diff --git a/.basedpyright/baseline.json b/.basedpyright/baseline.json
index 06a39d376..14f830e03 100644
--- a/.basedpyright/baseline.json
+++ b/.basedpyright/baseline.json
@@ -1155,30 +1155,6 @@
             }
         ],
         "./positronic/data_collection.py": [
-            {
-                "code": "reportOptionalOperand",
-                "range": {
-                    "startColumn": 25,
-                    "endColumn": 48,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportOptionalMemberAccess",
-                "range": {
-                    "startColumn": 89,
-                    "endColumn": 92,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportPossiblyUnboundVariable",
-                "range": {
-                    "startColumn": 64,
-                    "endColumn": 80,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportReturnType",
                 "range": {
@@ -1211,14 +1187,6 @@
                     "lineCount": 1
                 }
             },
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 73,
-                    "endColumn": 99,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportAttributeAccessIssue",
                 "range": {
@@ -1227,14 +1195,6 @@
                     "lineCount": 1
                 }
             },
-            {
-                "code": "reportAttributeAccessIssue",
-                "range": {
-                    "startColumn": 66,
-                    "endColumn": 71,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportAssignmentType",
                 "range": {
@@ -3331,30 +3291,6 @@
                     "lineCount": 1
                 }
             },
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 46,
-                    "endColumn": 50,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportAttributeAccessIssue",
-                "range": {
-                    "startColumn": 43,
-                    "endColumn": 49,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportOptionalSubscript",
-                "range": {
-                    "startColumn": 32,
-                    "endColumn": 38,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportReturnType",
                 "range": {
@@ -3997,22 +3933,6 @@
             }
         ],
         "./positronic/drivers/webxr.py": [
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 12,
-                    "endColumn": 38,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 12,
-                    "endColumn": 30,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportArgumentType",
                 "range": {
@@ -4021,22 +3941,6 @@
                     "lineCount": 1
                 }
             },
-            {
-                "code": "reportAttributeAccessIssue",
-                "range": {
-                    "startColumn": 59,
-                    "endColumn": 70,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportAttributeAccessIssue",
-                "range": {
-                    "startColumn": 59,
-                    "endColumn": 70,
-                    "lineCount": 1
-                }
-            },
             {
                 "code": "reportArgumentType",
                 "range": {
@@ -6977,4 +6881,4 @@
             }
         ]
     }
-}
+}
\ No newline at end of file
diff --git a/pimm/logging.py b/pimm/logging.py
index 99d628a69..748337053 100644
--- a/pimm/logging.py
+++ b/pimm/logging.py
@@ -39,6 +39,7 @@
     'boto3',
     's3transfer',  # per part of a multipart upload
     'asyncio',  # per selector event, under its debug mode
+    'linuxpy',  # per ioctl, which is several times a frame for every camera
 )
 
 
diff --git a/pimm/tests/test_calls.py b/pimm/tests/test_calls.py
index 09187272e..e3583597b 100644
--- a/pimm/tests/test_calls.py
+++ b/pimm/tests/test_calls.py
@@ -175,6 +175,17 @@ def run(self, should_stop, clock):
         yield Sleep(0.001)
 
 
+class Interrupted(ControlSystem):
+    """Ends on the interrupt an operator sends, which reaches every process of a run at once."""
+
+    def __init__(self):
+        self.add = ControlSystemHandler[tuple[int, int], int](self)
+
+    def run(self, should_stop, clock):
+        yield Sleep(0.001)
+        raise KeyboardInterrupt
+
+
 class TestAllOf:
     def test_one_answer_stands_for_many(self, bound):
         caller, handler = bound
@@ -267,6 +278,18 @@ def test_a_handler_whose_system_ends_answers_the_calls_it_never_reached(self):
             world.run([client, deaf])
         assert isinstance(client.results[0], HandlerStopped)
 
+    def test_a_handler_the_operator_interrupts_answers_nothing(self):
+        """An interrupt can land inside a manager call, and the connection then carries half a message.
+
+        Reading it again returns the tail of another, so an interrupted system says nothing at all.
+        """
+        client, interrupted = Client([(1, 2)]), Interrupted()
+        with World(virtual_time=True) as world:
+            world.connect(client.add, interrupted.add)
+            with pytest.raises(KeyboardInterrupt):
+                world.run([client, interrupted])
+        assert client.results == []
+
     def test_a_stopped_handler_survives_the_trip_to_another_process(self):
         """A reply crosses a pipe as pickle, and an exception is rebuilt by calling its class with its args."""
         assert isinstance(pickle.loads(pickle.dumps(HandlerStopped())), HandlerStopped)
diff --git a/pimm/tests/test_world.py b/pimm/tests/test_world.py
index 9c7dbe92c..c6646f31d 100644
--- a/pimm/tests/test_world.py
+++ b/pimm/tests/test_world.py
@@ -9,6 +9,7 @@
 
 import pytest
 
+import pimm.world
 from pimm.core import (
     ControlSystem,
     ControlSystemEmitter,
@@ -99,6 +100,24 @@ def read_from_buffer(self, buffer: memoryview | bytes) -> None:
         self.value = struct.unpack('d', buffer[:8])[0]
 
 
+def test_a_process_that_took_an_interrupt_stops_talking_to_the_manager(monkeypatch):
+    """An interrupt can land inside a call to the manager, and that connection then holds half a message.
+
+    Reading it again returns what another call asked for, so a reader takes a value off a channel it never
+    subscribed to. A process that has taken one neither reads nor sends after it.
+    """
+    with World() as world:
+        emitter, receiver = world.mp_pipes()
+        assert not isinstance(receiver, list)  # one receiver, which is what `mp_pipes` makes by default
+        emitter.emit('before', ts=1)
+        assert receiver.read() is not None
+
+        monkeypatch.setattr(pimm.world, '_interrupted', True)
+
+        emitter.emit('after', ts=2)  # dropped, not sent
+        assert receiver.read() is None
+
+
 class TestQueueEmitter:
     """Test the QueueEmitter class."""
 
diff --git a/pimm/world.py b/pimm/world.py
index fcd47c495..4fb170951 100644
--- a/pimm/world.py
+++ b/pimm/world.py
@@ -11,6 +11,7 @@
 import traceback
 from collections import Counter, defaultdict, deque
 from collections.abc import Callable, Iterator, Mapping
+from contextlib import contextmanager
 from enum import IntEnum
 from multiprocessing import resource_tracker
 from multiprocessing.managers import ValueProxy
@@ -42,6 +43,7 @@
 logger = logging.getLogger(__name__)
 
 T = TypeVar('T')
+U = TypeVar('U')
 Req = TypeVar('Req')
 Res = TypeVar('Res')
 
@@ -75,6 +77,28 @@ def emit(self, data: T, ts: int = -1):
                 pass
 
 
+# Set in a process that has taken an interrupt. An interrupt can land inside a call to the manager, and
+# that connection then holds half a message: the next call over it returns what another one asked for, so
+# a reader takes a value from a channel it never subscribed to. Nothing may be sent or read after it.
+_interrupted = False
+
+
+@contextmanager
+def _noting_interrupt() -> Iterator[None]:
+    """Record an interrupt taken inside the block, and let it go on.
+
+    A connection is torn by an interrupt that lands in the middle of a call over it, so every process that
+    reaches a transport records its own -- there is nowhere else the tearing can happen, and no process has
+    to have had a handler installed for it.
+    """
+    global _interrupted
+    try:
+        yield
+    except KeyboardInterrupt:
+        _interrupted = True
+        raise
+
+
 class MultiprocessEmitter(SignalEmitter[T]):
     """Signal emitter that transparently bridges processes.
 
@@ -188,9 +212,12 @@ def _emit_shared_memory(self, data: SMCompliant, ts: int) -> bool:
 
         return True
 
+    @_noting_interrupt()
     def emit(self, data: T, ts: int = -1):
+        if _interrupted:
+            return
         ts = ts if ts >= 0 else self._clock.now_ns()
-        mode = self._ensure_mode(data)
+        mode = self._ensure_mode(data)  # itself a call to the manager, so it sits inside the guard
 
         if mode is TransportMode.SHARED_MEMORY:
             if not isinstance(data, SMCompliant):
@@ -275,6 +302,10 @@ def _read_queue(self) -> Message[T] | None:
         except Empty:
             message = None
         else:
+            if not isinstance(message, Message):
+                # An interrupt that lands inside a manager call leaves that connection holding half a
+                # message, and every read after it comes back as whatever another call asked for.
+                raise ConnectionError(f'the queue was read after an interrupt tore its connection: {message!r}')
             self._last_queue_message = Message(message.data, message.ts, True)
             if self._mode is TransportMode.UNDECIDED:
                 self._mode = TransportMode.QUEUE
@@ -332,8 +363,11 @@ def _read_shared_memory(self) -> Message[T] | None:
             self._up_value.value = False
             return Message(data=self._out_value, ts=self._ts_value.value, updated=updated)  # instead of True
 
+    @_noting_interrupt()
     def read(self) -> Message[T] | None:
-        mode = self.transport_mode
+        if _interrupted:
+            return None
+        mode = self.transport_mode  # itself a call to the manager, so it sits inside the guard
 
         if mode is TransportMode.SHARED_MEMORY:
             return self._read_shared_memory()
@@ -456,11 +490,19 @@ def __init__(self, cs: ControlSystem):
         self.__name__ = f'{type(cs).__name__}.run'
 
     def __call__(self, should_stop: SignalReceiver, clock: Clock) -> Iterator[Command]:
+        interrupted = False
         try:
             yield from self.cs.run(should_stop, clock)
+        except KeyboardInterrupt:
+            # An interrupt lands in every process at once, and it can land inside a manager call, which
+            # leaves that connection in the middle of a message. Reading it again returns the tail of
+            # somebody else's, so a call is left unanswered here rather than answered from a torn stream.
+            interrupted = True
+            raise
         finally:
-            for handler in handlers_of(self.cs):
-                handler.fail_queued()
+            if not interrupted:
+                for handler in handlers_of(self.cs):
+                    handler.fail_queued()
 
 
 def _bg_wrapper(
@@ -645,10 +687,10 @@ def interleave(self, *loops: ControlLoop) -> Iterator[Command]:
     def connect(
         self,
         source: ControlSystemEmitter[T] | ControlSystemCaller[Req, Res],
-        target: ControlSystemReceiver[T] | ControlSystemHandler[Req, Res],
+        target: ControlSystemReceiver[U] | ControlSystemHandler[Req, Res],
         *,
         emitter_wrapper: Callable[[SignalEmitter[T]], SignalEmitter[T]] = identity,
-        receiver_wrapper: Callable[[SignalReceiver[T]], SignalReceiver[T]] = identity,
+        receiver_wrapper: Callable[[SignalReceiver[T]], SignalReceiver[U]] = identity,
     ) -> None:
         """Declare a logical connection: an Emitter feeding a Receiver, or a Caller invoking a Handler.
 
diff --git a/positronic/assets/mujoco/trossen_wxai/LICENSE b/positronic/assets/mujoco/trossen_wxai/LICENSE
new file mode 100644
index 000000000..58eba3013
--- /dev/null
+++ b/positronic/assets/mujoco/trossen_wxai/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, Trossen Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/positronic/assets/mujoco/trossen_wxai/README.md b/positronic/assets/mujoco/trossen_wxai/README.md
new file mode 100644
index 000000000..697c700b4
--- /dev/null
+++ b/positronic/assets/mujoco/trossen_wxai/README.md
@@ -0,0 +1,24 @@
+# Trossen WidowX AI Description
+
+Robot description (MJCF) of the Trossen WidowX AI arm, from
+[trossen_arm_mujoco](https://github.com/TrossenRobotics/trossen_arm_mujoco)
+(`trossen_arm_mujoco/assets/wxai/wxai_follower.xml` at revision
+[`8d9389b`](https://github.com/TrossenRobotics/trossen_arm_mujoco/commit/8d9389b46ba02bdbf6d5e086e09d20717ccfed68)),
+BSD 3-Clause, see [LICENSE](./LICENSE).
+
+`meshdir` names `assets`, the directory beside this file that holds the meshes.
+
+`ee_site` is the frame the arm controller reports its Cartesian position in: the site sits 0.156 m along
+the flange's x axis, which is the `t_flange_tool` offset the `trossen_arm` SDK carries for the standard
+`wxai_v0` end effector. Forward kinematics on this model and the pose the controller reports agree to
+0.13 mm and 0.01 degrees, measured on firmware 1.11.1.
+
+`wxai_follower.urdf` is the same arm as URDF, from
+[trossen_arm_description](https://github.com/TrossenRobotics/trossen_arm_description)
+(`urdf/generated/wxai/wxai_follower.urdf`), BSD 3-Clause, with `meshes/trossen_black.png` beside the STLs
+it already shares with the MJCF. The driver solves against the MJCF and the codecs against the URDF, so
+`ee_gripper_link` of the URDF and `ee_site` of the MJCF must name one place:
+`test_the_trossen_urdf_and_its_mjcf_put_the_control_frame_in_the_same_place` measures that they do.
+
+The URDF names its meshes the way its own ROS package does; the driver shortens each to the file beside
+this README before it publishes the model.
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/base_link.stl b/positronic/assets/mujoco/trossen_wxai/assets/base_link.stl
new file mode 100644
index 000000000..5fb36b36f
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/base_link.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/camera_mount_d405.stl b/positronic/assets/mujoco/trossen_wxai/assets/camera_mount_d405.stl
new file mode 100644
index 000000000..6215e6f99
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/camera_mount_d405.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/carriage_left.stl b/positronic/assets/mujoco/trossen_wxai/assets/carriage_left.stl
new file mode 100644
index 000000000..ac0223b3f
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/carriage_left.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/carriage_right.stl b/positronic/assets/mujoco/trossen_wxai/assets/carriage_right.stl
new file mode 100644
index 000000000..15660bd78
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/carriage_right.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/d405.stl b/positronic/assets/mujoco/trossen_wxai/assets/d405.stl
new file mode 100644
index 000000000..413d260f6
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/d405.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/gripper_left.stl b/positronic/assets/mujoco/trossen_wxai/assets/gripper_left.stl
new file mode 100644
index 000000000..4d7d72fd1
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diff --git a/positronic/assets/mujoco/trossen_wxai/assets/gripper_right.stl b/positronic/assets/mujoco/trossen_wxai/assets/gripper_right.stl
new file mode 100644
index 000000000..868a198b9
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/gripper_right.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_1.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_1.stl
new file mode 100644
index 000000000..05173877d
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_1.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_2.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_2.stl
new file mode 100644
index 000000000..40ccf3492
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_2.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_3.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_3.stl
new file mode 100644
index 000000000..ebee403ee
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_3.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_4.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_4.stl
new file mode 100644
index 000000000..e43e5f2bf
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_4.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_5.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_5.stl
new file mode 100644
index 000000000..5ff6485e7
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_5.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/link_6.stl b/positronic/assets/mujoco/trossen_wxai/assets/link_6.stl
new file mode 100644
index 000000000..886782795
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/link_6.stl differ
diff --git a/positronic/assets/mujoco/trossen_wxai/assets/trossen_black.png b/positronic/assets/mujoco/trossen_wxai/assets/trossen_black.png
new file mode 100644
index 000000000..e7443eb55
Binary files /dev/null and b/positronic/assets/mujoco/trossen_wxai/assets/trossen_black.png differ
diff --git a/positronic/assets/mujoco/trossen_wxai/wxai_follower.urdf b/positronic/assets/mujoco/trossen_wxai/wxai_follower.urdf
new file mode 100644
index 000000000..5e3542348
--- /dev/null
+++ b/positronic/assets/mujoco/trossen_wxai/wxai_follower.urdf
@@ -0,0 +1,405 @@
+<?xml version="1.0"?>
+<robot name="wxai">
+  <material name="trossen_black">
+    <texture filename="package://trossen_arm_description/meshes/trossen_black.png"/>
+  </material>
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00014175 -0.00005228 0.03175177"/>
+      <mass value="0.45969858"/>
+      <inertia ixx="0.00041660" ixy="0.00000011" ixz="-0.00000454" iyy="0.00044896" iyz="-0.00000078" izz="0.00021403"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/base_link.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00011075 0.00171176 0.02044592"/>
+      <mass value="0.15270428"/>
+      <inertia ixx="0.00018509" ixy="-0.00000191" ixz="-0.00001436" iyy="0.00008358" iyz="-0.00000130" izz="0.00019219"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_1.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.05725"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="27.0" lower="-3.0543261909900767" upper="3.0543261909900767" velocity="3.375"/>
+  </joint>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.13121451 -0.00292583 0.00021345"/>
+      <mass value="1.15316319"/>
+      <inertia ixx="0.00102632" ixy="-0.00000319" ixz="-0.00002679" iyy="0.01736118" iyz="-0.00000193" izz="0.01794489"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_2.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.02 0 0.04625"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="27.0" lower="0.0" upper="3.141592653589793" velocity="3.375"/>
+  </joint>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.18083602 -0.00094090 0.05554937"/>
+      <mass value="0.68666638"/>
+      <inertia ixx="0.00064876" ixy="0.00009128" ixz="-0.00052002" iyy="0.00547407" iyz="0.00001159" izz="0.00561509"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_3.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.264 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="27.0" lower="0.0" upper="2.356194490192345" velocity="3.375"/>
+  </joint>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.05797842 0.00027145 0.05884447"/>
+      <mass value="0.45789905"/>
+      <inertia ixx="0.00053839" ixy="0.00000690" ixz="-0.00018164" iyy="0.00066138" iyz="0.00000724" izz="0.00042116"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_4.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.245 0 0.06"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="7.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="7.0"/>
+  </joint>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00412447 -0.00001138 -0.04283184"/>
+      <mass value="0.36693910"/>
+      <inertia ixx="0.00018912" ixy="-0.00000045" ixz="0.00000090" iyy="0.00032062" iyz="0.00000003" izz="0.00026750"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_5.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.06775 0 0.0455"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="7.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="7.0"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04572768 -0.00000726 0.00001402"/>
+      <mass value="0.55469347"/>
+      <inertia ixx="0.00082429" ixy="-0.00000051" ixz="0.00000010" iyy="0.00048759" iyz="0.00000004" izz="0.00108600"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_6.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.02895 0 -0.0455"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="7.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="7.0"/>
+  </joint>
+  <link name="carriage_right">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00889602 0.00403514 0.00457901"/>
+      <mass value="0.05036313"/>
+      <inertia ixx="0.00001736" ixy="-0.00000165" ixz="-0.00000104" iyy="0.00000591" iyz="-0.00000172" izz="0.00001378"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/carriage_right.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/carriage_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_carriage_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0865 -0.023 0"/>
+    <parent link="link_6"/>
+    <child link="carriage_right"/>
+    <mimic joint="left_carriage_joint"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="400.0" lower="0.0" upper="0.044" velocity="0.0875"/>
+  </joint>
+  <link name="carriage_left">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00889602 -0.00403515 -0.00457908"/>
+      <mass value="0.05036313"/>
+      <inertia ixx="0.00001736" ixy="-0.00000165" ixz="-0.00000104" iyy="0.00000591" iyz="-0.00000172" izz="0.00001378"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/carriage_left.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/carriage_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_carriage_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0865 0.023 0"/>
+    <parent link="link_6"/>
+    <child link="carriage_left"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="400.0" lower="0.0" upper="0.044" velocity="0.0875"/>
+  </joint>
+  <link name="camera_mount_d405">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03023383 0.00679835 0.05006687"/>
+      <mass value="0.04518012"/>
+      <inertia ixx="0.00003426" ixy="-0.00000027" ixz="-0.00000309" iyy="0.00001980" iyz="-0.00000319" izz="0.00002470"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/camera_mount_d405.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/camera_mount_d405.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_mount_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.012 0 0"/>
+    <parent link="link_6"/>
+    <child link="camera_mount_d405"/>
+  </joint>
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0 0.3490658503988659 0" xyz="0.02927207801 0 0.03824951197"/>
+    <parent link="camera_mount_d405"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/peripherals/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.00002117" ixy="0.0" ixz="0.0" iyy="0.000013758" iyz="0.0" izz="0.000013758"/>
+    </inertial>
+  </link>
+  <joint name="camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <link name="camera_depth_frame"/>
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+  <joint name="camera_infra1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_infra1_frame"/>
+  </joint>
+  <link name="camera_infra1_frame"/>
+  <joint name="camera_infra1_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_infra1_frame"/>
+    <child link="camera_infra1_optical_frame"/>
+  </joint>
+  <link name="camera_infra1_optical_frame"/>
+  <joint name="camera_infra2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.018 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_infra2_frame"/>
+  </joint>
+  <link name="camera_infra2_frame"/>
+  <joint name="camera_infra2_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_infra2_frame"/>
+    <child link="camera_infra2_optical_frame"/>
+  </joint>
+  <link name="camera_infra2_optical_frame"/>
+  <joint name="camera_color_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_color_frame"/>
+  </joint>
+  <link name="camera_color_frame"/>
+  <joint name="camera_color_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_color_frame"/>
+    <child link="camera_color_optical_frame"/>
+  </joint>
+  <link name="camera_color_optical_frame"/>
+  <link name="gripper_left">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01893993 -0.00901223 -0.00215453"/>
+      <mass value="0.03090787"/>
+      <inertia ixx="0.00000769" ixy="0.00000321" ixz="0.00000029" iyy="0.00001487" iyz="-0.00000020" izz="0.00001184"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/gripper_left.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/gripper_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_gripper_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="carriage_left"/>
+    <child link="gripper_left"/>
+  </joint>
+  <link name="gripper_right">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01893989 0.00901216 -0.00215461"/>
+      <mass value="0.03090786"/>
+      <inertia ixx="0.00000769" ixy="-0.00000321" ixz="0.00000029" iyy="0.00001487" iyz="0.00000020" izz="0.00001184"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/gripper_right.stl"/>
+      </geometry>
+      <material name="trossen_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://trossen_arm_description/meshes/wxai/gripper_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_gripper_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="carriage_right"/>
+    <child link="gripper_right"/>
+  </joint>
+  <joint name="ee_gripper" type="fixed">
+    <origin rpy="0 0 0" xyz="0.156062 0 0"/>
+    <parent link="link_6"/>
+    <child link="ee_gripper_link"/>
+  </joint>
+  <link name="ee_gripper_link"/>
+</robot>
diff --git a/positronic/assets/mujoco/trossen_wxai/wxai_follower.xml b/positronic/assets/mujoco/trossen_wxai/wxai_follower.xml
new file mode 100644
index 000000000..b009daef6
--- /dev/null
+++ b/positronic/assets/mujoco/trossen_wxai/wxai_follower.xml
@@ -0,0 +1,121 @@
+<mujoco model="wxai_follower">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="visual">
+      <geom type="mesh" group="2" contype="0" conaffinity="0" material="trossen_black"/>
+    </default>
+    <default class="collision">
+      <geom type="cylinder" group="3" mass="0" density="0"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="trossen_black" rgba="0.1 0.1 0.1 1"/>
+
+    <mesh name="base_link" file="base_link.stl"/>
+    <mesh name="link_1" file="link_1.stl"/>
+    <mesh name="link_2" file="link_2.stl"/>
+    <mesh name="link_3" file="link_3.stl"/>
+    <mesh name="link_4" file="link_4.stl"/>
+    <mesh name="link_5" file="link_5.stl"/>
+    <mesh name="link_6" file="link_6.stl"/>
+    <mesh name="carriage_right" file="carriage_right.stl"/>
+    <mesh name="carriage_left" file="carriage_left.stl"/>
+    <mesh name="camera_mount_d405" file="camera_mount_d405.stl"/>
+    <mesh name="d405" file="d405.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="gripper_left" file="gripper_left.stl"/>
+    <mesh name="gripper_right" file="gripper_right.stl"/>
+  </asset>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 0" gravcomp="1">
+      <inertial pos="-0.00014175 -5.228e-05 0.03175177" quat="0.503748 -0.507380 -0.494230 -0.494510" mass="0.45969858" diaginertia="0.000213926 0.000416701 0.000448963"/>
+      <geom class="visual" mesh="base_link"/>
+      <geom class="collision" type="cylinder" size="0.031 0.0325" pos="0 0 0.0325" quat="1 0 0 0"/>
+      <body name="link_1" pos="0 0 0.05725" gravcomp="1">
+        <inertial pos="-0.00011075 0.00171176 0.0204459" quat="0.313955 0.305238 -0.643575 0.627752" mass="0.152704" diaginertia="0.000203432 0.000173907 8.3521e-05"/>
+        <joint name="joint_0" pos="0 0 0" axis="0 0 1" range="-3.05433 3.05433" armature="0.032" frictionloss="0.1" actuatorgravcomp="true"/>
+        <geom class="visual" mesh="link_1"/>
+        <body name="link_2" pos="0.02 0 0.04625" gravcomp="1">
+          <inertial pos="-0.131215 -0.00292583 0.00021345" quat="-0.00123582 0.706546 -0.00109575 0.707665" mass="1.15316" diaginertia="0.0179449 0.0173612 0.00102628"/>
+          <joint name="joint_1" pos="0 0 0" axis="0 1 0" range="0 3.14159" armature="0.032" frictionloss="0.1" actuatorgravcomp="true"/>
+          <geom class="visual" mesh="link_2"/>
+          <geom class="collision" type="capsule" size="0.031 0.015" pos="0 0 0" quat="1 1 0 0"/>
+          <geom class="collision" type="box" size="0.0975 0.02 0.02" pos="-0.131 0 0" quat="1 0 0 0"/>
+          <body name="link_3" pos="-0.264 0 0" gravcomp="1">
+            <inertial pos="0.180836 -0.0009409 0.0555494" quat="0.0103901 0.669684 -0.0033175 0.742566" mass="0.686666" diaginertia="0.00566898 0.00547578 0.00059316"/>
+            <joint name="joint_2" pos="0 0 0" axis="0 -1 0" range="0 2.35619" armature="0.032" frictionloss="0.1" actuatorgravcomp="true"/>
+            <geom class="visual" mesh="link_3"/>
+            <geom class="collision" type="capsule" size="0.031 0.015" pos="0 0 0" quat="1 1 0 0"/>
+            <geom class="collision" type="box" size="0.08 0.02 0.02" pos="0.13 0 0.06" quat="1 0 0 0"/>
+            <body name="link_4" pos="0.245 0 0.06" gravcomp="1">
+              <inertial pos="0.0579784 0.00027145 0.0588445" quat="0.948688 0.0346237 0.307828 0.0635164" mass="0.457899" diaginertia="0.000670827 0.000661455 0.000288648"/>
+              <joint name="joint_3" pos="0 0 0" axis="0 -1 0" range="-1.5708 1.5708" armature="0.0018" frictionloss="0.1" actuatorgravcomp="true"/>
+              <geom class="visual" mesh="link_4"/>
+              <geom class="collision" type="capsule" size="0.031 0.015" pos="0 0 0" quat="1 1 0 0"/>
+              <body name="link_5" pos="0.06775 0 0.0455" gravcomp="1">
+                <inertial pos="0.00412447 -1.138e-05 -0.0428318" quat="0.496144 0.502128 0.503595 0.498098" mass="0.366939" diaginertia="0.000320622 0.00026751 0.000189108"/>
+                <joint name="joint_4" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" armature="0.0018" frictionloss="0.1" actuatorgravcomp="true"/>
+                <geom class="visual" mesh="link_5"/>
+                <geom class="collision" type="cylinder" size="0.031 0.028" pos="0 0 0.03" quat="1 0 0 0"/>
+                <body name="link_6" pos="0.02895 0 -0.0455" gravcomp="1">
+                  <inertial pos="0.046841 0.00145133 0.00895674" quat="0.275854 0.291255 -0.691957 0.600225" mass="0.671874" diaginertia="0.00118316 0.00110863 0.00078309"/>
+                  <joint name="joint_5" pos="0 0 0" axis="1 0 0" range="-3.14159 3.14159" armature="0.0018" frictionloss="0.1" actuatorgravcomp="true"/>
+                  <geom class="visual" mesh="link_6"/>
+                  <geom class="collision" type="cylinder" size="0.029 0.05" pos="0 0 0" quat="1 0 1 0"/>
+                  <geom class="collision" type="box" size="0.0125 0.094 0.031" pos="0.0685 0 0" quat="1 0 0 0"/>
+                  <!-- End-effector site at gripper tip -->
+                  <site name="ee_site" pos="0.156 0 0" size="0.001"/>
+                  <geom class="visual" pos="0.012 0 0" quat="1 0 0 0" mesh="camera_mount_d405"/>
+                  <geom class="collision" type="box" size="0.0155 0.025 0.025" pos="0.0513206 0 0.0569399" quat="0.984808 0 0.173648 0"/>
+                  <geom class="visual" type="box" size="0.0115 0.021 0.021" pos="0.0513206 0 0.0569399" quat="0.984808 0 0.173648 0"/>
+                  <site name="camera_color_frame" pos="0.05864 0.009 0.05427" quat="0.9848078 0 0.1736482 0" size="0.005"/>
+                  <camera name="cam" pos="0.05864 0.009 0.05427" quat="0.5793 0.4056 -0.4056 -0.5793" mode="fixed" fovy="87"/>
+                  <body name="carriage_right" pos="0.0865 -0.023 0" gravcomp="1">
+                    <inertial pos="0.00169015 0.00592793 0.00201817" quat="-0.370973 0.740886 -0.0847721 0.553427" mass="0.081271" diaginertia="4.29565e-05 3.87081e-05 2.21528e-05"/>
+                    <joint name="right_carriage_joint" pos="0 0 0" axis="0 -1 0" type="slide" range="0 0.044" armature="0.1" frictionloss="0.1" actuatorgravcomp="true"/>
+                    <geom class="visual" mesh="carriage_right"/>
+                    <geom class="visual" mesh="gripper_right"/>
+                    <geom class="collision" type="box" size="0.0275 0.005 0.01" pos="0.0286 0.01436 0.0037" quat="0.99257 -0.00451 0.10246 0.06547"/>
+                    <geom class="collision" type="box" size="0.0275 0.005 0.01" pos="0.0285 0.01429 -0.00973" quat="0.98344 0.0133 -0.16893 0.06427"/>
+                    <geom class="collision" type="box" size="0.00732 0.00214 0.00767" pos="0.0622 0.02083 -0.00105" quat="1 0 0 0"/>
+                  </body>
+                  <body name="carriage_left" pos="0.0865 0.023 0" gravcomp="1">
+                    <inertial pos="0.00169017 -0.00592796 -0.00365701" quat="-0.0382691 0.628022 -0.255101 0.734198" mass="0.081271" diaginertia="4.21112e-05 3.61943e-05 2.40003e-05"/>
+                    <joint name="left_carriage_joint" pos="0 0 0" axis="0 1 0" type="slide" range="0 0.044" armature="0.1" frictionloss="0.1" actuatorgravcomp="true"/>
+                    <geom class="visual" mesh="carriage_left"/>
+                    <geom class="visual" mesh="gripper_left"/>
+                    <geom class="collision" type="box" size="0.0275 0.005 0.01" pos="0.0286 -0.01436 0.0037" quat="0.99257 0.00451 0.10246 -0.06547"/>
+                    <geom class="collision" type="box" size="0.0275 0.005 0.01" pos="0.0285 -0.01429 -0.00973" quat="0.98344 -0.0133 -0.16893 -0.06427"/>
+                    <geom class="collision" type="box" size="0.00732 0.00214 0.00767" pos="0.0622 -0.02083 -0.00105" quat="1 0 0 0"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <equality>
+    <joint joint1="right_carriage_joint" joint2="left_carriage_joint" polycoef="0 1 0 0 0"/>
+  </equality>
+
+  <actuator>
+    <position name="joint_0" joint="joint_0" kp="200" kv="10" ctrlrange="-3.05433 3.05433" forcerange="-27 27"/>
+    <position name="joint_1" joint="joint_1" kp="200" kv="10" ctrlrange="0 3.14159" forcerange="-27 27"/>
+    <position name="joint_2" joint="joint_2" kp="200" kv="10" ctrlrange="0 2.35619" forcerange="-27 27"/>
+    <position name="joint_3" joint="joint_3" kp="100" kv="5" ctrlrange="-1.5708 1.5708" forcerange="-7 7"/>
+    <position name="joint_4" joint="joint_4" kp="50" kv="5" ctrlrange="-1.5708 1.5708" forcerange="-7 7"/>
+    <position name="joint_5" joint="joint_5" kp="50" kv="5" ctrlrange="-3.14159 3.14159" forcerange="-7 7"/>
+    <position name="left_gripper" joint="left_carriage_joint" kp="1000" kv="50" ctrlrange="0 0.044" forcerange="-400 400"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0 0 0 0 0 0" ctrl="0 0 0 0 0 0 0"/>
+  </keyframe>
+</mujoco>
diff --git a/positronic/cfg/embodiment.py b/positronic/cfg/embodiment.py
index 4dacebe9f..d8cf8547e 100644
--- a/positronic/cfg/embodiment.py
+++ b/positronic/cfg/embodiment.py
@@ -65,6 +65,34 @@ def yam(robot_arm, cameras):
     )
 
