tornado = ">=2.0"
+
+[[package]]
+name = "sniffio"
+version = "1.3.1"
+description = "Sniff out which async library your code is running under"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "sniffio-1.3.1-py3-none-any.whl", hash = "sha256:2f6da418d1f1e0fddd844478f41680e794e6051915791a034ff65e5f100525a2"},
+    {file = "sniffio-1.3.1.tar.gz", hash = "sha256:f4324edc670a0f49750a81b895f35c3adb843cca46f0530f79fc1babb23789dc"},
+]
+
 [[package]]
 name = "soupsieve"
 version = "2.5"
@@ -3957,6 +6384,56 @@ files = [
     {file = "soupsieve-2.5.tar.gz", hash = "sha256:5663d5a7b3bfaeee0bc4372e7fc48f9cff4940b3eec54a6451cc5299f1097690"},
 ]
 
+[[package]]
+name = "speechrecognition"
+version = "3.10.4"
+description = "Library for performing speech recognition, with support for several engines and APIs, online and offline."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "SpeechRecognition-3.10.4-py2.py3-none-any.whl", hash = "sha256:723b8155692a8ed11a30013f15f89a3e57c5dc8bc73c8cb024bf9bd14c21fba5"},
+    {file = "speechrecognition-3.10.4.tar.gz", hash = "sha256:986bafcf61f14625c2f3cea6a471838edd379ed68aeed7b8f3c0fb41e21f1125"},
+]
+
+[package.dependencies]
+requests = ">=2.26.0"
+typing-extensions = "*"
+
+[package.extras]
+dev = ["flake8", "rstcheck"]
+whisper-api = ["openai"]
+whisper-local = ["openai-whisper", "soundfile"]
+
+[[package]]
+name = "spidev"
+version = "3.6"
+description = "Python bindings for Linux SPI access through spidev"
+optional = true
+python-versions = "*"
+files = [
+    {file = "spidev-3.6-cp39-cp39-linux_armv7l.whl", hash = "sha256:280abc00a1ef7780ef62c3f294f52a2527b6c47d8c269fea98664970bcaf6da5"},
+    {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
+]
+
+[[package]]
+name = "stack-data"
+version = "0.6.3"
+description = "Extract data from python stack frames and tracebacks for informative displays"
+optional = true
+python-versions = "*"
+files = [
+    {file = "stack_data-0.6.3-py3-none-any.whl", hash = "sha256:d5558e0c25a4cb0853cddad3d77da9891a08cb85dd9f9f91b9f8cd66e511e695"},
+    {file = "stack_data-0.6.3.tar.gz", hash = "sha256:836a778de4fec4dcd1dcd89ed8abff8a221f58308462e1c4aa2a3cf30148f0b9"},
+]
+
+[package.dependencies]
+asttokens = ">=2.1.0"
+executing = ">=1.2.0"
+pure-eval = "*"
+
+[package.extras]
+tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+
 [[package]]
 name = "sympy"
 version = "1.13.0"
@@ -3974,6 +6451,20 @@ mpmath = ">=1.1.0,<1.4"
 [package.extras]
 dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
 
+[[package]]
+name = "tabulate"
+version = "0.9.0"
+description = "Pretty-print tabular data"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "tabulate-0.9.0-py3-none-any.whl", hash = "sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f"},
+    {file = "tabulate-0.9.0.tar.gz", hash = "sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c"},
+]
+
+[package.extras]
+widechars = ["wcwidth"]
+
 [[package]]
 name = "tbb"
 version = "2021.13.0"
@@ -3987,6 +6478,21 @@ files = [
     {file = "tbb-2021.13.0-py3-none-win_amd64.whl", hash = "sha256:3528a53e4bbe64b07a6112b4c5a00ff3c61924ee46c9c68e004a1ac7ad1f09c3"},
 ]
 
