Sync fork to NVIDIA GR00T N1.7

.coveragerc

@@ -0,0 +1,28 @@
+# Coverage.py configuration
+# https://coverage.readthedocs.io/en/latest/config.html
+
+[run]
+data_file = .coverage-data
+disable_warnings =
+    module-not-imported
+    no-data-collected
+parallel = True
+
+[report]
+exclude_lines =
+    @overload
+    def __repr__
+    if __name__ == .__main__.:
+    if TYPE_CHECKING:
+    pragma: no cover
+    raise AssertionError
+    raise NotImplementedError
+omit =
+    */tests/*
+    test_*.py
+    *_test.py
+skip_empty = True
+show_missing = True
+
+[xml]
+output = coverage.xml

.dockerignore

@@ -0,0 +1,19 @@
+# Exclude large and unnecessary files from the Docker build context.
+# Used when building Orin/Thor/Spark images with the repo root as build context.
+checkpoints/
+demo_data/
+*.safetensors
+*.bin
+*.onnx
+*.trt
+.git/
+.venv/
+__pycache__/
+*.pyc
+*.egg-info/
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+logs/
+dist/
+gr00t_trt_deployment/

.gitattributes

@@ -1,3 +1,8 @@
 media/*.gif filter=lfs diff=lfs merge=lfs -text
 demo_data/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
 demo_data/**/*.parquet filter=lfs diff=lfs merge=lfs -text
+examples/GR00TWholeBodyControl/media/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
+scripts/deployment/dgpu/wheels/*.whl filter=lfs diff=lfs merge=lfs -text
+scripts/deployment/spark/wheels/*.whl filter=lfs diff=lfs merge=lfs -text
+scripts/deployment/jetson/wheels/*.whl filter=lfs diff=lfs merge=lfs -text
+examples/RoboLab/media/**/*.mp4 filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1,3 +1,6 @@
+# Test debug artifacts
+/debug_video_decoding/
+
 # Finetune datasets
 /examples/GR00T-WholeBodyControl/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim/
 /examples/LIBERO/libero_10_no_noops_1.0.0_lerobot/
@@ -101,7 +104,6 @@ __pypackages__/
 .cursor/
 .cursor*
 .claude/
-CLAUDE.md
 
 # Sphinx docs
 docs/_build/
@@ -156,9 +158,9 @@ third_parties/
 dump.rdb
 
 # Docker
-.dockerignore
+# Note: docker/.dockerignore is tracked — it controls the Docker build context
 
-# SysID / robotics experiment data
+/examples/GR00TWholeBodyControl/media/
 sysid_data/
 isaac_data/
 offline_open_loop_eval_plots/

.gitmodules

@@ -10,6 +10,3 @@
 [submodule "external_dependencies/robocasa"]
 	path = external_dependencies/robocasa
 	url = https://github.com/squarefk/robocasa
-[submodule "external_dependencies/GR00T-WholeBodyControl"]
-    path = external_dependencies/GR00T-WholeBodyControl
-    url = https://github.com/NVlabs/GR00T-WholeBodyControl.git

.pre-commit-config.yaml

@@ -0,0 +1,25 @@
+exclude: ^(external_dependencies/)
+repos:
+  # Ruff: lint + autofix
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.7
+    hooks:
+      - id: ruff
+        args: [--fix]
+      - id: ruff-format
+
+  # Catch cross-platform pyproject pin drift (dGPU/Orin/Spark/Thor) at commit
+  # time; a missed mirror otherwise only surfaces at install on the unsynced
+  # platform. tomli is the 3.10 backport of stdlib tomllib (3.11+).
+  - repo: local
+    hooks:
+      - id: check-manifest-alignment
+        name: cross-platform pyproject manifest alignment
+        entry: python tools/check_manifest_alignment.py
+        language: python
+        additional_dependencies: ["tomli; python_version < '3.11'"]
+        # Mirrors MANIFESTS in tools/check_manifest_alignment.py; keep in sync when
+        # adding a platform. A miss only drops the local trigger — the unit-test
+        # live gate reads MANIFESTS directly and still fails CI on drift.
+        files: ^(pyproject\.toml|scripts/deployment/(orin|spark|thor)/pyproject\.toml|tools/(check_manifest_alignment\.py|manifest_alignment\.toml))$
+        pass_filenames: false

AGENTS.md

@@ -0,0 +1 @@
+CLAUDE.md