 
+@cfn.config(
+    robot_arm=positronic.cfg.hardware.roboarm.trossen,
+    cameras=dict(positronic.cfg.hardware.camera.TROSSEN_STATION_VIEWS),
+)
+def trossen(robot_arm, cameras):
+    """Real single-arm Trossen WidowX AI: the arm driver carries the gripper (they share one controller)."""
+    observations = {
+        keys.ROBOT_STATE: Observation(robot_arm.state, Serializers.robot_state),
+        keys.GRIP: Observation(robot_arm.grip, None),
+        **{name: Observation(cam.frame, Serializers.camera_images) for name, cam in cameras.items()},
+    }
+    commands = {
+        keys.ROBOT_COMMAND: Command(robot_arm.commands, Serializers.robot_command),
+        keys.TARGET_GRIP: Command(robot_arm.target_grip, None),
+    }
+    return Embodiment(
+        descriptor='trossen_wxai',
+        observations=observations,
+        commands=commands,
+        # One driver, one handler: the arm's controller carries its fingers
+        prepare_handlers={eval_keys.ARM: robot_arm.sync_move},
+        static_meta=dict(ROBOT_STATIC_META),
+        meta_source=robot_arm.robot_meta,
+        control_systems=(*cameras.values(), robot_arm),
+        simulated=False,
+    )
+
+
 @cfn.config(
     left_channel='can0',
     right_channel='can1',
diff --git a/positronic/cfg/eval/real/trossen.py b/positronic/cfg/eval/real/trossen.py
new file mode 100644
index 000000000..46da2953f
--- /dev/null
+++ b/positronic/cfg/eval/real/trossen.py
@@ -0,0 +1,49 @@
+from collections.abc import Callable
+from functools import partial
+from typing import Any
+
+import configuronic as cfn
+import numpy as np
+
+from positronic.cfg.embodiment import trossen
+from positronic.cfg.hardware.roboarm import TROSSEN_NOMINAL_JOINTS
+from positronic.drivers.roboarm import command
+from positronic.eval import Eval, Task
+from positronic.eval import keys as eval_keys
+
+PARTS_TASK = 'Pick the parts one by one from the table and put them into the transparent box.'
+
+
+def _trossen_trial(instruction: str, timeout: float | None, meta: dict[str, Any] | None = None) -> Task:
+    """One trial on the Trossen station. A person lays the parts out before it, so the trial asks for no scene.
+
+    The arm opens every trial at the pose the operator's demonstrations open at: it rests on the lower limit
+    of two joints, where half the directions out of it have no solution.
+    """
+    return Task(
+        instruction_source=instruction,
+        timeout_sec=timeout,
+        prepare_args={eval_keys.ARM: command.JointPosition(np.asarray(TROSSEN_NOMINAL_JOINTS, dtype=np.float64))},
+        meta=meta or {},
+    )
+
+
+@cfn.config(instruction=PARTS_TASK, timeout=None)
+def attended_trials(instruction: str, timeout: float | None) -> Callable[[], Task]:
+    """The trials an attended Trossen run gets, one per press. Without a ``timeout`` the operator ends the
+    episode."""
+    return partial(_trossen_trial, instruction, timeout)
+
+
+def _planned_trials(instruction: str, timeout: float | None, trial_count: int) -> list[Task]:
+    return [
+        _trossen_trial(instruction, timeout, {eval_keys.TRIAL_INDEX: trial, eval_keys.TRIAL_COUNT: trial_count})
+        for trial in range(trial_count)
+    ]
+
+
+@cfn.config(embodiment=trossen, instruction=PARTS_TASK, timeout=120, trial_count=1)
+def pick_place(embodiment, instruction: str, timeout: float | None, trial_count: int) -> Eval:
+    """A real Trossen pick-and-place eval. The outcome is the operator's annotation: a real rig has no
+    ground truth to compute one from."""
+    return Eval(embodiment, partial(_planned_trials, instruction, timeout, trial_count))
diff --git a/positronic/cfg/hardware/camera.py b/positronic/cfg/hardware/camera.py
index 07acc4b5a..266c237db 100644
--- a/positronic/cfg/hardware/camera.py
+++ b/positronic/cfg/hardware/camera.py
@@ -24,6 +24,35 @@ def linux_video(**kwargs):
 )
 
 
+# rules-allow: primitive-type — a device path is the `str` `linuxpy.Device` takes and `LinuxVideo` hands
+# it, spelled the way the arducam configurations above spell theirs
+# The four RealSense D405 of the Trossen station. A D405 enumerates as a plain UVC device with six video
+# nodes, of which `-video-index4` carries the colour stream. The serial in the link is the USB one, which
+# is not the serial the RealSense SDK reports for the same camera.
+_D405_DEVICE_PATH_PREFIX = (
+    '/dev/v4l/by-id/usb-Intel_R__RealSense_TM__Depth_Camera_405_Intel_R__RealSense_TM__Depth_Camera_405_'
+)
+
+d405_wrist_left = linux_video.override(
+    device_path=f'{_D405_DEVICE_PATH_PREFIX}251323070021-video-index4',
+    width=640,
+    height=480,
+    fps=30,
+    pixel_format='YUYV',
+)
+
+d405_wrist_right = d405_wrist_left.override(device_path=f'{_D405_DEVICE_PATH_PREFIX}251323070565-video-index4')
+
+d405_scene_top = d405_wrist_left.override(device_path=f'{_D405_DEVICE_PATH_PREFIX}260323072626-video-index4')
+
+d405_scene_bottom = d405_wrist_left.override(device_path=f'{_D405_DEVICE_PATH_PREFIX}260323072970-video-index4')
+
+# The views the station records a demonstration with: the wrist camera of the arm it drives, and the one
+# that looks down on the table. The other two belong to the other arm. Data collection and the embodiment
+# read this one mapping, because a policy is fed what it was trained on or it is fed nothing.
+TROSSEN_STATION_VIEWS = {keys.WRIST_IMAGE: d405_wrist_right, keys.EXTERIOR_IMAGE: d405_scene_top}
+
+
 @cfn.config()
 def zed(**kwargs):
     from positronic.drivers.camera.zed import SLCamera
diff --git a/positronic/cfg/hardware/roboarm/__init__.py b/positronic/cfg/hardware/roboarm/__init__.py
index ec2779737..82e2e6476 100644
--- a/positronic/cfg/hardware/roboarm/__init__.py
+++ b/positronic/cfg/hardware/roboarm/__init__.py
@@ -7,6 +7,12 @@
 FRANKA_NOMINAL_JOINTS = [0.0, -0.31, 0.0, -1.65, 0.0, 1.522, 0.0]
 YAM_NOMINAL_JOINTS = [0.0, 1.047, 1.047, 0.0, 0.0, 0.0]
 SO101_NOMINAL_JOINTS = [0.0, 0.0, 0.0, 0.0, 0.0]
+# The Trossen rests on the lower limit of joints 1 and 2, where half the directions out of it have no
+# solution at all. Its start pose is mid-range on every joint instead, end effector at [0.503, 0, 0.232].
+TROSSEN_NOMINAL_JOINTS = [0.0, 1.571, 1.178, 0.0, 0.0, 0.0]
+# Where the Trossen rests: every joint at zero, which is the lower limit of joints 1 and 2. The arm holds
+# itself there without the controller, so it is where a session leaves it.
+TROSSEN_PARK_JOINTS = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
 # How far, per joint, a start pose drawn around the Franka's nominal may sit from it.
 FRANKA_JOINTS_SPREAD = [0.03, 0.05, 0.08, 0.08, 0.10, 0.10, 0.10]
 # The gains DROID's Franka ran, which its pretrained checkpoints were trained under.
@@ -76,3 +82,23 @@ def yam(channel: str, sim: bool, base_pose):
     from positronic.drivers.roboarm.yam import Robot
 
     return Robot(channel, base_pose=base_pose, sim=sim)
+
+
+@cfn.config(ip='192.168.1.4')
+def trossen(ip: str):
+    from positronic.drivers.roboarm.trossen import Robot
+
+    return Robot(ip=ip)
+
+
+# What the controller cancels of the gripper's own friction on a leader the operator holds, in N. Felt at
+# the rig on the leader at 192.168.1.2, which is calibrated at 5.77: at 10.02 the trigger moves under a
+# finger and still holds where it is left. Another arm may want its own.
+TROSSEN_LEADER_GRIPPER_FRICTION = 10.02
+
+
+@cfn.config(ip='192.168.1.2', force_feedback_gain=0.0, gripper_friction_constant=TROSSEN_LEADER_GRIPPER_FRICTION)
+def trossen_leader(ip: str, force_feedback_gain: float, gripper_friction_constant: float | None):
+    from positronic.drivers.roboarm.trossen_leader import Leader
+
+    return Leader(ip=ip, force_feedback_gain=force_feedback_gain, gripper_friction_constant=gripper_friction_constant)
diff --git a/positronic/data_collection.py b/positronic/data_collection.py
index 3319233a4..56b65250d 100644
--- a/positronic/data_collection.py
+++ b/positronic/data_collection.py
@@ -23,6 +23,7 @@
 from positronic.dataset.local_dataset import LocalDatasetWriter
 from positronic.dataset.serializers import Serializers
 from positronic.drivers import roboarm
+from positronic.drivers.keyboard import KeyboardControl
 from positronic.drivers.roboarm import State as RoboarmState
 from positronic.drivers.webxr import WebXR
 from positronic.gui import dpg_ui
@@ -32,11 +33,18 @@
 from positronic.utils.buttons import ButtonHandler
 
 
-def _parse_buttons(buttons: dict, button_handler: ButtonHandler):
+def _parse_buttons(buttons: dict, button_handler: ButtonHandler) -> set[str]:
+    """Feed the controllers' buttons to ``button_handler``, and answer with the hands that sent any.
+
+    A controller the headset has lost sends nothing at all, and the handler raises when asked for a button
+    it has never seen — so the hands named here are exactly the ones a caller may ask about.
+    """
+    hands = set()
     for side in ['left', 'right']:
         if buttons[side] is None:
             continue
 
+        hands.add(side)
         mapping = {
             f'{side}_A': buttons[side][4],
             f'{side}_B': buttons[side][5],
@@ -45,10 +53,14 @@ def _parse_buttons(buttons: dict, button_handler: ButtonHandler):
             f'{side}_stick': buttons[side][3],
         }
         button_handler.update_buttons(mapping)
+    return hands
 
 
-def _check_error(is_error, was_error):
-    return is_error, is_error and not was_error
+# Where the hand ends and its shake begins. Measured over three minutes of teleoperation: 84% of the
+# controller's movement sits below 1 Hz, 2% between 8 and 15 Hz — the tremor a hand always carries — and
+# 8% above 15 Hz, which no hand does and the pose stream brings on its own. A cut here keeps 88% of the
+# movement, and costs the operator 32 ms of lag.
+_HAND_CUTOFF_HZ = 5.0
 
 
 class _Tracker:
@@ -59,6 +71,8 @@ class _Tracker:
     def __init__(self, operator_position: geom.Transform3D | None):
         self._operator_position = operator_position
         self.on = self.umi_mode
+        self._steady: geom.Transform3D | None = None
+        self._steady_at = 0
 
     @property
     def umi_mode(self):
@@ -82,16 +96,92 @@ def turn_off(self):
         self.on = False
         logging.info('Stopped tracking')
 
-    def update(self, tracker_pos: geom.Transform3D):
-        if self.umi_mode:
+    def _steadied(self, pose: geom.Transform3D, ts_ns: int) -> geom.Transform3D:
+        """``pose`` with the hand's own shake taken out, as a first-order lag on both halves.
+
+        A pose that is not a number is dropped rather than filtered: the lag keeps what it is given, so one
+        NaN would sit in it and every pose after it would come back NaN until the run was started again.
+        """
+        if not np.all(np.isfinite(pose.translation)) or not np.all(np.isfinite(pose.rotation.as_quat)):
+            logging.warning('The headset sent a pose that is not a number, and it is dropped')
+            return self._steady if self._steady is not None else pose
+        if self._steady is None:
+            self._steady, self._steady_at = pose, ts_ns
+            return pose
+        step = max(ts_ns - self._steady_at, 0) / 1e9
+        self._steady_at = ts_ns
+        share = step / (step + 1.0 / (2.0 * np.pi * _HAND_CUTOFF_HZ))
+        turn = (self._steady.rotation.inv * pose.rotation).as_rotvec
+        # A quaternion and its negative are the same turn, and `as_rotvec` reads the negative one as
+        # nearly a full turn the other way. The hand went the short way round.
+        if (angle := float(np.linalg.norm(turn))) > np.pi:
+            turn = turn * (1.0 - 2.0 * np.pi / angle)
+        self._steady = geom.Transform3D(
+            self._steady.translation + share * (pose.translation - self._steady.translation),
+            self._steady.rotation * geom.Rotation.from_rotvec(share * turn),
+        )
+        return self._steady
+
+    def update(self, tracker_pos: geom.Transform3D, ts_ns: int):
+        if self._operator_position is None:  # `umi_mode`, said so the operator's frame reads as the pose it is
             return tracker_pos
 
-        self._teleop_t = self._operator_position * tracker_pos * self._operator_position.inv
+        steady = self._steadied(tracker_pos, ts_ns)
+        self._teleop_t = self._operator_position * steady * self._operator_position.inv
         return geom.Transform3D(
             self._teleop_t.translation + self._offset.translation, self._teleop_t.rotation * self._offset.rotation
         )
 
 
+class Teleop(Enum):
+    """What the operator moves to drive the arm."""
+
+    # A hand tracked in space. The arm follows the pose of the controller in that hand, and the operator
+    # starts and stops the tracking with that controller's own `A`.
+    HAND = 'hand'
+    # A leader arm the operator holds. The follower stands at the joints the leader reads — nothing is
+    # solved in between — and starts following once the two arms have met.
+    LEADER = 'leader'
+
+
+# How closely the leader and the follower must stand before the follower starts copying it, per joint. The
+# follower takes up whatever is left as one streamed step, so this is the largest jump engaging can make.
+_MEET_RAD = 0.1
+
+
+class _Follow:
+    """The follower waiting for the leader it copies to come to it.
+
+    Asking the operator to line the arms up and then press something takes their word for it, and a press
+    with the arms apart moves the follower the whole way at once. This engages on the fact instead: the
+    arms are together, or the follower is not following.
+    """
+
+    def __init__(self) -> None:
+        self.on = False
+        self._armed = False
+
+    def arm(self) -> None:
+        """Let the follower take up its leader again, once the session has put both where they stand."""
+        self._armed = True
+
+    def turn_off(self) -> None:
+        if self.on:
+            logging.info('The arm stopped following its leader')
+        self.on = False
+        self._armed = False
+
+    def take_up(self, leader: np.ndarray, follower: np.ndarray) -> None:
+        """Let the follower copy the leader, once the session has armed it and every joint of the two is
+        within ``_MEET_RAD`` of the other's. It goes on copying until something turns it off, and an arm
+        the operator has not asked for holds still however close the two stand."""
+        if not self._armed or self.on:
+            return
+        if leader.shape == follower.shape and np.max(np.abs(leader - follower)) <= _MEET_RAD:
+            self.on = True
+            logging.info('The arm met its leader and follows it now')
+
+
 class OperatorPosition(Enum):
     # map xyz -> zxy
     FRONT = geom.Transform3D(rotation=geom.Rotation.from_quat([0.5, 0.5, 0.5, 0.5]))
@@ -99,27 +189,59 @@ class OperatorPosition(Enum):
     BACK = geom.Transform3D(rotation=geom.Rotation.from_quat([-0.5, -0.5, 0.5, 0.5]))
 
 
+class SessionEvent(Enum):
+    """What the operator asks of the session itself, by whatever device is to hand."""
+
+    # Start the recording, or stop the one that runs.
+    RECORD = 'record'
+    # Put the arm back at its start pose, and abandon the recording that runs.
+    READY = 'ready'
+    # Put the arm where it rests, and abandon the recording that runs.
+    PARK = 'park'
+
+
+# What a session plays at the operator, from the sounds the package carries.
+_SOUNDS = Path(package_assets_path('assets/sounds'))
+_RECORDING_STARTED = _SOUNDS / 'recording-has-started.wav'
+_RECORDING_STOPPED = _SOUNDS / 'recording-has-stopped.wav'
+_RECORDING_ABANDONED = _SOUNDS / 'recording-has-been-aborted.wav'
+_SOMETHING_WENT_WRONG = _SOUNDS / 'error-occurred.wav'
+
+
 class DataCollectionController(pimm.ControlSystem):
     def __init__(
         self,
         operator_position: geom.Transform3D | None,
         nominal_joints: Sequence[float] | np.ndarray,
         joints_spread: Sequence[float] | np.ndarray = (),
+        park_joints: Sequence[float] | np.ndarray = (),
         *,
+        teleop: Teleop = Teleop.HAND,
         output_path: Path | None = None,
         static_meta: dict | None = None,
         metadata_getter: Callable[[], dict] | None = None,
     ):
         self.operator_position = operator_position
+        self.teleop = teleop
         self._output_path = output_path
         self._nominal_joints = np.asarray(nominal_joints, dtype=np.float64)
         # A station that measured no jitter sends the arm exactly to its nominal.
         spread = joints_spread if len(joints_spread) else np.zeros_like(self._nominal_joints)
         self._joints_spread = np.asarray(spread, dtype=np.float64)
+        self._park_joints = np.asarray(park_joints, dtype=np.float64)
         self._static_meta = static_meta or {}
         self.metadata_getter = metadata_getter or (lambda: {})
         self.controller_positions = pimm.DefaultingReceiver(self, default={})
-        self.buttons_receiver = pimm.ControlSystemReceiver(self)
+        # An arm driven by a leader has no controller to press, and the session runs off `session_events`
+        # instead — so no buttons is a rig without them, not a rig whose operator has not pressed yet.
+        self.buttons_receiver = pimm.DefaultingReceiver(self, default={'left': None, 'right': None})
+        # What the arm last read as: it holds still until a reset clears the error, so nothing is sent
+        self.arm_in_error = False
+        # A keyboard carries these on a rig whose operator holds the leader.
+        self.session_events = pimm.ControlSystemReceiver[SessionEvent](self)
+        # What the leader publishes, on a rig driven by one.
+        self.leader_joints = pimm.ControlSystemReceiver[np.ndarray](self)
+        self.leader_grip = pimm.ControlSystemReceiver[float](self)
         self.robot_state = pimm.ControlSystemReceiver(self)
         self.gripper_state = pimm.FakeReceiver(self)  # To make compatible with other "policy" control systems
         self.frames = pimm.ReceiverDict(self, fake=True)
@@ -127,90 +249,215 @@ def __init__(
 
         self.robot_commands = pimm.ControlSystemEmitter(self)
         self.sync_move = pimm.calls.ControlSystemCaller[roboarm.command.CommandType, None](self)
+        # The leader travels to the poses the follower is sent to, so the two arms stand together when the
+        # operator takes over. A leader left behind hands the follower the whole gap as its first step.
+        self.leader_move = pimm.calls.ControlSystemCaller[roboarm.command.CommandType, None](self)
         self.redraw_scene = pimm.calls.ControlSystemCaller[Any, None](self)
         self.target_grip = pimm.ControlSystemEmitter(self)
 
         self.ds_agent_commands = pimm.ControlSystemEmitter(self)
         self.sound = pimm.ControlSystemEmitter(self)
 
-    def _ready(self, should_stop: pimm.SignalReceiver) -> Iterator[pimm.Sleep]:
-        """Redraw the scene and put the arm at a start pose drawn around the nominal joints, yielding until
-        both are done.
+    @property
+    def _umi(self) -> bool:
+        """Whether a hand's poses reach the arm as they are, with no tracking to start or stop and no
+        start pose to put anything back at. A leader is never that: it is an arm, and it has one."""
+        return self.teleop is Teleop.HAND and self.operator_position is None
+
+    def _travel(
+        self, target: roboarm.command.CommandType, should_stop: pimm.SignalReceiver, asks: Sequence[Any] = ()
+    ) -> Iterator[pimm.Sleep]:
+        """Take every arm of the rig to ``target``, yielding until it and everything in ``asks`` is done.
 