+[[package]]
+name = "tenacity"
+version = "9.0.0"
+description = "Retry code until it succeeds"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "tenacity-9.0.0-py3-none-any.whl", hash = "sha256:93de0c98785b27fcf659856aa9f54bfbd399e29969b0621bc7f762bd441b4539"},
+    {file = "tenacity-9.0.0.tar.gz", hash = "sha256:807f37ca97d62aa361264d497b0e31e92b8027044942bfa756160d908320d73b"},
+]
+
+[package.extras]
+doc = ["reno", "sphinx"]
+test = ["pytest", "tornado (>=4.5)", "typeguard"]
+
 [[package]]
 name = "termcolor"
 version = "2.4.0"
@@ -4001,6 +6507,27 @@ files = [
 [package.extras]
 tests = ["pytest", "pytest-cov"]
 
+[[package]]
+name = "terminado"
+version = "0.18.1"
+description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "terminado-0.18.1-py3-none-any.whl", hash = "sha256:a4468e1b37bb318f8a86514f65814e1afc977cf29b3992a4500d9dd305dcceb0"},
+    {file = "terminado-0.18.1.tar.gz", hash = "sha256:de09f2c4b85de4765f7714688fff57d3e75bad1f909b589fde880460c753fd2e"},
+]
+
+[package.dependencies]
+ptyprocess = {version = "*", markers = "os_name != \"nt\""}
+pywinpty = {version = ">=1.1.0", markers = "os_name == \"nt\""}
+tornado = ">=6.1.0"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["pre-commit", "pytest (>=7.0)", "pytest-timeout"]
+typing = ["mypy (>=1.6,<2.0)", "traitlets (>=5.11.1)"]
+
 [[package]]
 name = "tifffile"
 version = "2024.7.2"
@@ -4018,6 +6545,24 @@ numpy = "*"
 [package.extras]
 all = ["defusedxml", "fsspec", "imagecodecs (>=2023.8.12)", "lxml", "matplotlib", "zarr"]
 
+[[package]]
+name = "tinycss2"
+version = "1.3.0"
+description = "A tiny CSS parser"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "tinycss2-1.3.0-py3-none-any.whl", hash = "sha256:54a8dbdffb334d536851be0226030e9505965bb2f30f21a4a82c55fb2a80fae7"},
+    {file = "tinycss2-1.3.0.tar.gz", hash = "sha256:152f9acabd296a8375fbca5b84c961ff95971fcfc32e79550c8df8e29118c54d"},
+]
+
+[package.dependencies]
+webencodings = ">=0.4"
+
+[package.extras]
+doc = ["sphinx", "sphinx_rtd_theme"]
+test = ["pytest", "ruff"]
+
 [[package]]
 name = "tomli"
 version = "2.0.1"
@@ -4120,6 +6665,26 @@ torch = "2.3.1"
 [package.extras]
 scipy = ["scipy"]
 
+[[package]]
+name = "tornado"
+version = "6.4.1"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "tornado-6.4.1-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:163b0aafc8e23d8cdc3c9dfb24c5368af84a81e3364745ccb4427669bf84aec8"},
+    {file = "tornado-6.4.1-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6d5ce3437e18a2b66fbadb183c1d3364fb03f2be71299e7d10dbeeb69f4b2a14"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2e20b9113cd7293f164dc46fffb13535266e713cdb87bd2d15ddb336e96cfc4"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8ae50a504a740365267b2a8d1a90c9fbc86b780a39170feca9bcc1787ff80842"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:613bf4ddf5c7a95509218b149b555621497a6cc0d46ac341b30bd9ec19eac7f3"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:25486eb223babe3eed4b8aecbac33b37e3dd6d776bc730ca14e1bf93888b979f"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_i686.whl", hash = "sha256:454db8a7ecfcf2ff6042dde58404164d969b6f5d58b926da15e6b23817950fc4"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:a02a08cc7a9314b006f653ce40483b9b3c12cda222d6a46d4ac63bb6c9057698"},
+    {file = "tornado-6.4.1-cp38-abi3-win32.whl", hash = "sha256:d9a566c40b89757c9aa8e6f032bcdb8ca8795d7c1a9762910c722b1635c9de4d"},
+    {file = "tornado-6.4.1-cp38-abi3-win_amd64.whl", hash = "sha256:b24b8982ed444378d7f21d563f4180a2de31ced9d8d84443907a0a64da2072e7"},
+    {file = "tornado-6.4.1.tar.gz", hash = "sha256:92d3ab53183d8c50f8204a51e6f91d18a15d5ef261e84d452800d4ff6fc504e9"},
+]
+
 [[package]]
 name = "tqdm"
 version = "4.66.4"
@@ -4140,6 +6705,56 @@ notebook = ["ipywidgets (>=6)"]
 slack = ["slack-sdk"]
 telegram = ["requests"]
 
