Software specifications

Package version matrix

Package	Version	Python	Install	Key deps
soarm_sdk	0.4.0	≥3.9	pip install -e .	pyserial; optional viser, yourdfpy, trimesh
imu_sdk	0.2.0	≥3.10	pip install -e .	pyserial
m5teleop	0.1.0	≥3.10	pip install -e .	pinocchio (conda-forge), pin-pink, quadprog, viser, rerun-sdk, lerobot
soarm_lerobot	0.1.0	≥3.10	pip install -e .	numpy, torch>=2.0, lerobot>=0.4, datasets; extras [train], [dev]
camera_calibration	0.1.0	≥3.10	pip install -e .	opencv-python>=4.7, numpy>=1.24, rerun-sdk>=0.22
soarm_mjlab	0.1.0	≥3.10	uv sync --extra cpu|cu128	mjlab, mujoco-warp==3.10.0.3, torch (CPU/CUDA routed by extra)
soarm_tamp	0.1.0	≥3.11	pip install -e ".[host]" (host) / container image (planning)	soarm_sdk (host); long_tamp + pyhpp (container)

soarm_mjlab is the one package in the workspace installed with uv instead of plain pip — see Workspace Installation for why. soarm_tamp deliberately has no hard dependencies shared between its container (planning) and host (execution) sides — see Task & Motion Planning.

Licenses

Package	License
soarm_sdk	MIT
imu_sdk	Apache-2.0
camera_calibration	Apache-2.0
soarm_lerobot	MIT
soarm_tamp	MIT
soarm_mjlab	MIT

See Open Source for the full picture, including workspace-level conventions.

Where to find more

Every package keeps its own CHANGELOG.md (Keep a Changelog format) — see Release Notes for a summary of what's currently unreleased/in progress in each.