         Raises whatever a device failed on: a call hands its handler's exception back, so the vocabulary is
         the driver's — a move abandoned, a target it cannot hold, a fault from the vendor.
         """
-        logging.info('Readying the rig for the next episode')
-        asks = []
-        if self.redraw_scene.connected:  # a real scene is a person's to set up, and nothing here is asked
-            asks.append(self.redraw_scene(None))
-        if len(self._nominal_joints):  # a station with no arm has none to put anywhere
-            asks.append(self.sync_move(roboarm.command.sampled_joints(self._nominal_joints, self._joints_spread)))
+        asks = list(asks)
+        for move in (self.sync_move, self.leader_move):
+            if move.connected:  # a rig without the arm has none to put anywhere
+                asks.append(move(target))
         ready = pimm.calls.all_of(asks)
         while not ready.done():
             if should_stop.value:
                 return
+            self._drop_readings()
             yield pimm.Sleep(0.001)
         ready.result()
 
-    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Sleep]:  # noqa: C901
-        sounds = Path(package_assets_path('assets/sounds'))
-        start_wav_path = sounds / 'recording-has-started.wav'
-        end_wav_path = sounds / 'recording-has-stopped.wav'
-        abort_wav_path = sounds / 'recording-has-been-aborted.wav'
-        error_wav_path = sounds / 'error-occurred.wav'
+    def _drop_readings(self) -> None:
+        """Drop what reached the rig while it travels: those readings are of a rig that has since moved.
+
+        A reading taken before a move says where an arm stood then, and the tick after the move takes what
+        it reads for the present. A follower would meet a leader that has gone, and be sent to the pose the
+        two of them stood at. What the operator asks for in front of a travelling arm goes the same way:
+        the press is impatience with this move, and holding it would run the move again.
+        """
+        for port in (
+            self.session_events,
+            self.buttons_receiver,
+            self.controller_positions,
+            self.robot_state,
+            self.leader_joints,
+            self.leader_grip,
+        ):
+            port.read()
+
+    def _ready(self, source: Any, should_stop: pimm.SignalReceiver) -> Iterator[pimm.Sleep]:
+        """Stop the tracking, redraw the scene, and put every arm at a start pose drawn around the nominal
+        joints, yielding until all of them are done."""
+        source.turn_off()
+        logging.info('Readying the rig for the next episode')
+        # A real scene is a person's to set up, and nothing here is asked.
+        scene = [self.redraw_scene(None)] if self.redraw_scene.connected else []
+        try:
+            yield from self._travel(
+                roboarm.command.sampled_joints(self._nominal_joints, self._joints_spread), should_stop, scene
+            )
+            if isinstance(source, _Follow):
+                source.arm()
+        # rules-allow: swallowed-error — the operator hears it and asks again, session goes on
+        except Exception as e:
+            logging.error(f'The rig was not readied: {e}')
+            self.sound.emit(_SOMETHING_WENT_WRONG)
+
+    def _park(self, source: Any, should_stop: pimm.SignalReceiver) -> Iterator[pimm.Sleep]:
+        """Stop the tracking and put every arm of the rig where it rests, yielding until all of them are
+        there."""
+        source.turn_off()
+        if not len(self._park_joints):
+            logging.warning('This rig names no pose to rest at, so there is nowhere to park it')
+            return
+        logging.info('Taking the rig to rest')
+        try:
+            yield from self._travel(roboarm.command.JointPosition(self._park_joints), should_stop)
+        # rules-allow: swallowed-error — the operator hears it and asks again, session goes on
+        except Exception as e:
+            logging.error(f'The rig was not parked: {e}')
+            self.sound.emit(_SOMETHING_WENT_WRONG)
+
+    def _forget_presses(self, buttons: ButtonHandler) -> None:
+        """Take the buttons as they stand, so a press made in front of a travelling arm is not read as new.
+
+        ``_drop_readings`` lets the messages go, and the handler reports an edge against the last reading it
+        saw: a button released before a travel and held during it would read as pressed the moment it ends.
+        """
+        _parse_buttons(self.buttons_receiver.value, buttons)
 
-        tracker = _Tracker(self.operator_position)
+    def _abandon(self, recording: bool) -> None:
+        """Give up the recording that runs, if one does."""
+        if not recording:
+            return
+        self.ds_agent_commands.emit(DsWriterCommand.ABORT())
+        self.sound.emit(_RECORDING_ABANDONED)
+        logging.info('The recording was abandoned')
+
+    def _record(self, recording: bool) -> None:
+        """Start a recording, or stop the one that runs."""
+        if recording:
+            self.ds_agent_commands.emit(DsWriterCommand.STOP())
+            self.sound.emit(_RECORDING_STOPPED)
+            logging.info('The recording stopped')
+        else:
+            meta = dict(self._static_meta)
+            meta.update(self.robot_meta_in.value)
+            meta.update(self.metadata_getter())
+            self.ds_agent_commands.emit(DsWriterCommand.START(self._output_path, meta))
+            self.sound.emit(_RECORDING_STARTED)
+            logging.info('The recording started')
+
+    def _tracked(self, source: _Tracker, state: pimm.Message[RoboarmState] | None) -> None:
+        """Follow the hand, or stop following it. An arm that has not said where it stands cannot be left."""
+        if source.on:
+            source.turn_off()
+        elif state is None:
+            logging.warning('The arm has not said where it stands, so there is nothing to follow from')
+        else:
+            source.turn_on(state.data.ee_pose)
+        logging.info('Tracking is %s', 'on' if source.on else 'off')
+
+    def _from_hand(self, tracker: _Tracker, hands: set[str], buttons: ButtonHandler) -> tuple[Any, float | None]:
+        """What the hand asks the arm for, and what it holds the grip at.
+
+        The tracker is fed whether or not the arm is tracking: what the hand did while it was not is how
+        far the arm would jump the moment it starts, and the offset is measured off it.
+        """
+        grip = buttons.get_value('right_trigger') if 'right' in hands else None
+        cp_msg = self.controller_positions.read()
+        if cp_msg.updated and cp_msg.data.get('right') is not None:
+            pose = tracker.update(cp_msg.data['right'], cp_msg.ts)
+            return roboarm.command.CartesianPosition(pose), grip
+        return None, grip
+
+    def _from_leader(self, follow: _Follow, state: pimm.Message[RoboarmState] | None) -> tuple[Any, float | None]:
+        """What the leader asks its follower for, and what its trigger holds the grip at.
+
+        The joints go over as they read: a leader and its follower are the same arm, so there is nothing
+        to solve between them.
+        """
+        held = self.leader_grip.read()
+        grip = float(held.data) if held is not None and held.updated else None
+        joints = self.leader_joints.read()
+        # The arms are judged to have met on a reading the leader has just sent. A reading that repeats
+        # says where the leader was when it sent it, and the arm may have been driven somewhere since.
+        if joints is None or state is None or not joints.updated:
+            return None, grip
+        leader = np.asarray(joints.data, dtype=np.float64)
+        follow.take_up(leader, np.asarray(state.data.q, dtype=np.float64))
+        if not follow.on:
+            return None, grip
+        return roboarm.command.JointPosition(leader), grip
+
+    def _note_error(self, state: pimm.Message[RoboarmState]) -> None:
+        """Follow the arm's error state, and tell the operator on the tick it starts.
+
+        The state is ``self.arm_in_error``; an arm in error holds still until a reset clears it.
+        """
+        was_error, self.arm_in_error = self.arm_in_error, state.data.status == roboarm.RobotStatus.ERROR
+        if self.arm_in_error and not was_error:
+            logging.error('The arm is in error. It holds still until a reset clears the error.')
+            self.sound.emit(_SOMETHING_WENT_WRONG)
+
+    def _asked_of_the_arm(
+        self, source: Any, hands: set[str], buttons: ButtonHandler, state: pimm.Message[RoboarmState] | None
+    ) -> tuple[Any, float | None]:
+        """What the operator asks the arm for, through whichever device drives it."""
+        if isinstance(source, _Tracker):
+            return self._from_hand(source, hands, buttons)
+        return self._from_leader(source, state)
+
+    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Sleep]:
+        source = _Tracker(self.operator_position) if self.teleop is Teleop.HAND else _Follow()
         button_handler = ButtonHandler()
 
         recording = False
-        in_error = False
 
         while not should_stop.value:
             try:
-                _parse_buttons(self.buttons_receiver.value, button_handler)
-                if button_handler.just_pressed('right_B'):
-                    if not recording:
-                        meta = dict(self._static_meta)
-                        meta.update(self.robot_meta_in.value)
-                        meta.update(self.metadata_getter())
-                        self.ds_agent_commands.emit(DsWriterCommand.START(self._output_path, meta))
-                        self.sound.emit(start_wav_path)
-                    else:
-                        self.ds_agent_commands.emit(DsWriterCommand.STOP())
-                        self.sound.emit(end_wav_path)
+                hands = _parse_buttons(self.buttons_receiver.value, button_handler)
+                state = self.robot_state.read()
+                asked = pimm.value_updated(self.session_events)
+                if button_handler.just_pressed('right_B') or asked is SessionEvent.RECORD:
+                    self._record(recording)
                     recording = not recording
-                elif button_handler.just_pressed('right_A'):
-                    if tracker.on:
-                        tracker.turn_off()
-                    else:
-                        tracker.turn_on(self.robot_state.value.ee_pose)
-                elif button_handler.just_pressed('right_stick') and not tracker.umi_mode:
-                    if recording:
-                        self.ds_agent_commands.emit(DsWriterCommand.ABORT())
-                        self.sound.emit(abort_wav_path)
-                    tracker.turn_off()
+                elif isinstance(source, _Tracker) and button_handler.just_pressed('right_A'):
+                    self._tracked(source, state)
+                elif (button_handler.just_pressed('right_stick') or asked is SessionEvent.READY) and not self._umi:
+                    self._abandon(recording)
+                    recording = False
+                    yield from self._ready(source, should_stop)
+                    self._forget_presses(button_handler)
+                elif asked is SessionEvent.PARK:
+                    self._abandon(recording)
                     recording = False
-                    try:
-                        yield from self._ready(should_stop)
-                    # rules-allow: swallowed-error — the operator hears it and asks again, session goes on
-                    except Exception as e:
-                        logging.error(f'The rig was not readied: {e}')
-                        self.sound.emit(error_wav_path)
-
-                self.target_grip.emit(button_handler.get_value('right_trigger'))
-                cp_msg = self.controller_positions.read()
-                if cp_msg.updated:
-                    target_robot_pos = tracker.update(cp_msg.data['right'])
-
-                if tracker.on:
-                    in_error, entered_error = _check_error(
-                        self.robot_state.value.status == roboarm.RobotStatus.ERROR, in_error
-                    )
-                    if entered_error:
-                        self.sound.emit(error_wav_path)
-                    if not in_error and cp_msg.updated:
-                        cmd = roboarm.command.CartesianPosition(target_robot_pos)
+                    yield from self._park(source, should_stop)
+                    self._forget_presses(button_handler)
+
+                cmd, grip = self._asked_of_the_arm(source, hands, button_handler, state)
+                if grip is not None:
+                    self.target_grip.emit(grip)
+                if source.on and state is not None:
+                    self._note_error(state)
+                    if not self.arm_in_error and cmd is not None:
                         self.robot_commands.emit(cmd)
 
                 yield pimm.Sleep(0.001)
@@ -220,6 +467,16 @@ def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[p
                 continue
 
 
+# The key that asks for each. An operator holding the leader has no hand free for these, so a second
+# person presses them; a pedal under the operator's own foot would ask for the same ones.
+_SESSION_KEYS = {'r': SessionEvent.RECORD, ' ': SessionEvent.READY, 'h': SessionEvent.PARK}
+
+
+def _session_event(key: str) -> SessionEvent | None:
+    """What a keystroke asks of the session, or nothing for a key that asks for nothing."""
+    return _SESSION_KEYS.get(key)
+
+
 def controller_positions_serializer(controller_positions: dict[str, geom.Transform3D]) -> dict[str, np.ndarray]:
     res = {}
     for side, pos in controller_positions.items():
@@ -238,12 +495,26 @@ def _wire(
     world: pimm.World,
     ds_agent: DsWriterAgent | None,
     data_collection: DataCollectionController,
-    webxr: WebXR,
+    webxr: WebXR | None,
     robot_arm: pimm.ControlSystem | None,
     sound: pimm.ControlSystem | None,
+    leader: pimm.ControlSystem | None = None,
+    keyboard: KeyboardControl | None = None,
 ):
-    world.connect(webxr.controller_positions, data_collection.controller_positions)
-    world.connect(webxr.buttons, data_collection.buttons_receiver)
+    if webxr is not None:
+        world.connect(webxr.controller_positions, data_collection.controller_positions)
+        world.connect(webxr.buttons, data_collection.buttons_receiver)
+
+    if leader is not None:
+        # A driver's ports are its own: ``pimm.ControlSystem`` declares none for the checker to find.
+        world.connect(leader.joints, data_collection.leader_joints)  # pyright: ignore[reportAttributeAccessIssue]
+        world.connect(leader.grip, data_collection.leader_grip)  # pyright: ignore[reportAttributeAccessIssue]
+        world.connect(data_collection.leader_move, leader.sync_move)  # pyright: ignore[reportAttributeAccessIssue]
+
+    if keyboard is not None:
+        world.connect(
+            keyboard.keyboard_inputs, data_collection.session_events, receiver_wrapper=pimm.map(_session_event)
+        )
 
     if robot_arm is not None:
         # A driver's ports are its own: ``pimm.ControlSystem`` declares none for the checker to find.
@@ -255,7 +526,9 @@ def _wire(
             world.connect(robot_arm.state, sound.level, receiver_wrapper=pimm.map(_wrench_to_level))
 
     if ds_agent is not None:
-        if robot_arm is not None:
+        # A leader's joints are not recorded beside these: the command the follower is given is those very
+        # joints, and it is recorded already.
+        if robot_arm is not None and webxr is not None:
             ds_agent.add_signal('controller_positions', controller_positions_serializer)
             world.connect(webxr.controller_positions, ds_agent.inputs['controller_positions'])
         world.connect(data_collection.ds_agent_commands, ds_agent.command)
@@ -263,15 +536,67 @@ def _wire(
     return ds_agent
 
 
+def _frame_array(frame: pimm.shared_memory.NumpySMAdapter) -> np.ndarray:
+    return frame.array
+
+
+def _check_rig(
+    robot_arm: pimm.ControlSystem | None,
+    webxr: WebXR | None,
+    leader: pimm.ControlSystem | None,
+    nominal_joints: Sequence[float],
+    joints_spread: Sequence[float],
+    park_joints: Sequence[float],
+) -> None:
+    """Refuse a rig that cannot run, before any of it is started.
+
+    Every one of these reaches the operator as a failed move or an arm that does nothing, long after the
+    run began and with nothing to say which part of the configuration was wrong.
+    """
+    if (robot_arm is not None) != (len(nominal_joints) > 0):
+        raise ValueError(
+            '--robot_arm and --nominal_joints are named together or not at all: the right stick puts the arm '
+            'a station has at the pose it measured, and either one alone leaves the other with nothing'
+        )
+    if len(park_joints) not in (0, len(nominal_joints)):
+        raise ValueError(
+            f'--park_joints names {len(park_joints)} joints and --nominal_joints names {len(nominal_joints)}: '
+            'both are poses of the same arm, so they name the same joints'
+        )
+    if len(joints_spread) not in (0, len(nominal_joints)):
+        raise ValueError(
+            f'--joints_spread names {len(joints_spread)} joints and --nominal_joints names {len(nominal_joints)}: '
+            'the spread is jitter measured per joint, so it carries one value for each, or none at all'
+        )
+    if not np.all(np.isfinite([*nominal_joints, *joints_spread, *park_joints])):
+        raise ValueError(
+            '--nominal_joints, --joints_spread and --park_joints name joint angles: every value has to be '
+            'finite, or the draw between them raises instead of reaching the arm'
+        )
+    if leader is not None and robot_arm is None:
+        raise ValueError('--leader is held to drive a follower, and one with nothing on the other end drives nothing')
+    if leader is not None and webxr is not None:
+        raise ValueError(
+            'the arm is driven by a leader or by a hand tracked in space, not by both: --leader and --webxr '
+            'would leave two things asking one arm to be in two places at once'
+        )
+
+
 def main(
     robot_arm: pimm.ControlSystem | None,
     gripper: pimm.ControlSystem | None,
-    webxr: WebXR,
+    webxr: WebXR | None,
     sound: pimm.ControlSystem | None,
     cameras: dict[str, pimm.ControlSystem] | None,
-    # The start pose the right stick puts the arm at: drawn around ``nominal_joints``, within ``joints_spread``.
+    # The start pose the stick and the space key put the arm at: drawn around ``nominal_joints``, within
+    # ``joints_spread``.
     nominal_joints: Sequence[float] = (),
     joints_spread: Sequence[float] = (),
+    # The pose the `h` key takes every arm to, where it rests between sessions.
+    park_joints: Sequence[float] = (),
+    # The arm the operator holds. Naming it is what makes this a rig driven by a leader rather than by a
+    # hand tracked in space.
+    leader: pimm.ControlSystem | None = None,
     output_dir: str | None = None,
     stream_video_to_webxr: str | None = None,
     operator_position: OperatorPosition = OperatorPosition.FRONT,
@@ -279,21 +604,7 @@ def main(
     video_options: dict[str, str] | None = None,
 ):
     """Runs data collection in real hardware."""
-    if (robot_arm is not None) != (len(nominal_joints) > 0):
-        raise ValueError(
-            '--robot_arm and --nominal_joints are named together or not at all: the right stick puts the arm '
-            'a station has at the pose it measured, and either one alone leaves the other with nothing'
-        )
-    if len(joints_spread) not in (0, len(nominal_joints)):
-        raise ValueError(
-            f'--joints_spread names {len(joints_spread)} joints and --nominal_joints names {len(nominal_joints)}: '
-            'the spread is jitter measured per joint, so it carries one value for each, or none at all'
-        )
-    if not np.all(np.isfinite([*nominal_joints, *joints_spread])):
-        raise ValueError(
-            '--nominal_joints and --joints_spread name joint angles: every value has to be finite, or the '
-            'draw between them raises instead of reaching the arm'
-        )
+    _check_rig(robot_arm, webxr, leader, nominal_joints, joints_spread, park_joints)
     camera_instances = cameras or {}
     camera_emitters = {name: cam.frame for name, cam in camera_instances.items()}
     static_meta = {}
@@ -305,27 +616,37 @@ def main(
     if output_dir is not None:
         output_path = pos3.sync(output_dir, sync_on_error=True)
         utils.save_run_metadata(output_path, patterns=['*.py', '*.toml'])
+    # An operator with a hand on the leader has none free for the session, so the keys carry it.
+    keyboard = KeyboardControl(quit_key='q') if leader is not None else None
     data_collection = DataCollectionController(
-        operator_position.value, nominal_joints, joints_spread, output_path=output_path, static_meta=static_meta
+        operator_position.value,
+        nominal_joints,
+        joints_spread,
+        park_joints,
+        teleop=Teleop.LEADER if leader is not None else Teleop.HAND,
+        output_path=output_path,
+        static_meta=static_meta,
     )
 
     dataset_factory = partial(LocalDatasetWriter, video_options=video_options) if output_path is not None else None
     with pimm.World() as world:
         ds_agent = wire.wire(world, data_collection, dataset_factory, camera_emitters, robot_arm, gripper, None)
-        _wire(world, ds_agent, data_collection, webxr, robot_arm, sound)
+        _wire(world, ds_agent, data_collection, webxr, robot_arm, sound, leader, keyboard)
 
         # SO-101 fills both the arm and gripper slots with one object; a control system runs in exactly one process.
         gripper_cs = [] if gripper is robot_arm else [gripper]
-        bg_cs = [webxr, *camera_instances.values(), ds_agent, robot_arm, *gripper_cs, sound]
+        bg_cs = [webxr, *camera_instances.values(), ds_agent, robot_arm, *gripper_cs, leader, sound]
 
-        if stream_video_to_webxr is not None:
-            world.connect(
-                camera_emitters[stream_video_to_webxr],
-                webxr.frame,
-                receiver_wrapper=pimm.map(lambda adapter: adapter.array),
-            )
+        if stream_video_to_webxr is not None and webxr is not None:
+            world.connect(camera_emitters[stream_video_to_webxr], webxr.frame, receiver_wrapper=pimm.map(_frame_array))
 
-        world.run(data_collection, bg_cs)
+        # The keyboard reads the terminal this was started from, which no spawned process holds.
+        try:
+            world.run([data_collection, keyboard], bg_cs)
+        # rules-allow: swallowed-error — an interrupt is how an operator ends a run, and the world has
+        # already stopped every process by the time it arrives here
+        except KeyboardInterrupt:
+            logging.info('The run ended on an interrupt')
 
 
 @cfn.config(
@@ -442,6 +763,33 @@ def yamcfg(robot_arm, **kwargs):
     main(robot_arm=robot_arm, gripper=robot_arm, **kwargs)
 
 
+@cfn.config(
+    robot_arm=positronic.cfg.hardware.roboarm.trossen,
+    webxr=positronic.cfg.webxr.oculus,
+    # The operator stands behind the arm, and it reaches away from them over the table. Solved from the
+    # rig: the controller moved away from the base runs along -z of the headset's frame, and only `BACK`
+    # takes that to +x of the arm's.
+    operator_position=OperatorPosition.BACK,
+    # The station has no audio device, so the operator reads the recording state off the terminal.
+    sound=None,
+    cameras=dict(positronic.cfg.hardware.camera.TROSSEN_STATION_VIEWS),
+    stream_video_to_webxr=keys.WRIST_IMAGE,
+    nominal_joints=positronic.cfg.hardware.roboarm.TROSSEN_NOMINAL_JOINTS,
+    park_joints=positronic.cfg.hardware.roboarm.TROSSEN_PARK_JOINTS,
+)
+def trossencfg(robot_arm, **kwargs):
+    """Runs data collection on a real Trossen WidowX AI arm (the arm driver carries the gripper)."""
+    main(robot_arm=robot_arm, gripper=robot_arm, **kwargs)
+
+
+# The same arm, driven by the leader arm beside it instead of from the headset. There is nothing to wear:
+# the operator holds the leader, and the keys carry the session — `r` records, space puts both arms at the
+# start pose, `h` takes them to rest, and `q` ends the run.
+trossen_leader = trossencfg.override(
+    leader=positronic.cfg.hardware.roboarm.trossen_leader, webxr=None, stream_video_to_webxr=None
+)
+
+
 droid = cfn.Config(
     main,
     robot_arm=positronic.cfg.hardware.roboarm.franka_droid,
@@ -478,6 +826,8 @@ def _internal_main():
         'real': main_cfg,
         'so101': so101cfg,
         'yam': yamcfg,
+        'trossen': trossencfg,
+        'trossen_leader': trossen_leader,
         'sim': main_sim,
         'sim_pnp': main_sim.override(loaders=positronic.cfg.simulator.multi_tote_loaders),
         'droid': droid,
diff --git a/positronic/drivers/camera/linux_video.py b/positronic/drivers/camera/linux_video.py
index c982f10bc..43cc6cac2 100644
--- a/positronic/drivers/camera/linux_video.py
+++ b/positronic/drivers/camera/linux_video.py
@@ -1,3 +1,4 @@
+import logging
 from collections.abc import Iterator
 
 import av
@@ -10,8 +11,20 @@
 with vendor_import('linuxpy', 'Linux video capture', platforms=('linux',)):
     from linuxpy.video.device import Device, PixelFormat
 