+[[package]]
+name = "traitlets"
+version = "5.14.3"
+description = "Traitlets Python configuration system"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "traitlets-5.14.3-py3-none-any.whl", hash = "sha256:b74e89e397b1ed28cc831db7aea759ba6640cb3de13090ca145426688ff1ac4f"},
+    {file = "traitlets-5.14.3.tar.gz", hash = "sha256:9ed0579d3502c94b4b3732ac120375cda96f923114522847de4b3bb98b96b6b7"},
+]
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.2)", "pytest-mock", "pytest-mypy-testing"]
+
+[[package]]
+name = "transforms3d"
+version = "0.4.2"
+description = "Functions for 3D coordinate transformations"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "transforms3d-0.4.2-py3-none-any.whl", hash = "sha256:1c70399d9e9473ecc23311fd947f727f7c69ed0b063244828c383aa1aefa5941"},
+    {file = "transforms3d-0.4.2.tar.gz", hash = "sha256:e8b5df30eaedbee556e81c6938e55aab5365894e47d0a17615d7db7fd2393680"},
+]
+
+[package.dependencies]
+numpy = ">=1.15"
+
+[[package]]
+name = "trimesh"
+version = "3.6.38"
+description = "Import, export, process, analyze and view triangular meshes."
+optional = true
+python-versions = "*"
+files = [
+    {file = "trimesh-3.6.38-py3-none-any.whl", hash = "sha256:f62831d7803b0243d3d08754f8e3f46d3973a10ce42a692df0dcb50ef67e0dc2"},
+    {file = "trimesh-3.6.38.tar.gz", hash = "sha256:5d1b7fa6434a921ea7e0de833494e248798c8cdff9824896558ecaa0cc74ae65"},
+]
+
+[package.dependencies]
+numpy = "*"
+setuptools = "*"
+
+[package.extras]
+all = ["chardet", "colorlog", "glooey", "jsonschema", "lxml", "meshio", "msgpack", "networkx", "pillow", "psutil", "pycollada", "pyglet", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "triangle", "xxhash"]
+docs = ["autodocsumm", "jupyter", "networkx", "numpy", "pyopenssl", "pypandoc", "recommonmark", "scipy", "sphinx", "sphinx-rtd-theme"]
+easy = ["chardet", "colorlog", "jsonschema", "lxml", "msgpack", "networkx", "pillow", "pycollada", "pyglet", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"]
+test = ["coveralls", "pyinstrument", "pytest", "pytest-cov"]
+
 [[package]]
 name = "triton"
 version = "2.3.1"
@@ -4163,6 +6778,17 @@ build = ["cmake (>=3.20)", "lit"]
 tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)", "torch"]
 tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
 
+[[package]]
+name = "types-python-dateutil"
+version = "2.9.0.20240821"
+description = "Typing stubs for python-dateutil"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "types-python-dateutil-2.9.0.20240821.tar.gz", hash = "sha256:9649d1dcb6fef1046fb18bebe9ea2aa0028b160918518c34589a46045f6ebd98"},
+    {file = "types_python_dateutil-2.9.0.20240821-py3-none-any.whl", hash = "sha256:f5889fcb4e63ed4aaa379b44f93c32593d50b9a94c9a60a0c854d8cc3511cd57"},
+]
+
 [[package]]
 name = "typing-extensions"
 version = "4.12.2"
@@ -4185,6 +6811,85 @@ files = [
     {file = "tzdata-2024.1.tar.gz", hash = "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd"},
 ]
 