+logger = logging.getLogger(__name__)
+
 
 class LinuxVideo(pimm.ControlSystem):
+    # The formats a camera may compress in, and what decodes each of them.
+    _CODECS = {
+        PixelFormat.H264: 'h264',
+        PixelFormat.HEVC: 'hevc',
+        PixelFormat.VP8: 'vp8',
+        PixelFormat.VP9: 'vp9',
+        PixelFormat.MPEG4: 'mpeg4',
+        PixelFormat.MJPEG: 'mjpeg',
+    }
+
     def __init__(self, device_path: str, width: int, height: int, fps: int, pixel_format: str):
         self.device_path = device_path
         self.width = width
@@ -19,20 +32,48 @@ def __init__(self, device_path: str, width: int, height: int, fps: int, pixel_fo
         self.fps = fps
         self.pixel_format = pixel_format
         self.fps_counter = pimm.utils.RateCounter(f'LinuxVideo {device_path}')
-        self.frame: pimm.SignalEmitter = pimm.ControlSystemEmitter(self)
-
-    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Sleep]:  # noqa: C901
-        codec_mapping = {
-            PixelFormat.H264: 'h264',
-            PixelFormat.HEVC: 'hevc',
-            PixelFormat.VP8: 'vp8',
-            PixelFormat.VP9: 'vp9',
-            PixelFormat.MPEG4: 'mpeg4',
-            PixelFormat.MJPEG: 'mjpeg',
-        }
+        self.frame = pimm.ControlSystemEmitter[pimm.shared_memory.NumpySMAdapter](self)
+        self._frame_adapter = None  # Lazy init
+
+    @staticmethod
+    def _framed(data: np.ndarray, frame, bytes_per_pixel: int) -> np.ndarray | None:
+        """``data`` shaped as the frame it belongs to, or ``None`` where it is not one frame's worth."""
+        if data.size != frame.height * frame.width * bytes_per_pixel:
+            return None
+        return data.reshape((frame.height, frame.width, bytes_per_pixel))
+
+    def _images(self, frame, codec_context) -> list[np.ndarray] | None:
+        """Every image the buffer ``frame`` carries, as RGB, or ``None`` where it is not one frame's worth.
+
+        A compressed buffer whole enough to read may still carry no image: the parser and the decoder both
+        hold data back until they have a frame to give, so an empty list is a wait, not a loss.
+        """
+        data = np.frombuffer(frame.data, dtype=np.uint8)
+        match frame.pixel_format:
+            case PixelFormat.YUYV:
+                raw = self._framed(data, frame, 2)
+                return None if raw is None else [cv2.cvtColor(raw, cv2.COLOR_YUV2RGB_YUYV)]
+            case PixelFormat.UYVY:
+                raw = self._framed(data, frame, 2)
+                return None if raw is None else [cv2.cvtColor(raw, cv2.COLOR_YUV2RGB_UYVY)]
+            case _ if frame.pixel_format in self._CODECS:
+                codec_ctx = codec_context(self._CODECS[frame.pixel_format])
+                # `av` types what it parses as `bytes` and carries `decode` on the subclasses of
+                # `CodecContext`, so the buffer the device hands over and the base class both read wrong.
+                packets = codec_ctx.parse(data)  # pyright: ignore[reportArgumentType]
+                return [
+                    decoded.to_ndarray(format='rgb24')
+                    for packet in packets
+                    for decoded in codec_ctx.decode(packet)  # pyright: ignore[reportAttributeAccessIssue]
+                ]
+            case _:
+                raw = self._framed(data, frame, 3)  # assume 3 bytes per pixel (RGB/BGR)
+                return None if raw is None else [raw]
+
+    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Sleep]:
         codec_contexts = {}
 
-        def get_codec_context(codec_name: str) -> av.CodecContext:
+        def codec_context(codec_name: str) -> av.CodecContext:
             """Lazily initialize and return codec context for given codec"""
             if codec_name not in codec_contexts:
                 codec_contexts[codec_name] = av.CodecContext.create(codec_name, 'r')
@@ -44,40 +85,31 @@ def get_codec_context(codec_name: str) -> av.CodecContext:
         device.set_format(device.info.buffers[0], self.width, self.height, self.pixel_format)
         device.set_fps(device.info.buffers[0], self.fps)
 
+        misframed = overtaken = 0
         for frame in device:
             if should_stop.value:
                 break
 
-            data = np.frombuffer(frame.data, dtype=np.uint8)
-            result = None
-
-            match frame.pixel_format:
-                case PixelFormat.YUYV:
-                    data = data.reshape((frame.height, frame.width, 2))
-                    result = {'image': cv2.cvtColor(data, cv2.COLOR_YUV2RGB_YUYV)}
-                case PixelFormat.UYVY:
-                    data = data.reshape((frame.height, frame.width, 2))
-                    result = {'image': cv2.cvtColor(data, cv2.COLOR_YUV2RGB_UYVY)}
-                case _ if frame.pixel_format in codec_mapping:
-                    codec_name = codec_mapping[frame.pixel_format]
-                    codec_ctx = get_codec_context(codec_name)
-                    packets = codec_ctx.parse(data)
-                    for packet in packets:
-                        frames = codec_ctx.decode(packet)
-                        if len(frames) == 1:
-                            result = {'image': frames[0].to_ndarray(format='rgb24')}
-                        else:
-                            for i, decoded_frame in enumerate(frames):
-                                result[f'image_{i}'] = decoded_frame.to_ndarray(format='rgb24')
-                case _:
-                    # Assume 3 bytes per pixel (RGB/BGR)
-                    rgb_data = data.reshape((frame.height, frame.width, 3))
-                    result = {'image': rgb_data}
-
-            if result is not None:
-                self.frame.emit(result)
+            images = self._images(frame, codec_context)
+            # rules-allow: swallowed-error — a busy bus hands over a buffer that is not a whole frame as
+            # ordinary traffic, roughly one per camera per minute of capture on the station's four D405;
+            # the next buffer is a thirtieth of a second away, and the count says how many went
+            if images is None:
+                misframed += 1
+                if misframed == 1:
+                    logger.warning('%s handed over a buffer that is not one frame in size', self.device_path)
+            elif images:
+                # The port holds one image and nothing runs between two emissions of the same tick, so a
+                # buffer decoding to several has only its newest to give; the rest are counted, not sent.
+                overtaken += len(images) - 1
+                self._frame_adapter = pimm.shared_memory.NumpySMAdapter.lazy_init(images[-1], self._frame_adapter)
+                self.frame.emit(self._frame_adapter)
                 self.fps_counter.tick()
 
             yield pimm.Yield()  # Give control back to the world
 
+        if misframed:
+            logger.warning('%s handed over %d buffers that are not one frame in size', self.device_path, misframed)
+        if overtaken:
+            logger.warning('%s decoded %d images a newer one of the same buffer overtook', self.device_path, overtaken)
         device.close()
diff --git a/positronic/drivers/camera/tests/conftest.py b/positronic/drivers/camera/tests/conftest.py
new file mode 100644
index 000000000..b2c8876c8
--- /dev/null
+++ b/positronic/drivers/camera/tests/conftest.py
@@ -0,0 +1,30 @@
+"""A stand-in for the vendor package the Linux video driver imports.
+
+``linuxpy`` ships only in the ``hardware`` extra, so the driver module cannot be imported from a default
+sync. The tests drive a device of their own, so a module carrying the names the driver binds at import is
+enough. Installed here, before any test module imports the driver, and only where the real package is
+absent.
+"""
+
+import importlib.util
+import sys
+import types
+from enum import Enum
+
+VENDOR = 'linuxpy'
+DEVICE_MODULE = f'{VENDOR}.video.device'
+
+if importlib.util.find_spec(VENDOR) is None:
+    # The formats the driver names. The values are the V4L2 four-character codes, as `linuxpy` reports them.
+    PixelFormat = Enum('PixelFormat', ['YUYV', 'UYVY', 'RGB24', 'H264', 'HEVC', 'VP8', 'VP9', 'MPEG4', 'MJPEG'])
+
+    device = types.ModuleType(DEVICE_MODULE)
+    device.__dict__.update(Device=object, PixelFormat=PixelFormat)
+
+    video = types.ModuleType(f'{VENDOR}.video')
+    video.__dict__.update(device=device)
+
+    package = types.ModuleType(VENDOR)
+    package.__dict__.update(video=video)
+
+    sys.modules.update({VENDOR: package, f'{VENDOR}.video': video, DEVICE_MODULE: device})
diff --git a/positronic/drivers/camera/tests/test_linux_video.py b/positronic/drivers/camera/tests/test_linux_video.py
new file mode 100644
index 000000000..16e730b91
--- /dev/null
+++ b/positronic/drivers/camera/tests/test_linux_video.py
@@ -0,0 +1,179 @@
+"""What the Linux video driver puts on its frame port, from the buffers a device hands it."""
+
+import io
+
+import av
+import numpy as np
+import pytest
+
+import pimm
+from positronic.drivers.camera import linux_video
+from positronic.tests.testing_coutils import RecordingEmitter
+
+WIDTH, HEIGHT = 4, 2
+
+
+class StopFlag(pimm.SignalReceiver[bool]):
+    """``should_stop`` under the test's control."""
+
+    def __init__(self):
+        self.stopped = False
+
+    def read(self) -> pimm.Message[bool]:
+        return pimm.Message(self.stopped)
+
+
+class FakeFrame:
+    def __init__(self, data: bytes, pixel_format):
+        self.data = data
+        self.pixel_format = pixel_format
+        self.width, self.height = WIDTH, HEIGHT
+
+
+class FakeDevice:
+    """A device that hands over the frames a test gives it, and records what it was set to."""
+
+    to_serve: list['FakeFrame'] = []
+    opened: 'FakeDevice | None' = None
+
+    def __init__(self, path: str):
+        self.path = path
+        self.info = type('Info', (), {'buffers': ['capture']})()
+        self.frames = list(FakeDevice.to_serve)
+        self.format = None
+        self.fps = None
+        self.closed = False
+
+    def open(self) -> None:
+        FakeDevice.opened = self
+
+    def set_format(self, buffer, width, height, pixel_format) -> None:
+        self.format = (buffer, width, height, pixel_format)
+
+    def set_fps(self, buffer, fps) -> None:
+        self.fps = (buffer, fps)
+
+    def __iter__(self):
+        return iter(self.frames)
+
+    def close(self) -> None:
+        self.closed = True
+
+
+@pytest.fixture
+def device(monkeypatch):
+    """The class the driver opens, replaced by one a test hands frames to. Pass it to ``_driven``."""
+    monkeypatch.setattr(linux_video, 'Device', FakeDevice)
+    FakeDevice.to_serve, FakeDevice.opened = [], None
+    return FakeDevice
+
+
+def _driven(device, frames):
+    """A driver over ``device`` carrying ``frames``, with its port recorded, run to exhaustion."""
+    camera = linux_video.LinuxVideo(device_path='/dev/null', width=WIDTH, height=HEIGHT, fps=30, pixel_format='YUYV')
+    emitted = RecordingEmitter()
+    camera.frame._bind(emitted)
+    device.to_serve = frames
+    list(camera.run(StopFlag(), pimm.world.SystemClock()))
+    opened = device.opened
+    assert opened is not None, 'the driver opened no device'
+    return emitted, opened
+
+
+def _yuyv(luma: int) -> bytes:
+    """One YUYV buffer of a flat grey, which converts to a flat grey RGB image."""
+    return bytes([luma, 128] * (WIDTH * HEIGHT))
+
+
+def test_a_yuyv_buffer_reaches_the_port_as_an_image(device):
+    emitted, _ = _driven(device, [FakeFrame(_yuyv(200), linux_video.PixelFormat.YUYV)])
+
+    assert len(emitted.emitted) == 1
+    _, adapter = emitted.emitted[0]
+    assert adapter.array.shape == (HEIGHT, WIDTH, 3)
+    assert adapter.array.dtype == np.uint8
+    assert adapter.array.min() > 150  # the grey survives the conversion
+
+
+def test_every_whole_yuyv_buffer_is_one_frame(device):
+    frames = [FakeFrame(_yuyv(v), linux_video.PixelFormat.YUYV) for v in (50, 120, 200)]
+
+    emitted, _ = _driven(device, frames)
+
+    assert len(emitted.emitted) == 3
+
+
+def test_the_device_is_set_to_what_the_driver_was_asked_for(device):
+    _, opened = _driven(device, [FakeFrame(_yuyv(100), linux_video.PixelFormat.YUYV)])
+
+    assert opened.format == ('capture', WIDTH, HEIGHT, 'YUYV')
+    assert opened.fps == ('capture', 30)
+
+
+def test_the_device_is_closed_when_the_frames_run_out(device):
+    _, opened = _driven(device, [FakeFrame(_yuyv(100), linux_video.PixelFormat.YUYV)])
+
+    assert opened.closed
+
+
+def test_a_buffer_that_is_not_one_frame_in_size_is_dropped(device, caplog):
+    """A busy bus hands over a buffer that is not a whole frame, and a run outlives it."""
+    misframed = FakeFrame(_yuyv(200)[: WIDTH * HEIGHT], linux_video.PixelFormat.YUYV)
+    whole = FakeFrame(_yuyv(200), linux_video.PixelFormat.YUYV)
+
+    emitted, _ = _driven(device, [misframed, whole, misframed])
+
+    assert len(emitted.emitted) == 1
+    assert 'not one frame in size' in caplog.text
+    assert 'handed over 2 buffers' in caplog.text
+
+
+def test_a_buffer_of_three_bytes_a_pixel_is_taken_as_it_is(device):
+    raw = bytes(range(WIDTH * HEIGHT * 3))
+
+    emitted, _ = _driven(device, [FakeFrame(raw, linux_video.PixelFormat.RGB24)])
+
+    _, adapter = emitted.emitted[0]
+    np.testing.assert_array_equal(adapter.array, np.frombuffer(raw, dtype=np.uint8).reshape(HEIGHT, WIDTH, 3))
+
+
+def _h264(count: int) -> bytes:
+    """An H.264 stream of ``count`` frames, as a camera that compresses would hand it over."""
+    stream = io.BytesIO()
+    container = av.open(stream, 'w', format='h264')
+    encoded = container.add_stream('libx264', rate=30)
+    encoded.width, encoded.height, encoded.pix_fmt = WIDTH * 16, HEIGHT * 16, 'yuv420p'
+    encoded.options = {'tune': 'zerolatency'}  # a camera streams frames in order, and so must the fixture
+    for i in range(count):
+        image = np.full((HEIGHT * 16, WIDTH * 16, 3), i * 40, np.uint8)
+        for packet in encoded.encode(av.VideoFrame.from_ndarray(image, format='rgb24')):
+            container.mux(packet)
+    for packet in encoded.encode(None):
+        container.mux(packet)
+    container.close()
+    return stream.getvalue()
+
+
+def test_a_compressed_buffer_the_decoder_holds_back_is_not_counted_misframed(device, caplog):
+    """The decoder gives no image until it has one, and a whole buffer is not a truncated one."""
+    head = FakeFrame(_h264(4)[:64], linux_video.PixelFormat.H264)
+
+    emitted, _ = _driven(device, [head])
+
+    assert emitted.emitted == []
+    assert 'not one frame in size' not in caplog.text
+
+
+def test_a_buffer_of_several_images_gives_the_newest(device, caplog):
+    """The frame port holds one image, so the older images of a buffer have nowhere to go."""
+    buffer = FakeFrame(_h264(4), linux_video.PixelFormat.H264)
+    driver = linux_video.LinuxVideo(device_path='/dev/null', width=WIDTH, height=HEIGHT, fps=30, pixel_format='YUYV')
+    decoded = driver._images(buffer, lambda name: av.CodecContext.create(name, 'r'))
+    assert decoded is not None and len(decoded) > 1, 'the buffer decoded to a single image'
+
+    emitted, _ = _driven(device, [FakeFrame(_h264(4), linux_video.PixelFormat.H264)])
+
+    assert len(emitted.emitted) == 1
+    _, adapter = emitted.emitted[0]
+    assert adapter.array.mean() == pytest.approx(decoded[-1].mean())
+    assert f'{len(decoded) - 1} images a newer one' in caplog.text
diff --git a/positronic/drivers/roboarm/franka.py b/positronic/drivers/roboarm/franka.py
index 7f7370868..ac0a4f47e 100644
--- a/positronic/drivers/roboarm/franka.py
+++ b/positronic/drivers/roboarm/franka.py
@@ -405,7 +405,7 @@ def _build_robot_meta(robot) -> dict:
         return {
             roboarm_keys.URDF: ET.tostring(root, encoding='unicode'),
             roboarm_keys.JOINT_NAMES: _revolute_joint_names(urdf_xml),
-            'meshes': meshes,
+            roboarm_keys.MESHES: meshes,
             roboarm_keys.CONTROL_FRAME: DEFAULT_FRAME,
             roboarm_keys.GRIPPER: gripper,
         }
diff --git a/positronic/drivers/roboarm/keys.py b/positronic/drivers/roboarm/keys.py
index e52d8731e..098bb1d6e 100644
--- a/positronic/drivers/roboarm/keys.py
+++ b/positronic/drivers/roboarm/keys.py
@@ -6,8 +6,12 @@
 URDF = 'urdf'
 CONTROL_FRAME = 'control_frame'
 JOINT_NAMES = 'joint_names'
+# The arm a driver names itself, where its metadata carries one.
+ROBOT = 'robot'
 # The gripper spec the viewer drives: the signal it reads, the joints it moves, their travel at full closure.
 GRIPPER = 'gripper'
+# The mesh files ``URDF`` names, keyed by the name it gives each one.
+MESHES = 'meshes'
 
 # Where the episode's poses sit relative to ``DEFAULT_FRAME``, as a ``[tx,ty,tz,qw,qx,qy,qz]`` transform.
 # Absent means they are in that frame itself; ``ChangeEEFrame`` writes it when it moves them.
diff --git a/positronic/drivers/roboarm/models.py b/positronic/drivers/roboarm/models.py
index e51d665ff..09769edca 100644
--- a/positronic/drivers/roboarm/models.py
+++ b/positronic/drivers/roboarm/models.py
@@ -151,7 +151,7 @@ def _bundled_robotiq_2f85() -> dict:
     subtree = ''.join(ET.tostring(el, encoding='unicode') for el in _build_2f85_elements())
     return {
         'subtree': subtree,
-        'meshes': {f.name: f.read_bytes() for f in sorted(mesh_dir.glob('*.stl'))},
+        roboarm_keys.MESHES: {f.name: f.read_bytes() for f in sorted(mesh_dir.glob('*.stl'))},
         roboarm_keys.GRIPPER: {'signal': keys.GRIP, 'joints': _2F85_GRIP_ACTUATED_JOINTS, 'travel': 0.8},
     }
 
@@ -170,7 +170,7 @@ def attach_robotiq_2f85(arm_root: ET.Element, meshes: dict[str, bytes]) -> dict:
     merge its meshes into ``meshes``. Returns the ``grip``-driven gripper spec for the viewer."""
     gripper = _bundled_robotiq_2f85()
     arm_root.extend(ET.fromstring(f'<robot>{gripper["subtree"]}</robot>'))
-    meshes.update(gripper['meshes'])
+    meshes.update(gripper[roboarm_keys.MESHES])
     return gripper[roboarm_keys.GRIPPER]
 
 
@@ -189,7 +189,7 @@ def bundled_franka_model() -> dict:
     add_default_frame(arm_root, EE_LINK)
     return {
         roboarm_keys.URDF: ET.tostring(arm_root, encoding='unicode'),
-        'meshes': meshes,
+        roboarm_keys.MESHES: meshes,
         roboarm_keys.JOINT_NAMES: [f'joint{i}' for i in range(1, 8)],
         roboarm_keys.CONTROL_FRAME: DEFAULT_FRAME,
         roboarm_keys.GRIPPER: gripper,
@@ -207,11 +207,11 @@ def bundled_panda_model() -> dict:
     urdf_path = Path(__file__).resolve().parents[2] / 'assets' / 'mujoco' / 'panda.urdf'
     root = ET.fromstring(urdf_path.read_text())
     mesh_dir = urdf_path.parent / 'assets'
-    mesh_files = {mesh.get('filename') for mesh in root.iter('mesh')}
+    mesh_files = {mesh.get('filename', '') for mesh in root.iter('mesh')}
     add_default_frame(root, EE_LINK)
     return {
         roboarm_keys.URDF: ET.tostring(root, encoding='unicode'),
-        'meshes': {name: (mesh_dir / name).read_bytes() for name in sorted(mesh_files)},
+        roboarm_keys.MESHES: {name: (mesh_dir / name).read_bytes() for name in sorted(mesh_files)},
         roboarm_keys.JOINT_NAMES: [f'joint{i}' for i in range(1, 8)],
         roboarm_keys.CONTROL_FRAME: DEFAULT_FRAME,
         # ``grip`` is recorded in [0, 1] (open→closed); each finger slides 0..0.04 m along its axis.
diff --git a/positronic/drivers/roboarm/tests/conftest.py b/positronic/drivers/roboarm/tests/conftest.py
index 0612414dc..d391db240 100644
--- a/positronic/drivers/roboarm/tests/conftest.py
+++ b/positronic/drivers/roboarm/tests/conftest.py
@@ -1,11 +1,11 @@
 """Stand-ins for the vendor packages the arm drivers import.
 
-``positronic_franka`` builds against libfranka, ``scservo_sdk`` talks to a serial servo bus, and ``placo``
-solves kinematics; all three ship only in the ``hardware`` extra, so the driver modules cannot be imported
-from a default sync. Their Python-side logic needs no vendor behaviour, so a stub carrying the names each
-module binds at import is enough — a test that needs a vendor to compute something stands in for the class
-that wraps it instead. Installed here, before any test module imports a driver, and only where the real
-package is absent.
+``positronic_franka`` builds against libfranka, ``scservo_sdk`` talks to a serial servo bus, ``placo``
+solves kinematics, and ``trossen_arm`` talks to an arm controller; all four ship only in an extra, so the
+driver modules cannot be imported from a default sync. Their Python-side logic needs no vendor behaviour,
+so a stub carrying the names each module binds at import is enough — a test that needs a vendor to compute
+something stands in for the class that wraps it instead. Installed here, before any test module imports a
+driver, and only where the real package is absent.
 """
 
 import importlib.util
@@ -20,6 +20,7 @@
 PACKAGE = 'positronic_franka'
 VENDOR = f'{PACKAGE}._franka'
 DESK = f'{PACKAGE}.desk'
+TROSSEN = 'trossen_arm'
 
 
 def _install_vendor_stub() -> None:
@@ -63,12 +64,37 @@ def __init__(
     sys.modules.update({PACKAGE: package, VENDOR: vendor, DESK: desk})
 
 
+def _install_trossen_stub() -> None:
+    """Bind the names ``trossen_arm`` gives the Trossen driver, which reaches them as ``trossen_arm.*``."""
+
+    class Mode(Enum):
+        idle = 'idle'
+        position = 'position'
+        external_effort = 'external_effort'
+
+    class Model(Enum):
+        wxai_v0 = 'wxai_v0'
+
+    module = types.ModuleType(TROSSEN)
+    module.__dict__.update(
+        Mode=Mode,
+        Model=Model,
+        StandardEndEffector=types.SimpleNamespace(wxai_v0_follower=object(), wxai_v0_leader=object()),
+        TrossenArmDriver=object,
+        RuntimeError=type('RuntimeError', (RuntimeError,), {}),
+    )
+    sys.modules[TROSSEN] = module
+
+
 # Both are reached for only inside the functions that use them, so an empty module carries the import
 _EMPTY_STUBS = ('scservo_sdk', 'placo')
 
 if importlib.util.find_spec(PACKAGE) is None:
     _install_vendor_stub()
 
+if importlib.util.find_spec(TROSSEN) is None:
+    _install_trossen_stub()
+
 for _name in _EMPTY_STUBS:
     if importlib.util.find_spec(_name) is None:
         sys.modules[_name] = types.ModuleType(_name)
diff --git a/positronic/drivers/roboarm/tests/test_ik.py b/positronic/drivers/roboarm/tests/test_ik.py
index 6ec1eeab5..0879a1d8a 100644
--- a/positronic/drivers/roboarm/tests/test_ik.py
+++ b/positronic/drivers/roboarm/tests/test_ik.py
@@ -9,6 +9,7 @@
 from positronic.dataset.episode import EpisodeContainer
 from positronic.dataset.tests.utils import DummySignal
 from positronic.drivers.roboarm import keys as roboarm_keys
+from positronic.drivers.roboarm import trossen
 from positronic.drivers.roboarm.ik import (
     DLSIKSolver,
     DLSIKSolverWithLimits,
@@ -182,6 +183,38 @@ def test_bundled_model_declares_the_frame_it_reports_in(model):
     frame_transform(model[roboarm_keys.URDF], DEFAULT_FRAME, DEFAULT_FRAME)
 