+[[package]]
+name = "urchin"
+version = "0.0.27"
+description = "URDF parser and manipulator for Python"
+optional = true
+python-versions = "*"
+files = [
+    {file = "urchin-0.0.27-py3-none-any.whl", hash = "sha256:e4cf43c8f52a44e0075e1778b76c203922085dd1fb9340cd703bf54188208611"},
+    {file = "urchin-0.0.27.tar.gz", hash = "sha256:bda308ed7d2b80eb1e097dc3963fabe9e00a6cbd89a1f6be6f063c2a065d3671"},
+]
+
+[package.dependencies]
+lxml = "*"
+networkx = "*"
+numpy = "*"
+pillow = "*"
+pycollada = ">=0.6"
+pyribbit = ">=0.1.46"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
+[[package]]
+name = "urdf-parser-py"
+version = "0.0.4"
+description = "This package contains a python parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model."
+optional = true
+python-versions = "*"
+files = [
+    {file = "urdf_parser_py-0.0.4.tar.gz", hash = "sha256:e983f637145fded67bcff6a542302069bb975b2edf1b18318c093abba1b794cc"},
+]
+
+[package.dependencies]
+lxml = "*"
+pyyaml = "*"
+
+[[package]]
+name = "urdfpy"
+version = "0.0.4"
+description = "URDF parser and manipulator for Python"
+optional = true
+python-versions = "*"
+files = [
+    {file = "urdfpy-0.0.4-py2-none-any.whl", hash = "sha256:ee0375c311f0648e98866c96dae6fac76eb2e669e0dc1ca6a6988628dc9798f4"},
+    {file = "urdfpy-0.0.4.tar.gz", hash = "sha256:5bae6e06572b72426565bcca2106de712a18cfb91a6b00c159451263e72a5839"},
+]
+
+[package.dependencies]
+lxml = "*"
+networkx = "*"
+numpy = "*"
+pillow = "*"
+pycollada = "*"
+pyrender = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
+[[package]]
+name = "uri-template"
+version = "1.3.0"
+description = "RFC 6570 URI Template Processor"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "uri-template-1.3.0.tar.gz", hash = "sha256:0e00f8eb65e18c7de20d595a14336e9f337ead580c70934141624b6d1ffdacc7"},
+    {file = "uri_template-1.3.0-py3-none-any.whl", hash = "sha256:a44a133ea12d44a0c0f06d7d42a52d71282e77e2f937d8abd5655b8d56fc1363"},
+]
+
+[package.extras]
+dev = ["flake8", "flake8-annotations", "flake8-bandit", "flake8-bugbear", "flake8-commas", "flake8-comprehensions", "flake8-continuation", "flake8-datetimez", "flake8-docstrings", "flake8-import-order", "flake8-literal", "flake8-modern-annotations", "flake8-noqa", "flake8-pyproject", "flake8-requirements", "flake8-typechecking-import", "flake8-use-fstring", "mypy", "pep8-naming", "types-PyYAML"]
+
 [[package]]
 name = "urllib3"
 version = "2.2.2"
@@ -4275,6 +6980,48 @@ files = [
     {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
 ]
 