 
+def test_the_trossen_model_declares_the_frame_it_reports_in():
+    model = trossen._robot_meta()
+    assert model[roboarm_keys.CONTROL_FRAME] == DEFAULT_FRAME
+    frame_transform(model[roboarm_keys.URDF], DEFAULT_FRAME, DEFAULT_FRAME)
+
+
+def test_the_trossen_urdf_and_its_mjcf_put_the_control_frame_in_the_same_place():
+    """The driver solves against the MJCF and the codecs against the URDF. Two models of one arm that
+    disagree put every recorded pose in a frame nothing else can read."""
+    spec = _prepare_spec(trossen._robot_meta()[roboarm_keys.URDF], DEFAULT_FRAME)
+    urdf_model = spec.compile()
+    urdf_data = mj.MjData(urdf_model)
+    site = mj.mj_name2id(urdf_model, mj.mjtObj.mjOBJ_SITE, DEFAULT_FRAME)
+    kin = trossen._Kinematics()
+
+    rng = np.random.default_rng(0)
+    for _ in range(8):
+        q = rng.uniform([-3.0, 0.1, 0.1, -1.5, -1.5, -3.0], [3.0, 3.0, 2.3, 1.5, 1.5, 3.0])
+        urdf_data.qpos[:] = 0.0
+        urdf_data.qpos[: len(q)] = q
+        mj.mj_forward(urdf_model, urdf_data)
+        from_urdf = geom.Transform3D(
+            urdf_data.site_xpos[site].copy(),
+            geom.Rotation.from_rotation_matrix(urdf_data.site_xmat[site].reshape(3, 3)),
+        )
+        from_mjcf = kin.fk(q)
+        np.testing.assert_allclose(from_urdf.translation, from_mjcf.translation, atol=1e-4)
+        np.testing.assert_allclose(
+            from_urdf.rotation.as_rotation_matrix, from_mjcf.rotation.as_rotation_matrix, atol=1e-4
+        )
+
+
 def test_declared_droid_frame_matches_the_model_geometry():
     """The checkpoint states its frame as a constant; this pins it to where the model puts that frame."""
     urdf = bundled_franka_model()[roboarm_keys.URDF]
diff --git a/positronic/drivers/roboarm/tests/test_trossen.py b/positronic/drivers/roboarm/tests/test_trossen.py
new file mode 100644
index 000000000..b578bf060
--- /dev/null
+++ b/positronic/drivers/roboarm/tests/test_trossen.py
@@ -0,0 +1,853 @@
+"""What the Trossen driver puts on the link, and what a caller waiting on a move hears."""
+
+import logging
+
+import numpy as np
+import pytest
+
+import pimm
+from pimm.tests.testing import MockClock, wire_call
+from positronic import geom
+from positronic.drivers.roboarm import RobotStatus, command
+from positronic.drivers.roboarm import trossen as trossen_driver
+from positronic.drivers.roboarm.tests.fakes import StopFlag
+from positronic.drivers.utils import MoveAbandoned
+from positronic.tests.testing_coutils import ManualCommandReceiver, RecordingEmitter
+
+GRIP_SPEED_M_S = 0.25  # what the controller reports the finger drive may do
+GRIP_TRAVEL_M = 0.04  # the gripper joint's range, which the arm reports and grip is normalized against
+JOGGED = np.array([0.2, 0.4, 0.3, 0.0, 0.1, 0.0])
+# Mid-range on every joint. The arm rests on the lower limit of joints 1 and 2, where Cartesian targets have
+# no solution in half the directions, so every Cartesian test starts from here instead.
+HOME = np.array([0.0, 1.571, 1.178, 0.0, 0.0, 0.0])
+ARM = trossen_driver._ARM_JOINTS
+# What the wxai_v0 controller reports as the following error it allows, and what caps a streamed solution
+TOLERANCE = np.array([0.2, 0.2, 0.2, 0.4, 0.4, 0.4])
+
+
+class FakeArm(trossen_driver._FakeTrossen):
+    """The driver's fake with the link under the test's control.
+
+    ``blocked`` holds the joints where they stand while the controller keeps streaming; ``frozen`` stops
+    the stream, as a dropped link does. ``raises`` is what reading the arm raises, ``write_raises`` what
+    a write raises, and ``velocities`` what the joints read as running at.
+    """
+
+    def __init__(self, position=None):
+        super().__init__()
+        if position is not None:
+            self._position = np.asarray(position, dtype=np.float64)
+        self.raises: Exception | None = None
+        self.write_raises: Exception | None = None
+        self.configure_raises: Exception | None = None
+        self.velocities: np.ndarray | None = None
+        self.attempts = 0
+        self.blocked = False
+
+    def configure(self, model, end_effector, serv_ip, clear_error, timeout=20.0) -> None:
+        self.attempts += 1
+        if self.configure_raises is not None:
+            raise self.configure_raises
+        super().configure(model, end_effector, serv_ip, clear_error, timeout)
+
+    def get_robot_output(self):
+        if self.raises is not None:
+            raise self.raises
+        out = super().get_robot_output()
+        if self.velocities is not None:
+            out.joint.arm.velocities = np.asarray(self.velocities, dtype=np.float64)
+        return out
+
+    def set_all_modes(self, mode) -> None:
+        if self.write_raises is not None:
+            raise self.write_raises
+        super().set_all_modes(mode)
+
+    def set_all_positions(self, goal_positions, goal_time=2.0, blocking=True) -> None:
+        if self.write_raises is not None:
+            raise self.write_raises
+        super().set_all_positions(goal_positions, goal_time, blocking)
+
+    def set_gripper_position(self, goal_position, goal_time=2.0, blocking=True) -> None:
+        if self.write_raises is not None:
+            raise self.write_raises
+        super().set_gripper_position(goal_position, goal_time, blocking)
+
+    def _servo(self) -> None:
+        if not self.blocked:
+            super()._servo()
+
+
+class SaggingArm(FakeArm):
+    """The arm's fake, holding itself up with a following error, as the real one does.
+
+    The joints settle a fixed distance short of every goal. The values are what the arm at the rig reads
+    against what it was asked for at the nominal pose.
+    """
+
+    DROOP = np.array([0.0, 0.071, -0.064, -0.051, 0.0, 0.0])
+
+    def _servo(self) -> None:
+        super()._servo()
+        if self.goals:
+            settled = np.append(np.asarray(self.goals[-1])[:ARM] + SaggingArm.DROOP, self._position[ARM])
+            self._position = self._position + 0.1 * (settled - self._position)
+
+
+def _driven(arm: FakeArm, clock: MockClock | None = None, stop: StopFlag | None = None):
+    """A driver over ``arm`` with its state recorded, and its loop ready to pump."""
+    driver = trossen_driver.Robot('192.168.1.4', connect=lambda ip: arm)
+    states = RecordingEmitter()
+    driver.state._bind(states)
+    return driver, states, driver.run(stop or StopFlag(), clock or MockClock())
+
+
+def _settle(loop, ticks: int = 400) -> None:
+    """Run the loop long enough for the arm to reach what it was last asked for.
+
+    Every setpoint is held to what the joints may travel in one tick, so arriving takes many of them.
+    """
+    for _ in range(ticks):
+        next(loop)
+
+
+def _held(arm: FakeArm) -> np.ndarray:
+    return np.asarray(arm.goals[-1][:ARM])
+
+
+def _homed(loop, ticks: int = 60) -> None:
+    """Run the loop past the travel the driver makes to the pose a run opens at."""
+    _settle(loop, ticks)
+
+
+def _drain(loop, ticks: int = 1200) -> None:
+    """Run the loop to its end. A run rests the arm before it gives the handle back."""
+    for _ in range(ticks):
+        try:
+            next(loop)
+        except StopIteration:
+            return
+    raise AssertionError('the run did not end')
+
+
+def test_the_link_is_written_only_once_something_has_asked_for_a_setpoint():
+    """An arm already held where it stands is not written to again."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    grip = ManualCommandReceiver()
+    driver.target_grip._bind(grip)
+    _homed(loop)
+
+    next(loop)
+    written = len(arm.goals) + len(arm.gripper_goals)
+    for _ in range(3):  # and nothing has asked since
+        next(loop)
+    assert len(arm.goals) + len(arm.gripper_goals) == written
+
+    grip.push(0.25)
+    next(loop)
+    assert len(arm.goals) + len(arm.gripper_goals) == written + 1
+
+
+def test_an_open_grip_reaches_the_arm_as_the_joint_at_its_upper_limit():
+    """positronic counts 1 as closed; the joint counts its lower limit as closed."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    grip = ManualCommandReceiver()
+    driver.target_grip._bind(grip)
+    _homed(loop)
+
+    grip.push(0.0)
+    _settle(loop, 40)  # the fingers are paced by their own velocity limit
+
+    assert arm.gripper_goals[-1] == pytest.approx(GRIP_TRAVEL_M)
+
+
+def test_a_closed_grip_reaches_the_arm_as_the_joint_at_its_lower_limit():
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    grip = ManualCommandReceiver()
+    driver.target_grip._bind(grip)
+    _homed(loop)
+
+    grip.push(1.0)
+    _settle(loop, 40)
+
+    assert arm.gripper_goals[-1] == pytest.approx(0.0)
+
+
+def test_the_fingers_are_never_asked_for_more_than_they_may_travel_in_a_tick():
+    """A trigger let go of asks for the whole range at once, which is metres a second past the joint's own
+    limit -- and a joint past its limit faults the controller."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    grip = ManualCommandReceiver()
+    driver.target_grip._bind(grip)
+    _homed(loop)
+    grip.push(1.0)  # the fingers start closed and are asked to stay there
+    next(loop)
+    was = arm.gripper_goals[-1]
+
+    grip.push(0.0)  # from closed to fully open in one message
+    next(loop)
+
+    travelled = abs(arm.gripper_goals[-1] - was) * trossen_driver._HZ
+    assert travelled < GRIP_SPEED_M_S, travelled
+
+
+def test_the_joint_the_arm_reports_comes_back_as_a_normalized_grip():
+    """The reading crosses the same conversion as the goal, the other way."""
+    arm = FakeArm(position=np.append(np.zeros(6), GRIP_TRAVEL_M / 4))
+    driver, _, loop = _driven(arm)
+    grips = RecordingEmitter()
+    driver.grip._bind(grips)
+
+    next(loop)  # the reading goes out before the arm is moved anywhere
+
+    assert grips.emitted[-1][1] == pytest.approx(0.75)
+
+
+def test_a_joint_reading_just_outside_its_range_still_comes_back_a_grip():
+    """A closed gripper reads a shade below its lower limit, and the port carries 0..1."""
+    arm = FakeArm(position=np.append(np.zeros(6), -0.000945))
+    driver, _, loop = _driven(arm)
+    grips = RecordingEmitter()
+    driver.grip._bind(grips)
+
+    next(loop)  # the reading goes out before the arm is moved anywhere
+
+    assert grips.emitted[-1][1] == pytest.approx(1.0)
+
+
+def test_a_run_opens_by_taking_the_arm_off_its_rest_pose():
+    """The arm rests on the lower limit of joints 1 and 2, where half the directions out have no solution.
+    A Cartesian setpoint from there is refused, so the run does not begin there."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    _homed(loop)
+
+    np.testing.assert_allclose(_held(arm), trossen_driver._HOME_JOINTS, atol=1e-3)
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
+
+
+def test_a_run_that_opens_on_a_moving_arm_waits_for_it_before_it_writes():
+    """Position mode on a joint past its limit faults the controller. A goal sent before the mode change is
+    refused, and that refusal reads as a dead command channel and sends the run through link recovery."""
+    arm = FakeArm()
+    arm.velocities = np.full(ARM, 10.0)  # past every joint's limit when the session opens
+    driver, states, loop = _driven(arm)
+
+    for _ in range(20):
+        next(loop)
+    assert arm.goals == [], 'the arm was written to before it was in position mode'
+    assert arm.mode is not trossen_driver.trossen_arm.Mode.position
+
+    arm.velocities = np.zeros(ARM)
+    _homed(loop)
+
+    assert arm.mode is trossen_driver.trossen_arm.Mode.position
+    np.testing.assert_allclose(_held(arm), trossen_driver._HOME_JOINTS, atol=1e-3)
+
+
+def test_a_run_ends_by_putting_the_arm_back_on_it():
+    """The controller holds the arm only at rest: `_opened` sets it idle, and idle anywhere else falls."""
+    arm = FakeArm()
+    stop = StopFlag()
+    _, _, loop = _driven(arm, stop=stop)
+    _homed(loop)
+
+    stop.stopped = True
+    _drain(loop)
+
+    # Within the arrival tolerance, which is the following error the controller holds the arm up with
+    rested = np.asarray(arm.get_robot_output().joint.arm.positions)
+    np.testing.assert_allclose(rested, np.zeros(ARM), atol=0.1)
+    assert arm.mode is trossen_driver.trossen_arm.Mode.idle
+    assert arm.cleaned_up
+
+
+def test_a_streamed_joint_command_reaches_the_arm():
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+
+    commands.push(command.JointPosition(JOGGED))
+    _settle(loop)
+
+    np.testing.assert_allclose(_held(arm), JOGGED, atol=1e-6)
+
+
+def test_a_setpoint_never_asks_a_joint_for_more_than_it_may_travel_in_a_tick():
+    """Past its velocity limit the controller faults and drops the arm, so no goal may ask for that.
+
+    The ramp also comes up to speed rather than starting at it, so the first steps are smaller still.
+    """
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    arm.goals.clear()  # the travel a run opens with is its own move, planned by the firmware
+
+    commands.push(command.JointPosition(np.array([3.0, 3.0, 2.0, 1.5, 1.5, 3.0])))
+    for _ in range(40):
+        next(loop)
+
+    per_tick = np.array([limit.velocity_max for limit in arm.get_joint_limits()[:ARM]])
+    per_tick = per_tick * trossen_driver._COMMANDED_SHARE / trossen_driver._HZ
+    steps = np.abs(np.diff(np.array([goal[:ARM] for goal in arm.goals]), axis=0))
+    assert np.all(steps <= per_tick + 1e-9), steps.max(axis=0)
+
+
+def test_a_joint_target_outside_the_range_is_clipped_to_it_and_said_so(caplog):
+    """The second joint has no negative half, and a target below it is held at the limit, not refused. A
+    leader pushed past the follower's range carries it as far as the range goes, and says where it stopped."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+
+    with caplog.at_level(logging.WARNING):
+        commands.push(command.JointPosition(np.array([0.0, -1.0, 0.0, 0.0, 0.0, 0.0])))
+        _settle(loop)
+
+    assert _held(arm)[1] == pytest.approx(0.0)
+    assert 'Joint 1' in caplog.text and 'outside' in caplog.text
+    assert [r.levelname for r in caplog.records if 'outside' in r.message] == ['WARNING']
+
+
+def test_a_joint_target_that_is_not_six_finite_joints_moves_nothing(caplog):
+    """One number broadcasts across all six limits, and a NaN clips to itself: neither may reach the arm."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    home = _held(arm)
+
+    for target in (np.array([0.5]), np.array([0.5, np.nan, 0.5, 0.0, 0.0, 0.0])):
+        commands.push(command.JointPosition(target))
+        _settle(loop, ticks=5)
+
+    np.testing.assert_allclose(_held(arm), home)
+    assert 'not applied' in caplog.text
+
+
+def test_a_grip_that_is_not_a_number_leaves_the_fingers_alone(caplog):
+    """``np.clip`` carries a NaN through, and the controller takes whatever finger position it is handed."""
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    grip = ManualCommandReceiver()
+    driver.target_grip._bind(grip)
+    _homed(loop)
+    written = len(arm.goals) + len(arm.gripper_goals)
+
+    grip.push(float('nan'))
+    next(loop)
+
+    assert len(arm.goals) + len(arm.gripper_goals) == written
+    assert 'grip at nan' in caplog.text
+
+
+def test_a_streamed_command_the_arm_cannot_be_put_at_leaves_it_where_it_is(monkeypatch):
+    """A command stream cannot end the run: the next command supersedes one that could not be applied.
+
+    Every target is brought within a step of where the arm stands before it is solved, so one the solver
+    cannot reach is rare enough that the solver is what stands in for it here.
+    """
+    arm = FakeArm()
+    driver, _, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    where_it_is = _held(arm)
+
+    monkeypatch.setattr(trossen_driver._Kinematics, 'ik', lambda self, target, current_q: None)
+    commands.push(command.CartesianPosition(geom.Transform3D(np.array([3.0, 0.0, 0.2]))))
+    next(loop)
+
+    np.testing.assert_allclose(_held(arm), where_it_is, atol=1e-6)
+
+
+def _reject_writes(arm: FakeArm, commands: ManualCommandReceiver, loop) -> None:
+    """Break the command half of the link, and give the driver a setpoint that finds out."""
+    arm.write_raises = trossen_driver.trossen_arm.RuntimeError('Broken pipe')
+    commands.push(command.JointPosition(JOGGED))
+    next(loop)
+
+
+def test_a_read_that_raises_reads_error_and_the_run_carries_on():
+    arm = FakeArm()
+    _, states, loop = _driven(arm)
+
+    next(loop)
+    arm.raises = trossen_driver.trossen_arm.RuntimeError('the controller stopped answering')
+    next(loop)
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+
+    arm.raises = None
+    next(loop)
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
+
+
+def test_an_arm_that_stops_streaming_reads_error_though_the_read_still_answers():
+    """A dropped link does not make the read raise: it hands back the last telemetry, over and over."""
+    arm = FakeArm()
+    clock = MockClock()
+    _, states, loop = _driven(arm, clock)
+    _homed(loop)
+
+    next(loop)
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
+
+    arm.frozen = True
+    clock.advance(trossen_driver._STALE_AFTER_S + 0.1)
+    next(loop)
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+
+    arm.frozen = False
+    next(loop)
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
+
+
+def test_a_setpoint_the_link_refuses_reads_error_and_stops_the_writes():
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    written = len(arm.goals)
+    _reject_writes(arm, commands, loop)
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+
+    for _ in range(5):  # a refused write is not retried a hundred times a second
+        next(loop)
+    assert len(arm.goals) == written
+
+
+def test_telemetry_alone_does_not_bring_a_refused_command_channel_back():
+    """The controller keeps streaming over a link whose command half is gone, so freshness proves nothing."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    _reject_writes(arm, commands, loop)
+    arm.write_raises = None  # the wire is back, but the session the controller dropped is not
+    for _ in range(5):
+        next(loop)
+
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+    assert arm.sessions == 1
+
+
+def test_a_link_that_stays_down_gets_a_new_session_and_the_arm_answers_again():
+    arm = FakeArm()
+    clock = MockClock()
+    driver, states, loop = _driven(arm, clock)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    assert arm.sessions == 1
+
+    _reject_writes(arm, commands, loop)
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+
+    arm.write_raises = None
+    clock.advance(trossen_driver._RECONNECT_AFTER_S + 0.01)
+    next(loop)
+
+    assert arm.sessions == 2
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
+
+
+def test_a_new_session_holds_the_arm_where_it_finds_it():
+    """The arm ends up wherever the lost session left it, and driving it back to an old target is a jump."""
+    arm = FakeArm()
+    clock = MockClock()
+    driver, _, loop = _driven(arm, clock)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+
+    commands.push(command.JointPosition(JOGGED))
+    _settle(loop)
+    where_it_is = np.asarray(arm.get_robot_output().joint.arm.positions)
+
+    _reject_writes(arm, commands, loop)
+    arm.write_raises = None
+    clock.advance(trossen_driver._RECONNECT_AFTER_S + 0.01)
+    next(loop)
+
+    np.testing.assert_allclose(_held(arm), where_it_is, atol=1e-3)
+
+
+def test_a_move_in_flight_when_the_link_drops_is_failed_by_the_new_session(world):
+    """A new session holds the arm where it reads, so the target of a move in flight is never sent again."""
+    arm = FakeArm()
+    clock = MockClock()
+    driver, states, loop = _driven(arm, clock)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+    _homed(loop)
+
+    answer = caller(command.JointPosition(JOGGED))
+    arm.write_raises = trossen_driver.trossen_arm.RuntimeError('Broken pipe')
+    for _ in range(4):  # the link goes before the target reaches the controller
+        next(loop)
+    assert not answer.done()
+
+    arm.write_raises = None
+    clock.advance(trossen_driver._RECONNECT_AFTER_S + 0.01)
+    next(loop)
+
+    assert clock.now() < trossen_driver._MOVE_TIMEOUT_S, 'the move waited out its deadline'
+    with pytest.raises(ConnectionError, match='dropped during the move'):
+        answer.result()
+    assert states.emitted[-1][1].status is RobotStatus.ERROR  # the arm is not where the driver put it
+
+
+def test_a_new_session_that_fails_is_tried_again_further_and_further_apart():
+    """A fault the controller latches outlives a new session, so retrying at the same pace stalls the loop."""
+    arm = FakeArm()
+    clock = MockClock()
+    driver, _, loop = _driven(arm, clock)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    _reject_writes(arm, commands, loop)
+    arm.configure_raises = trossen_driver.trossen_arm.RuntimeError('Network is unreachable')
+    clock.advance(trossen_driver._RECONNECT_AFTER_S + 0.01)
+    for _ in range(20):  # many ticks inside one reconnect interval, one attempt between them
+        next(loop)
+    assert arm.attempts == 1
+
+    clock.advance(trossen_driver._RECONNECT_EVERY_S + 0.01)
+    for _ in range(5):
+        next(loop)
+    assert arm.attempts == 1  # the interval doubled after the first attempt failed
+
+    clock.advance(trossen_driver._RECONNECT_EVERY_S + 0.01)
+    next(loop)
+    assert arm.attempts == 2
+    assert arm.sessions == 1  # none of them took
+
+
+def test_a_sync_move_answers_once_the_arm_reads_back_at_its_target(world):
+    arm = FakeArm()
+    clock = MockClock()
+    driver, states, loop = _driven(arm, clock)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+
+    answer = caller(command.JointPosition(JOGGED))
+    for _ in range(400):
+        if answer.done():
+            break
+        next(loop)
+    answer.result()
+
+    np.testing.assert_allclose(states.emitted[-1][1].q, JOGGED, atol=0.1)
+
+
+def test_a_move_the_world_stops_under_is_handed_back_to_its_asker(world):
+    arm = FakeArm()
+    clock = MockClock()
+    stop = StopFlag()
+    driver, _, loop = _driven(arm, clock, stop=stop)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+    _homed(loop)
+
+    arm.blocked = True  # it never reaches the target, so the move is still in flight when the run ends
+    answer = caller(command.JointPosition(JOGGED))
+    next(loop)
+    stop.stopped = True
+    next(loop)  # the run leaves its loop and starts resting the arm
+    clock.advance(trossen_driver._MOVE_TIMEOUT_S + 1)  # an arm that cannot move cannot be rested either
+    _drain(loop)
+
+    assert answer.done()
+    with pytest.raises(MoveAbandoned):
+        answer.result()
+
+
+def test_a_run_that_ends_on_a_dead_link_still_gives_the_handle_back():
+    """Setting the arm idle is what the run tries last, and an arm it cannot reach must not end it badly."""
+    arm = FakeArm()
+    stop = StopFlag()
+    _, _, loop = _driven(arm, stop=stop)
+    _homed(loop)
+
+    arm.write_raises = trossen_driver.trossen_arm.RuntimeError('Connection reset by peer')
+    stop.stopped = True
+    _drain(loop)
+
+    assert arm.cleaned_up
+
+
+def test_an_arm_running_past_a_joint_limit_is_left_alone_until_it_slows():
+    """Past its limit the controller faults and drops the arm, so the driver stops driving before that."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    arm.velocities = np.array([0.0, 0.0, 0.0, 0.0, 9.0, 0.0])  # joint 4 stops at 9.4248 rad/s
+    commands.push(command.JointPosition(JOGGED))
+    for _ in range(5):
+        next(loop)
+
+    assert states.emitted[-1][1].status == RobotStatus.ERROR
+    np.testing.assert_allclose(_held(arm), states.emitted[-1][1].q, atol=1e-3)
+
+    arm.velocities = np.zeros(6)
+    commands.push(command.JointPosition(JOGGED))
+    _settle(loop)
+    np.testing.assert_allclose(_held(arm), JOGGED, atol=1e-6)
+
+
+# --- Cartesian, which the driver solves itself ---
+
+
+def _ee(states: RecordingEmitter) -> geom.Transform3D:
+    return states.emitted[-1][1].ee_pose
+
+
+def test_the_pose_that_goes_out_is_the_one_the_joints_put_the_end_effector_at():
+    """Measured on the arm at rest: joints all but zero put ``ee_site`` here."""
+    arm = FakeArm()
+    _, states, loop = _driven(arm)
+
+    next(loop)
+
+    np.testing.assert_allclose(_ee(states).translation, [0.2537, 0.0, 0.1635], atol=5e-4)
+
+
+def test_a_streamed_cartesian_command_takes_the_end_effector_there():
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    target = geom.Transform3D(_ee(states).translation + np.array([0.0, 0.04, -0.03]), _ee(states).rotation)
+
+    for _ in range(60):  # the target is held, as a teleoperator holds one
+        commands.push(command.CartesianPosition(target))
+        _settle(loop, 10)
+
+    np.testing.assert_allclose(_ee(states).translation, target.translation, atol=2e-3)
+
+
+def test_a_cartesian_delta_composes_onto_the_pose_the_joints_put_the_arm_at():
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    started = _ee(states).translation.copy()
+
+    commands.push(command.CartesianDelta(geom.Transform3D(np.array([0.0, 0.01, 0.0]))))
+    _settle(loop)
+
+    np.testing.assert_allclose(_ee(states).translation, started + np.array([0.0, 0.01, 0.0]), atol=2e-3)
+
+
+def test_a_delta_longer_than_one_step_is_walked_the_whole_way():
+    """A delta is consumed once, and it asks for a travel: paced to a step a tick, the rest of it would
+    have nowhere to live and the arm would stop a step in."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    started = _ee(states).translation.copy()
+    travel = np.array([0.0, 0.05, 0.0])  # more than three times `_MAX_STEP_M`
+    assert np.linalg.norm(travel) > trossen_driver._MAX_STEP_M
+
+    commands.push(command.CartesianDelta(geom.Transform3D(travel)))
+    _settle(loop)  # nothing else is streamed at the arm
+
+    np.testing.assert_allclose(_ee(states).translation, started + travel, atol=2e-3)
+
+
+def test_a_pose_the_stream_stops_at_holds_the_arm_a_step_in():
+    """A pose says where the arm is wanted now, and the next one supersedes it. An arm whose stream stops
+    holds where it stands rather than finishing a travel nobody is asking for any more."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    started = _ee(states).translation.copy()
+
+    commands.push(command.CartesianPosition(geom.Transform3D(started + np.array([0.0, 0.05, 0.0]))))
+    _settle(loop)  # the stream stops after that one pose
+
+    assert np.linalg.norm(_ee(states).translation - started) < trossen_driver._MAX_STEP_M + 2e-3
+
+
+def test_a_cartesian_target_out_of_reach_is_solved_one_step_at_a_time():
+    """A teleoperator reaching past the arm asks for a target that runs away from it."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    started = _ee(states).translation.copy()
+
+    commands.push(command.CartesianPosition(geom.Transform3D(started + np.array([0.0, 5.0, 0.0]))))
+    next(loop)
+
+    step = np.linalg.norm(_ee(states).translation - started)
+    assert step < trossen_driver._MAX_STEP_M + 1e-6
+
+
+def test_a_pose_streamed_after_a_joint_move_steps_from_where_the_joints_put_the_arm(world):
+    """The rig is readied by a joint move between episodes, and a Cartesian step measured from the pose the
+    stream asked for before it would drive the arm back towards the last episode's target."""
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    away = geom.Transform3D(_ee(states).translation + np.array([0.0, 0.06, 0.0]), _ee(states).rotation)
+    for _ in range(40):  # a teleoperator drives the arm away from home
+        commands.push(command.CartesianPosition(away))
+        _settle(loop, 10)
+
+    answer = caller(command.JointPosition(HOME))
+    for _ in range(400):
+        if answer.done():
+            break
+        next(loop)
+    answer.result()
+    _settle(loop)  # the arm takes up the last of the travel with nothing streamed at it
+    homed = _ee(states).translation.copy()
+
+    commands.push(command.CartesianPosition(_ee(states)))  # asked to stand where it now is
+    _settle(loop, 20)
+
+    np.testing.assert_allclose(_ee(states).translation, homed, atol=2e-3)
+
+
+def test_an_arm_that_runs_too_fast_tells_the_move_it_was_making(world):
+    """Standing down holds the arm where it reads, and a move in flight refuses every request that could
+    send its target again -- so nothing would finish it and its asker would wait out the deadline."""
+    arm = FakeArm()
+    clock = MockClock()
+    driver, _, loop = _driven(arm, clock)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+    _homed(loop)
+
+    answer = caller(command.JointPosition(JOGGED))
+    next(loop)
+    arm.velocities = np.full(6, 10.0)  # past every joint's limit
+    next(loop)
+
+    assert clock.now() < trossen_driver._MOVE_TIMEOUT_S, 'the move waited out its deadline'
+    with pytest.raises(RuntimeError, match='ran too fast'):
+        answer.result()
+
+
+def test_a_streamed_turn_is_walked_the_whole_way_by_an_arm_that_sags():
+    """A teleoperator turns the end effector over many ticks, and the setpoint moves a fraction of a degree
+    in each: the turn arrives however many that takes, on an arm holding itself up with a following error."""
+    arm = SaggingArm(position=np.append(HOME, 0.0))
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    here = _ee(states)
+    asked = geom.Transform3D(
+        here.translation, geom.Rotation.from_rotvec(np.array([0.0, np.radians(30), 0.0])) * here.rotation
+    )
+
+    for _ in range(1500):  # a teleoperator's stream: the same target, tick after tick
+        commands.push(command.CartesianPosition(asked))
+        next(loop)
+
+    turned = np.degrees(np.linalg.norm((here.rotation.inv * _ee(states).rotation).as_rotvec))
+    assert turned > 25, turned
+
+
+def test_a_sync_move_to_a_pose_is_answered_like_any_other(world):
+    """A pose says which joints reach it once the driver solves for them, so a caller may wait on one.
+
+    Arrival is judged from the joints, within the following error the controller says it allows. The arm
+    carries that error holding itself up, so the tolerance cannot be tighter — and at half a metre of
+    reach it is centimetres at the end effector, which is why the pose is only checked that closely.
+    """
+    arm = FakeArm()
+    driver, states, loop = _driven(arm)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](driver)
+    wire_call(world, caller, driver.sync_move)
+    # Further than a streamed target is ever paced to, so a move that only stepped once would fall short
+    target = geom.Transform3D(_ee(states).translation + np.array([0.0, 0.05, -0.04]), _ee(states).rotation)
+
+    answer = caller(command.CartesianPosition(target))
+    for _ in range(400):
+        if answer.done():
+            break
+        next(loop)
+    answer.result()
+
+    np.testing.assert_allclose(_ee(states).translation, target.translation, atol=6e-2)
+
+
+def test_a_pose_far_from_where_the_arm_stands_is_solved_only_when_it_may_change_shape():
+    """The same pose is reachable with the arm in more than one shape, and moving between them swings it."""
+    kin = trossen_driver._Kinematics()
+    here = kin.fk(HOME)
+    far = geom.Transform3D(here.translation + np.array([-0.15, 0.15, -0.1]), here.rotation)
+
+    assert kin.ik(far, HOME, max_jump=TOLERANCE) is None
+    assert kin.ik(far, HOME) is not None
+
+
+def test_a_target_the_arm_has_drooped_away_from_is_still_solved():
+    """A teleoperator's target starts at what the arm reads, which stands off from what it was asked for."""
+    kin = trossen_driver._Kinematics()
+    drooped = HOME + np.array([0.0, 0.08, -0.06, -0.05, 0.0, 0.0])  # the following error measured on the arm
+
+    assert kin.ik(kin.fk(drooped), HOME, max_jump=TOLERANCE) is not None
+
+
+def test_a_stream_of_poses_the_arm_cannot_follow_says_so_once(caplog, monkeypatch):
+    """The pose differs every tick and the fault that refuses it does not, so one complaint stands for all."""
+    arm = FakeArm()
+    clock = MockClock()
+    driver, _, loop = _driven(arm, clock)
+    commands = ManualCommandReceiver()
+    driver.commands._bind(commands)
+    _homed(loop)
+
+    monkeypatch.setattr(trossen_driver._Kinematics, 'ik', lambda self, target, current_q, max_jump=None: None)
+    for tick in range(5):
+        commands.push(command.CartesianPosition(geom.Transform3D(np.array([0.4, 0.001 * tick, 0.2]))))
+        next(loop)
+        clock.advance(1.0 / trossen_driver._HZ)
+
+    assert caplog.text.count('not applied') == 1
+
+
+def test_an_arm_reading_outside_a_joint_range_says_so_and_is_driven_anyway(caplog):
+    """The controller takes a margin past what it reports, so only it knows whether this one is too far."""
+    arm = FakeArm(position=np.append(np.zeros(6), -0.0062))  # the gripper past its own zero
+
+    _, states, loop = _driven(arm)
+    next(loop)
+
+    assert 'joint 6 reads' in caplog.text
+    assert states.emitted[-1][1].status == RobotStatus.AVAILABLE
diff --git a/positronic/drivers/roboarm/tests/test_trossen_leader.py b/positronic/drivers/roboarm/tests/test_trossen_leader.py
new file mode 100644
index 000000000..c11f883be
--- /dev/null
+++ b/positronic/drivers/roboarm/tests/test_trossen_leader.py
@@ -0,0 +1,260 @@
+"""What a leader arm publishes while the operator moves it, and what it asks of its controller."""
+
+from typing import Any
+
+import numpy as np
+import pytest
+
+import pimm
+from pimm.tests.testing import MockClock, wire_call
+from positronic import geom
+from positronic.drivers.roboarm import command, trossen_leader
+from positronic.drivers.roboarm.tests.fakes import StopFlag
+from positronic.tests.testing_coutils import ManualCommandReceiver, RecordingEmitter
+
+GRIP_TRAVEL_M = 0.04  # the gripper joint's range, which the arm reports and grip is normalized against
+GRIPPER_FRICTION = 5.77  # the friction constant term the station's leaders carry, in N
+HELD = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, GRIP_TRAVEL_M]
+
+
+class FakeLeader:
+    """The slice of ``TrossenArmDriver`` the leader driver uses, under the test's control.
+
+    ``raises`` is what every call to the arm raises, as a controller that has faulted or a link that has
+    dropped does.
+    """
+
+    class _Limit:
+        def __init__(self, lower: float, upper: float):
+            self.position_min, self.position_max = lower, upper
+
+    class _Characteristic:
+        def __init__(self, friction_constant_term: float):
+            self.friction_constant_term = friction_constant_term
+
+    def __init__(self, positions: list[float] | None = None):
+        self.positions = list(positions if positions is not None else HELD)
+        self.modes: list[Any] = []
+        self.efforts: list[list[float]] = []
+        self.moves: list[tuple[list[float], float, bool]] = []
+        self.characteristics = [self._Characteristic(0.0)] * 6 + [self._Characteristic(GRIPPER_FRICTION)]
+        self.friction_terms: list[float] = []
+        self.raises: Exception | None = None
+        self.cleaned_up = False
+
+    def get_joint_characteristics(self):
+        return self.characteristics
+
+    def set_joint_characteristics(self, characteristics) -> None:
+        if self.raises is not None:
+            raise self.raises
+        self.characteristics = list(characteristics)
+        self.friction_terms.append(characteristics[6].friction_constant_term)
+
+    def get_joint_limits(self):
+        return [self._Limit(-3.14, 3.14)] * 6 + [self._Limit(0.0, GRIP_TRAVEL_M)]
+
+    def set_all_modes(self, mode) -> None:
+        if self.raises is not None:
+            raise self.raises
+        self.modes.append(mode)
+
+    def set_all_external_efforts(self, efforts, goal_time=2.0, blocking=True) -> None:
+        if self.raises is not None:
+            raise self.raises
+        self.efforts.append(list(efforts))
+
+    def set_all_positions(self, goal_positions, goal_time=2.0, blocking=True) -> None:
+        if self.raises is not None:
+            raise self.raises
+        self.moves.append((list(goal_positions), float(goal_time), bool(blocking)))
+        self.positions = list(goal_positions)
+
+    def get_all_positions(self):
+        if self.raises is not None:
+            raise self.raises
+        return list(self.positions)
+
+    def cleanup(self) -> None:
+        self.cleaned_up = True
+
+
+def build(arm: FakeLeader, **kwargs):
+    """The leader over ``arm``, with recorders on what it publishes and the clock under the test."""
+    leader = trossen_leader.Leader('192.168.1.3', connect=lambda _ip: arm, **kwargs)
+    joints, grips = RecordingEmitter(), RecordingEmitter()
+    leader.joints._bind(joints)
+    leader.grip._bind(grips)
+    return leader, joints, grips, MockClock(), StopFlag()
+
+
+def drive(leader, clock: MockClock, stop: StopFlag, *, ticks: int) -> None:
+    """Run ``ticks`` of the leader's loop, then let it finish the way a stopped run does."""
+    run = leader.run(stop, clock)
+    for _ in range(ticks):
+        next(run)
+        clock.advance(0.01)
+    stop.stopped = True
+    for _ in run:
+        pass
+
+
+def test_the_leader_publishes_the_joints_the_operator_moves_it_to():
+    """The arm joints are the whole of what a follower is asked for, so they go out as they read — the
+    gripper is not among them, since it is a grip and travels on its own port."""
+    arm = FakeLeader()
+    leader, joints, _grips, clock, stop = build(arm)
+
+    drive(leader, clock, stop, ticks=3)
+
+    assert len(joints.emitted) == 3
+    for _ts, published in joints.emitted:
+        np.testing.assert_allclose(published, HELD[:6])
+
+
+def test_a_leader_nobody_drives_is_left_for_the_hand_that_holds_it():
+    """The operator moves this arm. A leader held in position mode fights the hand on it, so the driver
+    reads the arm and asks nothing of it."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm)
+
+    drive(leader, clock, stop, ticks=3)
+
+    names = [mode.name for mode in arm.modes]
+    assert names[0] == 'external_effort', 'the arm was not freed for the operator to move'
+    assert 'position' not in names, f'the leader was driven, not followed: {names}'
+    assert not arm.moves, 'the leader was sent somewhere nobody asked for'
+    assert names[-1] == 'idle', 'the run left the arm holding itself up'
+    assert arm.cleaned_up
+
+
+def test_a_move_the_session_asks_for_drives_the_leader_and_gives_it_back(world):
+    """Both arms travel to the pose the session opens on, so the follower has no gap to take up when it
+    copies its leader. The arm is free in the operator's hand again the moment it arrives."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](leader)
+    wire_call(world, caller, leader.sync_move)
+    target = np.array([0.0, 1.571, 1.178, 0.0, 0.0, 0.0])
+
+    answer = caller(command.JointPosition(target))
+    drive(leader, clock, stop, ticks=2)
+
+    answer.result()
+    goal, seconds, blocking = arm.moves[-1]
+    np.testing.assert_allclose(goal[:6], target)
+    assert goal[6] == pytest.approx(HELD[6]), 'the gripper was moved out of the hand that holds it'
+    assert blocking, 'the arm was left travelling with the driver reading it as held'
+    assert seconds == pytest.approx(np.max(np.abs(target - np.array(HELD[:6]))) / trossen_leader._MOVE_SPEED)
+    names = [mode.name for mode in arm.modes]
+    assert names[names.index('position') + 1] == 'external_effort', 'the arm was left holding itself'
+
+
+def test_a_leader_is_not_driven_to_a_pose(world):
+    """A leader has no kinematics: the joints it reads are the whole of what its follower is asked for.
+    A pose would have to be solved for, and the arm goes on being read either way."""
+    arm = FakeLeader()
+    leader, joints, _grips, clock, stop = build(arm)
+    caller = pimm.calls.ControlSystemCaller[command.CommandType, None](leader)
+    wire_call(world, caller, leader.sync_move)
+
+    answer = caller(command.CartesianPosition(geom.Transform3D()))
+    drive(leader, clock, stop, ticks=2)
+
+    with pytest.raises(NotImplementedError):
+        answer.result()
+    assert joints.emitted, 'a target the leader cannot take ended the run'
+    assert not arm.moves
+
+
+@pytest.mark.parametrize(
+    ('position', 'grip'),
+    [(0.0, 1.0), (GRIP_TRAVEL_M, 0.0), (GRIP_TRAVEL_M / 2, 0.5), (-0.001, 1.0), (GRIP_TRAVEL_M + 0.001, 0.0)],
+    ids=['closed', 'open', 'halfway', 'past closed', 'past open'],
+)
+def test_the_trigger_reads_as_the_grip_the_follower_speaks(position: float, grip: float):
+    """positronic speaks a grip where 1 is closed, and the trigger reads a little past its range at either
+    end — which saturates rather than asking the follower for a grip it has no room for."""
+    arm = FakeLeader([*HELD[:6], position])
+    leader, _joints, grips, clock, stop = build(arm)
+
+    drive(leader, clock, stop, ticks=1)
+
+    assert grips.emitted[0][1] == pytest.approx(grip)
+
+
+def test_a_leader_pushes_back_with_nothing_until_the_follower_says_what_it_holds():
+    """Zero external effort is gravity compensation: the controller holds the arm's own weight and the
+    operator moves it freely. That is what a rig without force feedback runs."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm)
+
+    drive(leader, clock, stop, ticks=2)
+
+    assert arm.efforts, 'the arm was never told what to push with'
+    for asked in arm.efforts:
+        np.testing.assert_allclose(asked, np.zeros(7))
+
+
+def test_force_feedback_pushes_back_what_the_follower_is_holding():
+    """What the operator feels is the follower's own effort, reversed: the follower pushes into the world
+    and the leader pushes into the hand."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm, force_feedback_gain=0.1)
+    held = np.array([1.0, -2.0, 3.0, 0.0, 0.0, 0.0, 0.5])
+    efforts = ManualCommandReceiver()
+    efforts.push(held)
+    leader.follower_efforts._bind(efforts)
+
+    drive(leader, clock, stop, ticks=2)
+
+    np.testing.assert_allclose(arm.efforts[0], -0.1 * held)
+
+
+def test_the_gripper_friction_the_operator_asks_for_stands_only_for_the_run():
+    """The term is the arm's configuration, and it outlives the process that set it. A run that leaves it
+    raised hands the next one an arm that is not the arm it was calibrated as."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm, gripper_friction_constant=8.0)
+
+    drive(leader, clock, stop, ticks=2)
+
+    assert arm.friction_terms == [8.0, GRIPPER_FRICTION], 'the run did not hand the gripper back as it took it'
+
+
+def test_an_arm_asked_for_no_gripper_friction_keeps_what_it_was_calibrated_with():
+    """Every arm ships with its own calibration, and a station that names no preference has none to state."""
+    arm = FakeLeader()
+    leader, _joints, _grips, clock, stop = build(arm)
+
+    drive(leader, clock, stop, ticks=2)
+
+    assert not arm.friction_terms, 'the run wrote a characteristic nobody asked for'
+    assert arm.characteristics[6].friction_constant_term == GRIPPER_FRICTION
+
+
+def test_a_leader_that_stops_being_read_does_not_end_the_session():
+    """One arm of a rig going quiet is not a reason to lose the episode the rest of it is recording. The
+    leader complains, holds off, and takes the arm back when it answers again."""
+    arm = FakeLeader()
+    leader, joints, _grips, clock, stop = build(arm)
+    run = leader.run(stop, clock)
+
+    next(run)
+    arm.raises = RuntimeError('link down')
+    for _ in range(5):
+        next(run)
+        clock.advance(0.01)
+    published_while_down = len(joints.emitted)
+
+    arm.raises = None
+    clock.advance(trossen_leader._RECOVER_EVERY_S)
+    for _ in range(3):
+        next(run)
+        clock.advance(0.01)
+
+    assert published_while_down == 1, 'the leader went on publishing an arm it could not read'
+    assert len(joints.emitted) > published_while_down, 'the leader never took the arm back'
+    stop.stopped = True
+    for _ in run:
+        pass
diff --git a/positronic/drivers/roboarm/trossen.py b/positronic/drivers/roboarm/trossen.py
new file mode 100644
index 000000000..436ed797f
--- /dev/null
+++ b/positronic/drivers/roboarm/trossen.py
@@ -0,0 +1,1096 @@
+"""Driver for the Trossen WidowX AI arm — one Ethernet link carrying six joints plus the gripper.
+
+The controller firmware runs the servo loop, and this driver solves FK/IK itself against the vendored MJCF
+(``assets/mujoco/trossen_wxai/wxai_follower.xml``) at ``ee_site`` — the frame the controller reports its own
+Cartesian position in. So every command reaches the arm as joints, which is what lets the driver hold each
+one to its own velocity limit before it goes out: past that limit the controller faults and drops the arm.
+
+The firmware solves Cartesian goals too, but each one on its own, knowing nothing of the last. Near a
+workspace boundary — the arm at rest sits on the lower limit of two joints — successive solutions come from
+different branches and the arm tears itself between them. Solving here, warm-started from where the arm
+stands, is what keeps the joints continuous.
+
+The gripper is the 7th joint, a prismatic finger drive the controller reports in meters. positronic
+speaks a normalized grip where 1 is closed, so grip converts against the travel the arm reports for that
+joint instead of a constant.
+
+A link that drops takes the controller's TCP session with it, and the vendor driver does not open a new
+one. Telemetry and commands travel separately — the controller streams the first over UDP and takes the
+second over TCP — so the arm can be heard from while nothing reaches it. The driver opens a new session
+itself once either half stops working, and resumes from wherever it finds the arm.
+"""
+
+import contextlib
+import logging
+import xml.etree.ElementTree as ET
+from collections.abc import Callable, Iterator
+from pathlib import Path
+from types import SimpleNamespace
+from typing import Any, NamedTuple
+
+import mujoco as mj
+import numpy as np
+
+import pimm
+from positronic import geom
+from positronic.drivers import vendor_import
+from positronic.drivers.roboarm import keys as roboarm_keys
+from positronic.drivers.roboarm.models import DEFAULT_FRAME, add_default_frame
+from positronic.drivers.utils import DriverRun, MoveStatus
+from positronic.utils import package_assets_path
+
+from . import RobotStatus, State, command
+from .ik import qpos_from_site_pose
+
+# trossen_arm lives in the `trossen` extra, which the type-check environment does not install.
+with vendor_import(
+    'trossen_arm', 'Trossen arm support', hint='Re-run with the trossen extra:\n  uv run --locked --extra trossen ...\n'
+):
+    import trossen_arm  # pyright: ignore[reportMissingImports]
+
+logger = logging.getLogger(__name__)
+
+_ARM_JOINTS = 6
+_GRIPPER_JOINT = 6
+_HZ = 100
+# Goal time for a streamed setpoint: one tick, so the firmware interpolates linearly across the gap to the
+# next one. At or below 0.001 s it applies the goal as a step instead, and asks the servo for whatever
+# acceleration closes the distance at once.
+_STREAM_GOAL_TIME_S = 1.0 / _HZ
+# What a move somebody waits on travels at. Above 0.2 s of goal time the firmware plans the whole move as a
+# quintic, which starts and stops the arm gently — so a move hands it the time and lets it do that.
+_MOVE_SPEED = 0.6  # rad/s
+_MIN_MOVE_TIME_S = 1.0
+_MOVE_TIMEOUT_S = 15.0  # the whole range of a joint at that speed, and time to settle after it
+# The share of the following error the controller allows within which the arm counts as arrived. It holds
+# itself up with that error, so a tolerance tighter than the droop is one no move ever meets.
+_ARRIVED_SHARE = 0.5
+# How long the controller's clock may stand still before the link counts as down. Telemetry arrives at
+# over 200 Hz, so this is many missed frames, not a scheduling hiccup.
+_STALE_AFTER_S = 0.25
+_CONNECT_TIMEOUT_S = 20.0
+# A reconnect runs on the control loop, so its timeout is what the loop stands still for on a failed attempt.
+_RECONNECT_TIMEOUT_S = 1.0
+_RECONNECT_AFTER_S = 0.5  # how long the link stays down before a new session is worth opening
+_RECONNECT_EVERY_S = 2.0  # and how often another is tried while it stays down
+# How often a failure that stands is worth saying again. A tick rate of complaints buries every other line.
+_COMPLAIN_EVERY_S = 5.0
+# A fault the controller latches is not cleared by opening another session, so the attempts back off rather
+# than stall the loop every couple of seconds for as long as the arm stays down.
+_RECONNECT_MAX_S = 30.0
+# The share of a joint's own velocity limit at which the driver stops driving. Past its limit the controller
+# faults and drops the arm to idle, so the driver stands down before it gets there.
+_VELOCITY_HEADROOM = 0.8
+# The share of a joint's velocity limit a streamed setpoint may ask for. It bounds what one wild target can
+# ask of the arm; the hand the arm follows paces it. Measured over an episode driven by a leader arm: at
+# 0.1 the arm held 1 rad/s where the operator asked for 2 to 3, fell as far as 0.8 rad behind, and took a
+# second to take that up.
+_COMMANDED_SHARE = 0.3
+# Where the driver puts the arm at either end of a run. The arm rests at all joints zero, which is the
+# lower limit of joints 1 and 2 and where half the directions out of it have no solution, so a run opens by
+# taking the arm off it. It closes back on it, because the controller holds the arm only there: set idle
+# anywhere else, the arm falls.
+_HOME_JOINTS = np.array([0.0, 1.571, 1.178, 0.0, 0.0, 0.0])
+_REST_JOINTS = np.zeros(6)
+_MJCF_PATH = 'assets/mujoco/trossen_wxai/wxai_follower.xml'
+_URDF_PATH = 'assets/mujoco/trossen_wxai/wxai_follower.urdf'
+_MESH_DIR = 'assets/mujoco/trossen_wxai/assets'
+_EE_SITE = 'ee_site'
+# The URDF link at the pose the controller reports, 0.156 m along the flange's x axis. It is `ee_site` of
+# the MJCF: the driver solves against the MJCF and the codecs against the URDF, so the two must agree.
+_EE_LINK = 'ee_gripper_link'
+# The carriage joints the fingers ride on. A positive joint value opens them, and the viewer closes a
+# gripper by driving its joints to `grip * travel` -- so the two cannot be reconciled by a travel alone.
+_FINGER_JOINTS = ('right_carriage_joint', 'left_carriage_joint')
+_JOINT_NAMES = ('joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5')
+_IK_POS_TOL = 1e-3  # meters; FK-verify acceptance for an IK solution after clamping
+_IK_ROT_TOL = 1e-2  # radians
+# How far a streamed Cartesian target may move in one tick. At the tick rate this allows 1.5 m/s, which is
+# faster than a hand moves, so it does not shape teleoperation.
+_MAX_STEP_M = 0.015
+_MAX_STEP_RAD = 0.08
+# How far that target may sit from where the arm reads. The arm holds itself up with a following error, so
+# it stands off from every pose it is asked for; this is what keeps the standoff from becoming a leash the
+# target drags. Wide enough for the droop, and narrow enough that a target cannot run away from an arm.
+_MAX_STANDOFF_M = 0.08
+_MAX_STANDOFF_RAD = 0.4
+
+
+class TrossenState(State, pimm.shared_memory.NumpySMAdapter):
+    Q_OFFSET = 0
+    DQ_OFFSET = Q_OFFSET + _ARM_JOINTS
+    EE_POSE_OFFSET = DQ_OFFSET + _ARM_JOINTS
+    STATUS_OFFSET = EE_POSE_OFFSET + 7
+    TOTAL = STATUS_OFFSET + 1
+
+    def __init__(self):
+        super().__init__(shape=(TrossenState.TOTAL,), dtype=np.dtype(np.float32))
+
+    def instantiation_params(self) -> tuple[Any, ...]:
+        return ()
+
+    @property
+    def q(self) -> np.ndarray:
+        return self.array[TrossenState.Q_OFFSET : TrossenState.Q_OFFSET + _ARM_JOINTS].copy()
+
+    @property
+    def dq(self) -> np.ndarray:
+        return self.array[TrossenState.DQ_OFFSET : TrossenState.DQ_OFFSET + _ARM_JOINTS].copy()
+
+    @property
+    def ee_pose(self) -> geom.Transform3D:
+        pose = self.array[TrossenState.EE_POSE_OFFSET : TrossenState.EE_POSE_OFFSET + 7].copy()
+        return geom.Transform3D(pose[:3], geom.Rotation.from_quat(pose[3:7]))
+
+    @property
+    def status(self) -> RobotStatus:
+        return RobotStatus(int(self.array[TrossenState.STATUS_OFFSET]))
+
+    def encode(self, q: np.ndarray, dq: np.ndarray, ee_pose: geom.Transform3D, status: RobotStatus) -> None:
+        self.array[TrossenState.Q_OFFSET : TrossenState.Q_OFFSET + _ARM_JOINTS] = q
+        self.array[TrossenState.DQ_OFFSET : TrossenState.DQ_OFFSET + _ARM_JOINTS] = dq
+        self.array[TrossenState.EE_POSE_OFFSET : TrossenState.EE_POSE_OFFSET + 3] = ee_pose.translation
+        self.array[TrossenState.EE_POSE_OFFSET + 3 : TrossenState.EE_POSE_OFFSET + 7] = ee_pose.rotation.as_quat
+        self.array[TrossenState.STATUS_OFFSET] = status.value
+
+
+class _Kinematics:
+    """FK/IK on the vendored MJCF at ``ee_site``, in the arm base frame.
+
+    ``mujoco`` exports every symbol below from a compiled extension, so a type checker cannot see them.
+    """
+
+    def __init__(self):
+        self._model = mj.MjModel.from_xml_path(package_assets_path(_MJCF_PATH))
+        self._data = mj.MjData(self._model)
+        self._site_id = mj.mj_name2id(self._model, mj.mjtObj.mjOBJ_SITE, _EE_SITE)
+        self._qpos_ids = np.array([self._model.joint(name).qposadr.item() for name in _JOINT_NAMES])
+        self._dof_ids = np.array([self._model.joint(name).dofadr.item() for name in _JOINT_NAMES])
+        ranges = np.array([self._model.joint(name).range for name in _JOINT_NAMES])
+        self.lower, self.upper = ranges[:, 0], ranges[:, 1]
+
+    def fk(self, q: np.ndarray) -> geom.Transform3D:
+        self._data.qpos[self._qpos_ids] = q
+        mj.mj_kinematics(self._model, self._data)
+        quat = np.empty(4)
+        mj.mju_mat2Quat(quat, self._data.site_xmat[self._site_id].copy())
+        return geom.Transform3D(self._data.site_xpos[self._site_id].copy(), geom.Rotation.from_quat(quat))
+
+    @staticmethod
+    def _reach_postures(x: float, y: float) -> list[np.ndarray]:
+        """IK warm-start candidates for reaching toward base-frame point (x, y).
+
+        Joint 0 swung to the target's azimuth, the arm unfolded to two heights. The arm rests on the lower
+        limit of joints 1 and 2, where half the directions have no solution at all, so a seed away from
+        there is what lets IK find one.
+        """
+        azimuth = np.arctan2(y, x)
+        return [np.array([azimuth, 1.571, 1.178, 0.0, 0.0, 0.0]), np.array([azimuth, 1.2, 1.5, 0.0, 0.4, 0.0])]
+
+    def ik(
+        self, target: geom.Transform3D, current_q: np.ndarray, max_jump: float | np.ndarray | None = None
+    ) -> np.ndarray | None:
+        """LM IK for ``target``, warm-started from where the arm stands.
+
+        ``max_jump`` bounds how far the solution may sit from ``current_q``, per joint or over all of them,
+        and searching stops there: the arm keeps the shape it has, and a pose it can only reach in another
+        one comes back as nothing.
+        Without it the reach postures are tried too, so the arm may change shape to get there — which
+        swings the end effector, and is only for a move somebody asked for and waits on.
+
+        Solutions are clamped into joint range and FK-verified before acceptance, so a target the arm cannot
+        reach comes back as nothing rather than as the nearest thing the solver stopped at.
+
+        A target that is reached costs about a quarter of a millisecond, and one that is not costs every
+        seed's full search — more than a tick.
+        """
+        seeds = (current_q,) if max_jump is not None else (current_q, *self._reach_postures(*target.translation[:2]))
+        for start in seeds:
+            self._data.qpos[:] = 0.0
+            self._data.qpos[self._qpos_ids] = start
+            qpos, _, success = qpos_from_site_pose(
+                self._model,
+                self._data,
+                self._site_id,
+                self._dof_ids,
+                target.translation,
+                target.rotation.as_quat,
+                rot_weight=0.5,
+            )
+            if not success:
+                continue
+            q = np.clip(qpos[self._qpos_ids].copy(), self.lower, self.upper)
+            if max_jump is not None and np.any(np.abs(q - current_q) > max_jump):
+                continue
+            reached = self.fk(q)
+            turn = (reached.rotation.inv * target.rotation).as_rotvec
+            angle = float(np.linalg.norm(turn))
+            angle = min(angle, 2 * np.pi - angle)
+            if np.linalg.norm(reached.translation - target.translation) < _IK_POS_TOL and angle < _IK_ROT_TOL:
+                return q
+        return None
+
+
+def _configure(driver: Any, ip: str, timeout_s: float) -> None:
+    """Open a session with the controller, clearing an error a previous one left behind."""
+    end_effector = trossen_arm.StandardEndEffector.wxai_v0_follower
+    driver.configure(trossen_arm.Model.wxai_v0, end_effector, ip, True, timeout_s)
+
+
+class _Arm(DriverRun[command.CommandType]):
+    """The arm the driver drives: the controller handle, the reading it takes each tick, and the setpoint
+    it holds the arm at.
+
+    The controller reports position but not whether it is tracking a goal, so arrival is judged from the
+    reading. A setpoint is written only when something has asked for a new one: a goal time re-sent every
+    tick restarts the trajectory it plans, and the arm would never arrive.
+    """
+
+    def __init__(
+        self,
+        driver: Any,
+        ip: str,
+        sync_move: pimm.calls.ControlSystemHandler[command.CommandType, None],
+        async_move: pimm.SignalReceiver[command.CommandType],
+        out: pimm.SignalEmitter[TrossenState],
+        grip_out: pimm.SignalEmitter[float],
+        should_stop: pimm.SignalReceiver,
+        clock: pimm.Clock,
+    ):
+        super().__init__(sync_move, async_move, should_stop, clock, hz=_HZ)
+        self.driver = driver
+        self.ip = ip
+        self.out = out
+        self.grip_out = grip_out
+        self.state = TrossenState()
+        limits = driver.get_joint_limits()
+        self._q_lower = np.array([limits[i].position_min for i in range(_ARM_JOINTS)])
+        self._q_upper = np.array([limits[i].position_max for i in range(_ARM_JOINTS)])
+        # The gripper joint's own travel, which grip is normalized against
+        self._grip_travel = float(limits[_GRIPPER_JOINT].position_max - limits[_GRIPPER_JOINT].position_min)
+        self._grip_closed = float(limits[_GRIPPER_JOINT].position_min)
+        self._grip_open = float(limits[_GRIPPER_JOINT].position_max)
+        # What the fingers may travel in a tick, as a share of the range grip is normalized against. The
+        # whole range asked for at once is metres a second past the limit, which is what faults a joint.
+        grip_speed = float(limits[_GRIPPER_JOINT].velocity_max) * _VELOCITY_HEADROOM
+        self._grip_step_max = grip_speed / _HZ / self._grip_travel
+        self._dq_limit = np.array([limits[i].velocity_max for i in range(_ARM_JOINTS)])
+        self._dq_max = self._dq_limit * _VELOCITY_HEADROOM
+        self._step_max = self._dq_limit * _COMMANDED_SHARE / _HZ  # what a streamed setpoint may move in a tick
+        tolerance = np.array([limits[i].position_tolerance for i in range(_ARM_JOINTS)])
+        self._arrived_tol = float(np.min(tolerance) * _ARRIVED_SHARE)
+        # How far a streamed target's solution may sit from the joints last asked for. Further than this the
+        # same pose is reached with the arm in another shape, and moving into one swings the end effector.
+        # The arm holds itself up with a following error, so what it reads stands off from what it was asked
+        # for by as much as the controller allows — and a teleoperator's target starts at what the arm reads.
+        # A cap tighter than that error refuses every one of those targets, so the error the controller
+        # reports is the cap.
+        self._jump_max = tolerance
+        # What a delta still owes: a delta is consumed once, and its travel takes more than the one step a
+        # streamed pose is paced to
+        self._travel_to: geom.Transform3D | None = None
+        # Whether the arm is in position mode. `set_all_positions` needs it, and the controller refuses a
+        # goal without it -- which reads as a dead command channel and sends the run through recovery.
+        self.controlled = False
+        self._output = driver.get_robot_output()
+        self._kin = _Kinematics()
+        self._target = np.asarray(self._output.joint.arm.positions, dtype=np.float64)
+        self._wanted = self._target.copy()
+        self._goal_time = _STREAM_GOAL_TIME_S
+        self._anchor: geom.Transform3D | None = None  # the pose last asked for, which the next steps on from
+        self._grip_target = self._grip_wanted = self._grip_of(self._output)
+        self._arm_unsent, self._grip_unsent = False, False
+        # The two halves of the link, which fail apart. Neither is `Moves.errored`, which says the arm is
+        # not where the driver put it: a link that drops says nothing about the move.
+        self._stream_stale = False  # the controller's clock stands still, so its telemetry stopped arriving
+        self._command_dead = False  # a write was refused, and only a new session takes another
+        self._down_since: float | None = None
+        self._reconnect_at = -_RECONNECT_EVERY_S
+        self._reconnect_every = _RECONNECT_EVERY_S
+        self._stamp = int(self._output.header.timestamp)
+        self._stamp_at = clock.now()
+        self.overspeed = False
+        self._complaint = ''
+        self._complained_at = -_COMPLAIN_EVERY_S
+
+    # TODO(#686): a rate limit on a log line belongs in the logging layer, as `log_every_n_sec`, where every
+    # driver reaches it.
+    def complain(self, message: str, key: str | None = None, level: int = logging.ERROR) -> None:
+        """Say what is wrong, but not on every tick of a fault that stands.
+
+        ``key`` names the fault where the message alone cannot: a refused setpoint carries the pose, which
+        differs every tick, and the fault that refuses it does not.
+        """
+        now = self.clock.now()
+        key = key if key is not None else message
+        if key == self._complaint and now - self._complained_at < _COMPLAIN_EVERY_S:
+            return
+        self._complaint, self._complained_at = key, now
+        logger.log(level, message)
+
+    @property
+    def link_down(self) -> bool:
+        """Whether the arm is out of reach, either way round."""
+        return self._stream_stale or self._command_dead
+
+    def _note_link(self, now: float) -> None:
+        """Keep when the link went down, which is what a reconnect waits on."""
+        if not self.link_down:
+            self._down_since = None
+        elif self._down_since is None:
+            self._down_since = now
+
+    def _grip_of(self, output: Any) -> float:
+        """How closed the fingers are, from the joint position the controller reports.
+
+        The reading sits a little outside the joint range at either end, so it saturates to the 0..1 the
+        ``grip`` port carries.
+        """
+        travelled = (float(output.joint.gripper.position) - self._grip_closed) / self._grip_travel
+        return float(np.clip(1.0 - travelled, 0.0, 1.0))
+
+    def limit_violation(self) -> str:
+        """What reads outside the range the controller reports for it, if anything.
+
+        The controller takes a margin past what it reports — a gripper reading a millimetre below its zero
+        is driven without complaint — but far enough past, and entering position mode faults it and drops
+        the arm, whatever it is then told to do. How much further is not something the SDK says, so this
+        only says what it sees, next to the fault it may explain.
+        """
+        readings = [*self._output.joint.arm.positions, self._output.joint.gripper.position]
+        limits = [*zip(self._q_lower, self._q_upper, strict=True), (self._grip_closed, self._grip_open)]
+        for i, (value, (lower, upper)) in enumerate(zip(readings, limits, strict=True)):
+            if not lower <= value <= upper:
+                return f'joint {i} reads {value:.4f}, outside [{lower:.4f}, {upper:.4f}]'
+        return ''
+
+    def take_control(self) -> None:
+        """Put the arm in position mode holding where it reads, and say so through ``controlled``.
+
+        The mode change comes first and the setpoint immediately after, so the servo has a goal from the
+        tick it starts servoing. Reading first is what makes a session opened mid-run resume without a jump:
+        the arm is wherever it ended up, not where the last session was driving it.
+        """
+        self._output = self.driver.get_robot_output()
+        dq = np.abs(np.asarray(self._output.joint.arm.velocities, dtype=np.float64))
+        self.overspeed = bool(np.any(dq > self._dq_max))
+        if self.overspeed:
+            # Position mode on a joint already past its limit is what faults the controller and drops the
+            # arm. `controlled` stays false, so nothing is written and `run` asks again once it has slowed.
+            self.complain(f'The arm at {self.ip} runs too fast to take control of; waiting for it to slow')
+            return
+        if outside := self.limit_violation():
+            self.complain(f'The arm at {self.ip} may refuse position mode: {outside}')
+        self._target = self._wanted = self.q
+        self._goal_time = _STREAM_GOAL_TIME_S
+        self._grip_target = self._grip_wanted = self._grip_of(self._output)
+        self.driver.set_all_modes(trossen_arm.Mode.position)
+        self.controlled = True
+        self._anchor = None  # wherever the arm is now is what a Cartesian target steps on from
+        self._travel_to = None  # and nothing is owed the rest of a travel across a new session
+        self._arm_unsent, self._grip_unsent = True, True
+        self.write()
+
+    def __enter__(self) -> '_Arm':
+        self.take_control()
+        return self
+
+    def __exit__(self, exc_type, exc: BaseException | None, tb) -> None:
+        """Answer whatever was waiting on a move; ``_opened`` takes the arm back to idle."""
+        self.moves.abandon(exc)
+
+    def read(self) -> None:
+        """Take the whole arm off the link, once a tick.
+
+        The controller streams its telemetry and the read hands back the last of it, so a link that drops
+        does not raise — it repeats itself. The controller's own clock is what says the stream stopped.
+        """
+        now = self.clock.now()
+        try:
+            self._output = self.driver.get_robot_output()
+        # rules-allow: swallowed-error — a link that drops reads ERROR; the run outlives it, and a new
+        # session clears it
+        except trossen_arm.RuntimeError as exc:
+            self.complain(f'The arm at {self.ip} did not answer: {exc}')
+            self._stream_stale = True
+            self._note_link(now)
+            return
+        stamp = int(self._output.header.timestamp)
+        if stamp != self._stamp:
+            self._stamp, self._stamp_at = stamp, now
+        self._stream_stale = now - self._stamp_at > _STALE_AFTER_S
+        self._note_link(now)
+        dq = np.abs(np.asarray(self._output.joint.arm.velocities, dtype=np.float64))
+        was_overspeed, self.overspeed = self.overspeed, bool(np.any(dq > self._dq_max))
+        if self.overspeed and not was_overspeed:
+            fastest = int(np.argmax(dq / self._dq_max))
+            self.complain(f'Joint {fastest} of the arm at {self.ip} runs at {dq[fastest]:.2f} rad/s; standing down')
+
+    @property
+    def q(self) -> np.ndarray:
+        return np.asarray(self._output.joint.arm.positions, dtype=np.float64)
+
+    @property
+    def ee_pose(self) -> geom.Transform3D:
+        """Where the joints put the end effector, in the arm base frame.
+
+        Solved here rather than read from the controller so that the pose that goes out and the pose a
+        command is solved against are the same frame by construction. The two agree to 0.13 mm anyway.
+        """
+        return self._kin.fk(self.q)
+
+    def settle(self) -> None:
+        """Judge a move in flight against what the controller reports."""
+        if not self.moves.active:
+            return
+        if self.moves.settle(self.q, self.clock.now()) is MoveStatus.GAVE_UP:
+            # Holding the target the arm stopped short of would resume the move once whatever blocked it
+            # goes away, long after its asker was told it failed.
+            self._target = self._wanted = self.q
+            self._goal_time, self._arm_unsent, self._travel_to = _STREAM_GOAL_TIME_S, True, None
+
+    def advance(self) -> None:
+        """Move the setpoint one tick's travel towards what was last asked for, fingers included.
+
+        A move the firmware is planning owns the setpoint until it arrives: it is making its own trajectory
+        there, and a setpoint moved under it would be a new move every tick.
+        """
+        grip_step = float(np.clip(self._grip_wanted - self._grip_target, -self._grip_step_max, self._grip_step_max))
+        if grip_step:
+            self._grip_target, self._grip_unsent = self._grip_target + grip_step, True
+        if self._goal_time != _STREAM_GOAL_TIME_S:
+            return
+        step = np.clip(self._wanted - self._target, -self._step_max, self._step_max)
+        if np.any(step):
+            self._target, self._arm_unsent = self._target + step, True
+
+    def hold_grip(self, grip: float) -> None:
+        """Hold the fingers at ``grip``, and refuse one that is not a number.
+
+        ``np.clip`` carries a NaN through, and the controller takes whatever finger position it is handed.