+[[package]]
+name = "webcolors"
+version = "24.8.0"
+description = "A library for working with the color formats defined by HTML and CSS."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "webcolors-24.8.0-py3-none-any.whl", hash = "sha256:fc4c3b59358ada164552084a8ebee637c221e4059267d0f8325b3b560f6c7f0a"},
+    {file = "webcolors-24.8.0.tar.gz", hash = "sha256:08b07af286a01bcd30d583a7acadf629583d1f79bfef27dd2c2c5c263817277d"},
+]
+
+[package.extras]
+docs = ["furo", "sphinx", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-notfound-page", "sphinxext-opengraph"]
+tests = ["coverage[toml]"]
+
+[[package]]
+name = "webencodings"
+version = "0.5.1"
+description = "Character encoding aliases for legacy web content"
+optional = true
+python-versions = "*"
+files = [
+    {file = "webencodings-0.5.1-py2.py3-none-any.whl", hash = "sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78"},
+    {file = "webencodings-0.5.1.tar.gz", hash = "sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923"},
+]
+
+[[package]]
+name = "websocket-client"
+version = "1.8.0"
+description = "WebSocket client for Python with low level API options"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "websocket_client-1.8.0-py3-none-any.whl", hash = "sha256:17b44cc997f5c498e809b22cdf2d9c7a9e71c02c8cc2b6c56e7c2d1239bfa526"},
+    {file = "websocket_client-1.8.0.tar.gz", hash = "sha256:3239df9f44da632f96012472805d40a23281a991027ce11d2f45a6f24ac4c3da"},
+]
+
+[package.extras]
+docs = ["Sphinx (>=6.0)", "myst-parser (>=2.0.0)", "sphinx-rtd-theme (>=1.1.0)"]
+optional = ["python-socks", "wsaccel"]
+test = ["websockets"]
+
 [[package]]
 name = "werkzeug"
 version = "3.0.3"
@@ -4292,6 +7039,17 @@ MarkupSafe = ">=2.1.1"
 [package.extras]
 watchdog = ["watchdog (>=2.3)"]
 
+[[package]]
+name = "widgetsnbextension"
+version = "4.0.13"
+description = "Jupyter interactive widgets for Jupyter Notebook"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "widgetsnbextension-4.0.13-py3-none-any.whl", hash = "sha256:74b2692e8500525cc38c2b877236ba51d34541e6385eeed5aec15a70f88a6c71"},
+    {file = "widgetsnbextension-4.0.13.tar.gz", hash = "sha256:ffcb67bc9febd10234a362795f643927f4e0c05d9342c727b65d2384f8feacb6"},
+]
+
 [[package]]
 name = "xxhash"
 version = "3.4.1"
@@ -4554,6 +7312,7 @@ dev = ["debugpy", "pre-commit"]
 dora = ["gym-dora"]
 dynamixel = ["dynamixel-sdk", "pynput"]
 pusht = ["gym-pusht"]
+stretch = ["hello-robot-stretch-body", "pyrender"]
 test = ["pytest", "pytest-cov"]
 umi = ["imagecodecs"]
 video-benchmark = ["pandas", "scikit-image"]
@@ -4562,4 +7321,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "781e1ca86ed53f76d1b28066a91cc591630886f3a908a691a5aa26146793a02c"
+content-hash = "574b3477f2fd904cd603b00172553f0b4f6adc0e43381e98ca6e545f0912e2a0"
diff --git a/pyproject.toml b/pyproject.toml
index 85affc7cd7..1c81710679 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -64,8 +64,11 @@ pandas = {version = ">=2.2.2", optional = true}
 scikit-image = {version = ">=0.23.2", optional = true}
 dynamixel-sdk = {version = ">=3.7.31", optional = true}
 pynput = {version = ">=1.7.7", optional = true}
-# TODO(rcadene, salibert): 71.0.1 has a bug
+# TODO(rcadene, aliberts): 71.0.1 has a bug
 setuptools = {version = "!=71.0.1", optional = true}
+pyrender = {git = "https://github.com/mmatl/pyrender.git", branch = "master", markers = "sys_platform == 'linux'", optional = true}
+# TODO(aliberts): add as version = ">=0.7.27" when it's out instead of git
+hello-robot-stretch-body = {git = "https://github.com/hello-robot/stretch_body.git", branch = "master", subdirectory = "body", markers = "sys_platform == 'linux'", optional = true, develop = true}
 
 
 
@@ -79,6 +82,7 @@ test = ["pytest", "pytest-cov"]
 umi = ["imagecodecs"]
 video_benchmark = ["scikit-image", "pandas"]
 dynamixel = ["dynamixel-sdk", "pynput"]
+stretch = ["hello-robot-stretch-body", "pyrender"]
 
 [tool.ruff]
 line-length = 110