+        ``advance`` walks the setpoint there, by what the finger drive may travel in a tick.
+        """
+        if not np.isfinite(grip):
+            self.complain(f'The arm at {self.ip} was asked to grip at {grip}', key='grip refused')
+            return
+        self._grip_wanted, self._grip_unsent = float(np.clip(grip, 0.0, 1.0)), True
+
+    @property
+    def asked_pose(self) -> geom.Transform3D:
+        """The pose the arm was last asked to hold.
+
+        Not the pose it reads: it stands off from what it is given. A step measured from the reading and
+        solved from the joints last asked for spans that standoff, and asks for a jump a step never needs.
+        """
+        return self._anchor if self._anchor is not None else self._kin.fk(self._target)
+
+    @staticmethod
+    def _short_way(frm: geom.Rotation, to: geom.Rotation) -> np.ndarray:
+        """The rotation vector from ``frm`` to ``to``, the way round that turns least.
+
+        A quaternion and its negative are the same turn, and `as_rotvec` reads the negative one as nearly a
+        full turn the other way.
+        """
+        turn = (frm.inv * to).as_rotvec
+        angle = float(np.linalg.norm(turn))
+        return turn * (1.0 - 2.0 * np.pi / angle) if angle > np.pi else turn
+
+    @staticmethod
+    def _apart(frm: geom.Transform3D, to: geom.Transform3D) -> tuple[float, float]:
+        """How far ``to`` stands from ``frm``: metres, and radians the short way round."""
+        return float(np.linalg.norm(to.translation - frm.translation)), float(
+            np.linalg.norm(_Arm._short_way(frm.rotation, to.rotation))
+        )
+
+    @staticmethod
+    def _towards(frm: geom.Transform3D, to: geom.Transform3D, max_m: float, max_rad: float) -> geom.Transform3D:
+        """``to``, brought within ``max_m`` and ``max_rad`` of ``frm``."""
+        step, turn = to.translation - frm.translation, _Arm._short_way(frm.rotation, to.rotation)
+        distance, angle = _Arm._apart(frm, to)
+        if distance > max_m:
+            step = step * (max_m / distance)
+        if angle > max_rad:
+            turn = turn * (max_rad / angle)
+        return geom.Transform3D(frm.translation + step, frm.rotation * geom.Rotation.from_rotvec(turn))
+
+    def _stepped(self, target: geom.Transform3D) -> geom.Transform3D:
+        """``target``, one tick's travel on from the pose the arm was last asked for.
+
+        Stepping on from the last pose asked for, rather than from the pose the arm reads, is what keeps
+        this from being a loop. The arm stands off from every pose it is given, by the following error it
+        holds itself up with, and that standoff grows as the arm reaches further out — so a target measured
+        from the reading walks itself outwards, further every tick.
+
+        The standoff is bounded instead: the pose stepped on from is first pulled back to within reach of
+        the arm, so a target still cannot run away from one that is held up.
+        """
+        anchor = self._towards(self.ee_pose, self.asked_pose, _MAX_STANDOFF_M, _MAX_STANDOFF_RAD)
+        return self._towards(anchor, target, _MAX_STEP_M, _MAX_STEP_RAD)
+
+    # TODO(#685): take which kinematics to use as a constructor argument. The controller solves Cartesian
+    # goals itself, through `set_cartesian_positions`, and a station may want that path.
+    def _ik(self, pose: geom.Transform3D, *, streamed: bool) -> np.ndarray:
+        """The joints that reach ``pose``; raises what the arm cannot reach.
+
+        A streamed pose is paced to a step at a time and solved without letting the arm change shape. One
+        somebody waits on is solved as it stands, and may change shape to get there.
+        """
+        if not streamed:
+            solution = self._kin.ik(pose, self.q)
+            if solution is None:
+                raise ValueError(f'{pose} is out of reach')
+            return solution
+        # Solved from the joints last asked for, not from the ones read back: the arm stands off from what
+        # it is given, and measuring against the reading would make the room for a step have to cover that
+        # standoff too — which is room enough to change the arm's shape in.
+        stepped = self._stepped(pose)
+        solution = self._kin.ik(stepped, self._target, max_jump=self._jump_max)
+        if solution is None:
+            raise ValueError(f'{pose} is out of reach')
+        # Only a pose that solved may be stepped on from: an anchor that walked on past one out of reach
+        # would leave every pose after it further out of reach than the last.
+        self._anchor = stepped
+        return solution
+
+    def _target_of(self, cmd: command.CommandType, *, streamed: bool = True) -> np.ndarray:
+        """The joints ``cmd`` asks the arm to hold, clipped to the range the controller reports."""
+        # TODO: accept the modes the arm can run instead of leaving them to what a command omits. Its joints
+        # are position-servoed, so `PositionControl` names the law already running.
+        command.require_native_mode(cmd, 'Trossen')
+        match cmd:
+            # A joint-space target moves the arm off whatever pose a Cartesian stream last asked for, so
+            # the anchor the next Cartesian step measures from is where those joints put the end effector.
+            case command.JointPosition(positions):
+                target, self._anchor = np.asarray(positions, dtype=np.float64), None
+            case command.JointDelta(velocities=delta):
+                target = (self._target if streamed else self.q) + np.asarray(delta, dtype=np.float64)
+                self._anchor = None
+            case command.CartesianPosition(pose):
+                target = self._ik(pose, streamed=streamed)
+            case command.CartesianDelta() as delta_cmd:
+                from_pose = self.asked_pose if streamed else self.ee_pose
+                target = self._ik(delta_cmd.apply(from_pose), streamed=streamed)
+            case other:
+                raise NotImplementedError(f'Unsupported command {other}')
+        # A shorter target broadcasts across the limits and moves every joint; a NaN clips to itself.
+        if target.shape != (len(_JOINT_NAMES),) or not np.all(np.isfinite(target)):
+            raise ValueError(f'{cmd} asks the arm for {target}, and not for {len(_JOINT_NAMES)} finite joints')
+        clipped = np.clip(target, self._q_lower, self._q_upper)
+        # The nearest joints the arm can hold are still worth moving to -- a leader pushed past the
+        # follower's range should carry it as far as the range goes -- but the operator hears about it.
+        if (outside := np.flatnonzero(clipped != target)).size:
+            i = int(outside[0])
+            self.complain(
+                f'Joint {i} of the arm at {self.ip} was asked for {target[i]:.4f}, outside '
+                f'[{self._q_lower[i]:.4f}, {self._q_upper[i]:.4f}]; it holds at {clipped[i]:.4f}',
+                key='target clipped',
+                level=logging.WARNING,
+            )
+        return clipped
+
+    def track(self, cmd: command.CommandType) -> None:
+        """Hold the arm at the setpoint ``cmd`` asks for, with nobody waiting on the arrival.
+
+        Held to what a joint may travel in a tick. Teleoperation is paced by the hand it follows, so this
+        only bounds what one wild target can ask the arm for.
+        """
+        # Composed before `_target_of`, which steps the anchor a delta is measured from, and kept only
+        # once that has taken the command: one it refuses asks the arm for no travel.
+        goal = cmd.apply(self.asked_pose) if isinstance(cmd, command.CartesianDelta) else None
+        self._wanted = self._target_of(cmd)
+        self._travel_to = goal
+        self._goal_time = _STREAM_GOAL_TIME_S
+
+    def walk(self) -> None:
+        """Take one more step of the travel a delta asked for, where one is still owed.
+
+        A streamed pose is paced to a step a tick and a delta is consumed once, so a delta longer than that
+        step would arrive as that step and lose the rest. A pose asks for no travel: the next one supersedes
+        it, and an arm whose stream stops holds where it stands.
+        """
+        if self._travel_to is None or self._goal_time != _STREAM_GOAL_TIME_S:
+            return
+        distance, angle = self._apart(self.asked_pose, self._travel_to)
+        goal, last = self._travel_to, distance <= _MAX_STEP_M and angle <= _MAX_STEP_RAD
+        if last:
+            self._travel_to = None
+        try:
+            self._wanted = self._target_of(command.CartesianPosition(goal))
+        # rules-allow: swallowed-error — a travel the arm cannot finish ends here, and the run outlives it
+        except ValueError as exc:
+            self._travel_to = None
+            self.complain(f'The arm at {self.ip} stopped short of {goal}: {exc}', key='travel refused')
+
+    def taking_control(self) -> Iterator[pimm.Command]:
+        """Yield until the arm is in position mode, asking again each tick it is not.
+
+        An arm still running too fast to take is left alone: a goal sent before the mode change is refused,
+        and the refusal reads as a dead command channel and sends the run through link recovery.
+        """
+        while not self.controlled and not self.should_stop.value:
+            self.publish()
+            yield self.limiter.wait()
+            self.read()
+            if not self.link_down:
+                self.take_control()
+
+    def travel_to(self, joints: np.ndarray, what: str, *, at_teardown: bool = False) -> Iterator[pimm.Command]:
+        """Put the arm at ``joints`` and yield until it reads back there.
+
+        Nobody waits on this, so a travel that does not arrive is logged and the run goes on. ``at_teardown``
+        is for the travel the driver makes on its way out: the stop is set by then, and heeding it would
+        abandon the travel before it began.
+        """
+        target = np.clip(np.asarray(joints, dtype=np.float64), self._q_lower, self._q_upper)
+        self._target = self._wanted = target
+        self._anchor = self._travel_to = None
+        self._goal_time = max(_MIN_MOVE_TIME_S, float(np.max(np.abs(target - self.q))) / _MOVE_SPEED)
+        self._arm_unsent = True
+        logger.info(f'The arm at {self.ip} travels to {what}, in {self._goal_time:.1f} s')
+        deadline = self.clock.now() + _MOVE_TIMEOUT_S
+        try:
+            while at_teardown or not self.should_stop.value:
+                self.publish()  # a run says where the arm stands from its first tick, travel or no travel
+                self.write()
+                yield self.limiter.wait()
+                self.read()
+                if bool(np.all(np.abs(self.q - target) < self._arrived_tol)):
+                    return
+                if self.link_down:
+                    logger.error(f'The arm at {self.ip} stopped answering on its way to {what}')
+                    return
+                if self.clock.now() >= deadline:
+                    logger.error(f'The arm at {self.ip} stopped at {np.round(self.q, 3)}, short of {what}')
+                    return
+        finally:
+            self._goal_time = _STREAM_GOAL_TIME_S  # what a streamed setpoint is paced by
+
+    def sync_move(self, call: pimm.calls.Call[command.CommandType, None]) -> None:
+        """Hold the arm where ``call`` asks; ``settle`` answers it once the controller reads back there.
+
+        The whole move goes to the firmware with the time to make it in, so the firmware plans it: above
+        0.2 s of goal time that is a quintic, which starts and stops the arm gently. Nothing this driver
+        does itself is as smooth, and a move somebody waits on is exactly where that shows.
+        """
+        with pimm.calls.raise_to(call):
+            target = self._target_of(call.request, streamed=False)
+            travel = float(np.max(np.abs(target - self.q)))
+            self._target = self._wanted = target
+            # The arm ends this move where the plan puts it, so that is what the next Cartesian step
+            # measures from, and nothing is owed the rest of a travel the move interrupted.
+            self._anchor = self._travel_to = None
+            self._goal_time = max(_MIN_MOVE_TIME_S, travel / _MOVE_SPEED)
+            self._arm_unsent = True
+            self.moves.accept(call, target, self._arrived_tol, self.clock.now(), _MOVE_TIMEOUT_S)
+
+    def _grip_metres(self, grip: float) -> float:
+        """The gripper joint position that holds the fingers at ``grip``."""
+        return self._grip_closed + (1.0 - grip) * self._grip_travel
+
+    def _put_goal(self, setpoint: np.ndarray, move_arm: bool) -> None:
+        """Hand the controller this tick's setpoint, fingers included where one call carries both.
+
+        All seven joints are in position mode, which ``set_all_positions`` requires; the fingers take their
+        own call where the arm is already being held where it is asked to be.
+        """
+        grip_m = self._grip_metres(self._grip_target)
+        if move_arm:
+            self.driver.set_all_positions([*setpoint, grip_m], self._goal_time, False)
+        else:
+            self.driver.set_gripper_position(grip_m, _STREAM_GOAL_TIME_S, False)
+
+    def write(self) -> None:
+        """Put the setpoint on the link, if anything has asked for one since it was last written."""
+        if not self.controlled or not (self._arm_unsent or self._grip_unsent):
+            return
+        try:
+            self._put_goal(self._target, self._arm_unsent)
+        # rules-allow: swallowed-error — a link that refuses a write reads ERROR; the setpoint stays unsent
+        # and goes out again on the next session
+        except trossen_arm.RuntimeError as exc:
+            self.complain(f'The arm at {self.ip} did not take the setpoint: {exc}')
+            self._command_dead = True
+            self._note_link(self.clock.now())
+            return
+        self._arm_unsent, self._grip_unsent = False, False
+        self._command_dead = False
+        self._note_link(self.clock.now())
+
+    def recover(self) -> None:
+        """Open a new session once the link has been down long enough, and no more often than that again.
+
+        A session does not survive the link dropping and the vendor driver does not open another, so the
+        arm stays out of reach until this does it. The attempt runs on the control loop, which stands still
+        for as long as the connection takes to fail.
+        """
+        now = self.clock.now()
+        if self._down_since is None or now - self._down_since < _RECONNECT_AFTER_S:
+            return
+        if now - self._reconnect_at < self._reconnect_every:
+            return
+        self._reconnect_at = now
+        logger.info(f'Opening a new session with the arm at {self.ip}')
+        try:
+            try:
+                self.driver.cleanup()
+            # rules-allow: swallowed-error — the session being closed is the one that failed, and the
+            # replacement still has to be opened
+            except trossen_arm.RuntimeError as exc:
+                logger.error(f'The old session with the arm at {self.ip} did not close: {exc}')
+            _configure(self.driver, self.ip, _RECONNECT_TIMEOUT_S)
+            if self.moves.active:
+                # The new session holds the arm where it reads, and a move in flight refuses every request
+                # that would resend its target, so waiting out its deadline is all it could do.
+                self.moves.fail(ConnectionError(f'the link to the arm at {self.ip} dropped during the move'))
+            self.take_control()
+        # rules-allow: swallowed-error — an arm still out of reach reads ERROR; the next attempt tries again
+        except trossen_arm.RuntimeError as exc:
+            self.complain(f'The arm at {self.ip} did not take a new session: {exc}')
+            self._reconnect_every = min(self._reconnect_every * 2, _RECONNECT_MAX_S)
+            return
+        self._reconnect_every = _RECONNECT_EVERY_S
+        self._stamp, self._stamp_at = int(self._output.header.timestamp), now
+        self._stream_stale = False
+        self._note_link(now)
+        logger.info(f'The arm at {self.ip} answers again')
+
+    def stand_down(self) -> None:
+        """Hold the arm where it reads, so nothing is driving it while it runs too fast."""
+        if self.moves.active:
+            # Nothing sends the target again: a move in flight refuses every request, and the setpoint now
+            # holds where the arm reads.
+            self.moves.fail(RuntimeError(f'the arm at {self.ip} ran too fast to finish the move'))
+        self._target = self._wanted = self.q
+        # Where the arm reads is what the next Cartesian step measures from: it is not where it was asked
+        # to be, and nothing is owed the rest of a travel it was stopped in.
+        self._anchor = self._travel_to = None
+        self._goal_time, self._arm_unsent = _STREAM_GOAL_TIME_S, True
+        self.write()
+
+    def publish(self) -> None:
+        """Ship the arm as the controller last reported it, arm and fingers."""
+        if self.link_down or self.overspeed or self.moves.errored:  # out of reach, running away, or not
+            # where the driver put it
+            status = RobotStatus.ERROR
+        elif self.moves.active:  # the driver owns the arm until the move settles
+            status = RobotStatus.BUSY
+        else:
+            status = RobotStatus.AVAILABLE
+        velocities = np.asarray(self._output.joint.arm.velocities, dtype=np.float64)
+        self.state.encode(self.q, velocities, self.ee_pose, status)
+        self.out.emit(self.state)
+        self.grip_out.emit(self._grip_of(self._output))
+
+
+def _connect(ip: str) -> Any:
+    """Open the arm controller and take ownership of it.
+
+    A configuration that fails leaves a driver holding whatever it opened, and nobody else has the handle
+    yet, so it goes back here.
+    """
+    driver = trossen_arm.TrossenArmDriver()
+    try:
+        _configure(driver, ip, _CONNECT_TIMEOUT_S)
+    except BaseException:
+        # rules-allow: swallowed-error — the failure to configure is the one to report, and a session that
+        # never opened has nothing to say about closing
+        with contextlib.suppress(Exception):
+            driver.cleanup()
+        raise
+    return driver
+
+
+@contextlib.contextmanager
+def _opened(connect: Callable[[str], Any], ip: str) -> Iterator[Any]:
+    """The arm, left idle and its handle given back however the run ends — including one that never starts."""
+    driver = connect(ip)
+    try:
+        yield driver
+    finally:
+        try:
+            driver.set_all_modes(trossen_arm.Mode.idle)
+        # rules-allow: swallowed-error — an arm that cannot be reached cannot be set idle either, and the
+        # handle still has to go back
+        except trossen_arm.RuntimeError as exc:
+            logger.error(f'The arm at {ip} was not set idle: {exc}')
+        finally:  # an arm that will not go idle still has a handle to give back
+            try:
+                driver.cleanup()
+            # rules-allow: swallowed-error — this runs in a `finally`, and a session that cannot be closed
+            # must not replace the reason the run is ending
+            except trossen_arm.RuntimeError as exc:
+                logger.error(f'The session with the arm at {ip} did not close: {exc}')
+
+
+def _robot_meta() -> dict[str, Any]:
+    """The model an episode carries: the arm the viewer draws and the codecs solve against.
+
+    The vendored URDF names its meshes the way its own package does; the viewer looks each one up by the
+    name the URDF gives, so both are shortened to the file beside this model.
+
+    # TODO(#gripper-spec): no `gripper`. The viewer drives a gripper's joints to `grip * travel`, and
+    # `grip` is 1 when the fingers are closed -- but this arm's carriage joints open at their positive end
+    # and close at zero, which no single `travel` expresses.
+    """
+    urdf = ET.fromstring(Path(package_assets_path(_URDF_PATH)).read_text())
+    for mesh in urdf.iter('mesh'):
+        mesh.set('filename', Path(mesh.get('filename', '')).name)
+    add_default_frame(urdf, _EE_LINK)
+    mesh_dir = Path(package_assets_path(_MESH_DIR))
+    return {
+        roboarm_keys.ROBOT: 'trossen_wxai',
+        roboarm_keys.URDF: ET.tostring(urdf, encoding='unicode'),
+        roboarm_keys.MESHES: {
+            name: (mesh_dir / name).read_bytes() for name in sorted({m.get('filename', '') for m in urdf.iter('mesh')})
+        },
+        roboarm_keys.JOINT_NAMES: list(_JOINT_NAMES),
+        roboarm_keys.CONTROL_FRAME: DEFAULT_FRAME,
+    }
+
+
+class Robot(pimm.ControlSystem):
+    """Drives one Trossen WidowX AI arm over Ethernet, in the arm base frame.
+
+    The gripper shares the arm's controller, so this driver carries the ``grip``/``target_grip`` ports
+    (SO-101 precedent).
+    """
+
+    def __init__(self, ip: str = '192.168.1.4', *, connect: Callable[[str], Any] = _connect) -> None:
+        """
+        :param ip: Address of the arm controller.
+        :param connect: ``ip -> TrossenArmDriver`` factory; the fake-mode smoke injects ``_FakeTrossen``.
+        """
+        self._ip = ip
+        self._connect = connect
+
+        self.commands = pimm.ControlSystemReceiver[command.CommandType](self)
+        self.sync_move = pimm.calls.ControlSystemHandler[command.CommandType, None](self)
+        self.target_grip = pimm.ControlSystemReceiver[float](self)
+        self.state = pimm.ControlSystemEmitter[TrossenState](self)
+        self.grip = pimm.ControlSystemEmitter[float](self)
+        self.robot_meta = pimm.ControlSystemEmitter[dict[str, Any]](self)
+
+    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Command]:
+        with _opened(self._connect, self._ip) as driver:
+            arm = _Arm(driver, self._ip, self.sync_move, self.commands, self.state, self.grip, should_stop, clock)
+            with arm:
+                self.robot_meta.emit(_robot_meta())
+                yield from arm.taking_control()
+                yield from arm.travel_to(_HOME_JOINTS, 'the pose it opens at')
+
+                while not should_stop.value:
+                    arm.read()
+                    if arm.link_down:
+                        arm.recover()  # get the arm back first, so the state that goes out says where it is
+                        arm.settle()  # a move runs out its deadline on the last reading; nobody waits forever
+                        arm.publish()
+                        arm.moves.answer()
+                        yield arm.limiter.wait()
+                        continue
+
+                    if not arm.controlled:  # the arm was too fast to take when the session opened
+                        arm.take_control()
+                        arm.publish()
+                        yield arm.limiter.wait()
+                        continue
+
+                    if arm.overspeed:  # a joint past its limit faults the controller and drops the arm
+                        arm.stand_down()
+                        arm.settle()
+                        arm.publish()
+                        arm.moves.answer()
+                        yield arm.limiter.wait()
+                        continue
+
+                    if (grip := pimm.value_updated(self.target_grip)) is not None:
+                        arm.hold_grip(grip)
+                    arm.settle()
+                    asked = arm.moves.next_request()
+                    if isinstance(asked, pimm.calls.Call):
+                        arm.sync_move(asked)
+                    elif asked is not None:
+                        try:
+                            arm.track(asked)
+                        # rules-allow: swallowed-error — a command stream cannot end the run; the next
+                        # setpoint supersedes this one
+                        except Exception as exc:
+                            arm.complain(f'{asked} not applied: {exc}', key='setpoint refused')
+                    else:
+                        arm.walk()  # a delta asked for a travel, and nothing has superseded it
+
+                    arm.advance()
+                    arm.write()
+                    arm.publish()
+                    arm.moves.answer()  # the state a settled move is answered with is out
+
+                    yield arm.limiter.wait()
+
+                # The controller holds the arm only at rest; `_opened` sets it idle, and idle anywhere else
+                # is an arm that falls.
+                yield from arm.travel_to(_REST_JOINTS, 'rest', at_teardown=True)
+
+
+class _FakeTrossen:
+    """First-order-lag echo of the 7-joint arm, so the ``--fake`` smoke runs without hardware.
+
+    Duck-types the slice of ``TrossenArmDriver`` the driver uses. It models the link and the servo; the
+    kinematics are the driver's own, so the joints it reports are the whole of what it says.
+    """
+
+    class _Limit(NamedTuple):
+        position_min: float
+        position_max: float
+        velocity_max: float
+        position_tolerance: float
+
+    # What the arm reports for itself, read off a wxai_v0 controller on firmware 1.11.1
+    _LIMITS = [
+        _Limit(-3.141593, 3.141593, 6.2832, 0.2),
+        _Limit(0.0, 3.141593, 6.2832, 0.2),
+        _Limit(0.0, 2.356194, 6.2832, 0.2),
+        _Limit(-1.570796, 1.570796, 9.4248, 0.4),
+        _Limit(-1.570796, 1.570796, 9.4248, 0.4),
+        _Limit(-3.141593, 3.141593, 9.4248, 0.4),
+        _Limit(0.0, 0.04, 0.25, 0.004),
+    ]
+
+    _TICK_US = 5000  # the controller streams faster than the driver reads, so its clock moves every read
+
+    def __init__(self, alpha: float = 1.0):
+        self._alpha = alpha
+        self._position = np.zeros(7)  # the arm boots with the fingers closed
+        self._velocity = np.zeros(7)
+        self._stamp = 0
+        self.frozen = False  # the controller stops being heard from, as a dropped link leaves it
+        self.sessions = 1
+        self.mode: Any = None
+        self.goals: list[list[float]] = []
+        self.goal_times: list[float] = []
+        self.gripper_goals: list[float] = []
+        self._gripper_goal: float | None = None
+        self.cleaned_up = False
+
+    def configure(self, model: Any, end_effector: Any, serv_ip: str, clear_error: bool, timeout: float = 20.0):
+        self.mode = None
+        self.cleaned_up = False
+        self.sessions += 1
+
+    def get_joint_limits(self) -> list['_FakeTrossen._Limit']:
+        return list(_FakeTrossen._LIMITS)
+
+    def get_robot_output(self) -> Any:
+        if not self.frozen:
+            self._servo()
+            self._stamp += _FakeTrossen._TICK_US
+        arm = SimpleNamespace(positions=self._position[:_ARM_JOINTS].copy(), velocities=self._velocity[:6].copy())
+        gripper = SimpleNamespace(position=float(self._position[_GRIPPER_JOINT]))
+        return SimpleNamespace(
+            joint=SimpleNamespace(arm=arm, gripper=gripper), header=SimpleNamespace(timestamp=self._stamp)
+        )
+
+    def set_all_modes(self, mode: Any) -> None:
+        self.mode = mode
+
+    def set_gripper_position(self, goal_position, goal_time=2.0, blocking=True) -> None:
+        if self.mode is not trossen_arm.Mode.position:
+            raise trossen_arm.RuntimeError(f'a gripper goal needs the joint in position mode, not {self.mode}')
+        self._gripper_goal = float(goal_position)
+        self.gripper_goals.append(self._gripper_goal)
+
+    def set_all_positions(self, goal_positions, goal_time=2.0, blocking=True) -> None:
+        if self.mode is not trossen_arm.Mode.position:
+            raise trossen_arm.RuntimeError(f'set_all_positions needs every joint in position mode, not {self.mode}')
+        self.goals.append([float(v) for v in goal_positions])
+        self.goal_times.append(float(goal_time))
+
+    def _servo(self) -> None:
+        """Advance the joints towards the goal they were last given, as the controller's own loop does.
+
+        A Cartesian goal needs kinematics to follow, which this fake does not have; the fingers still move.
+        """
+        if not self.goals:
+            return
+        goal = np.asarray(self.goals[-1])
+        if self._gripper_goal is not None:
+            goal = np.append(goal[:_ARM_JOINTS], self._gripper_goal)
+        step = self._alpha * (goal - self._position)
+        # Half of what each joint may do, which is the headroom a servo keeps when it is not faulting.
+        per_tick = np.array([limit.velocity_max for limit in _FakeTrossen._LIMITS]) / (2 * _HZ)
+        step = np.clip(step, -per_tick, per_tick)
+        self._velocity = step * _HZ
+        self._position = self._position + step
+
+    def cleanup(self, reboot_controller: bool = False) -> None:
+        self.cleaned_up = True
+
+
+if __name__ == '__main__':
+    import argparse
+    import time
+
+    parser = argparse.ArgumentParser(description='Trossen driver smoke: joints and gripper round-trip.')
+    parser.add_argument('--ip', default='192.168.1.4')
+    parser.add_argument('--fake', action='store_true', help='in-process first-order-lag echo; needs no hardware')
+    args = parser.parse_args()
+
+    _ARRIVED_SLACK = 0.1  # what the checks below allow, being the tolerance the wxai_v0 controller reports
+    fake = _FakeTrossen() if args.fake else None
+    robot = Robot(args.ip, connect=(lambda ip: fake) if args.fake else _connect)
+
+    with pimm.World() as world:
+        # `World.pair` cannot express that it returns the counterpart of the port it is given, so the four
+        # payload types are named here.
+        commands = world.pair(robot.commands)
+        sync_move = world.pair(robot.sync_move)
+        target_grip = world.pair(robot.target_grip)
+        state = world.pair(robot.state)
+        grip = world.pair(robot.grip)
+
+        loop = world.start([robot])
+
+        def pump(seconds: float):
+            deadline = time.monotonic() + seconds
+            while time.monotonic() < deadline and not world.should_stop:
+                cmd = next(loop)
+                time.sleep(cmd.seconds if isinstance(cmd, pimm.Sleep) else 0)
+
+        pump(0.2)
+        assert state.read() is not None, 'the driver published no state'
+        assert state.value.status == RobotStatus.AVAILABLE, state.value.status
+
+        # Grip round-trip: polarity inverted on the way out (goal) and on the way back (reading).
+        target_grip.emit(0.0)
+        pump(0.5)
+        if fake is not None:  # grip 0 open -> the joint at the far end of its travel
+            assert abs(fake.gripper_goals[-1] - 0.04) < 1e-6, fake.gripper_goals[-1]
+        assert abs(grip.value) < 0.02, grip.value
+        target_grip.emit(1.0)
+        pump(0.5)
+        if fake is not None:
+            assert abs(fake.gripper_goals[-1]) < 1e-6, fake.gripper_goals[-1]
+        assert abs(grip.value - 1.0) < 0.02, grip.value
+
+        # A streamed joint setpoint nobody waits on.
+        jog = np.array([0.2, 0.4, 0.3, 0.0, 0.1, 0.0])
+        commands.emit(command.JointPosition(jog))
+        pump(0.5)
+        assert np.allclose(state.value.q, jog, atol=_ARRIVED_SLACK), state.value.q
+
+        # A target outside the joint range is clipped, not refused: joint 1 has no negative half.
+        commands.emit(command.JointPosition(np.array([0.0, -1.0, 0.0, 0.0, 0.0, 0.0])))
+        pump(0.5)
+        assert state.value.q[1] > -_ARRIVED_SLACK, state.value.q
+
+        # A synchronous move the firmware plans, answered once the arm reads back at the target.
+        home = np.zeros(_ARM_JOINTS)
+        answer = sync_move(command.JointPosition(home))
+        for _ in range(100):
+            if answer.done():
+                break
+            pump(0.1)
+        answer.result()
+        assert np.allclose(state.value.q, home, atol=_ARRIVED_SLACK), state.value.q
+        assert state.value.status == RobotStatus.AVAILABLE, state.value.status
+
+        print(f'ee_pose {state.value.ee_pose}')
+        print('Trossen driver smoke passed')
diff --git a/positronic/drivers/roboarm/trossen_leader.py b/positronic/drivers/roboarm/trossen_leader.py
new file mode 100644
index 000000000..38e60e5d7
--- /dev/null
+++ b/positronic/drivers/roboarm/trossen_leader.py
@@ -0,0 +1,242 @@
+"""Driver for a Trossen WidowX AI arm the operator holds, read as a teleoperation source.
+
+The operator moves the arm and the controller does nothing but hold its weight: it runs in
+``external_effort`` mode, where every joint is back-drivable. What it reads is what a follower is asked to
+stand at, joint for joint, with no kinematics in between — which is the whole reason to prefer a leader to
+a hand tracked in space. A pose has to be solved for, and near the workspace boundary a solution may not
+exist at all; joints always do.
+
+The arm carries the leader end effector, whose fingers are shorter than the follower's. The gripper's
+position is computed from the motor angle through that geometry, so a leader read as a follower reports
+5.9 mm less than it holds. That is past the 4 mm the controller tolerates below the gripper's range, and
+it then refuses position mode outright with ``Joint limit exceeded ... Setting to idle``. Measured on both
+leaders of the station: the same arm reads -0.0004 m as a leader and -0.0063 m as a follower.
+
+Force feedback is what the follower is holding, pushed back into the operator's hand. It stays off until
+the follower driver publishes its external efforts, which it does not yet; ``force_feedback_gain`` is 0
+and ``follower_efforts`` goes unconnected, which leaves plain gravity compensation.
+
+The trigger takes the operator's hand to move, because the gripper joint carries the most friction of any
+joint on the arm. What the controller cancels of it is that joint's ``friction_constant_term``, which
+``gripper_friction_constant`` stands in for.
+"""
+
+import contextlib
+import logging
+from collections.abc import Callable, Iterator
+from typing import Any
+
+import numpy as np
+
+import pimm
+from positronic.drivers import vendor_import
+
+from . import command
+
+# trossen_arm lives in the `trossen` extra, which the type-check environment does not install.
+with vendor_import(
+    'trossen_arm', 'Trossen arm support', hint='Re-run with the trossen extra:\n  uv run --locked --extra trossen ...\n'
+):
+    import trossen_arm  # pyright: ignore[reportMissingImports]
+
+logger = logging.getLogger(__name__)
+
+_ARM_JOINTS = 6
+_GRIPPER_JOINT = 6
+# The leader is read at the rate the follower is driven at: a reading the follower never uses is latency
+# the operator paid for and got nothing back.
+_HZ = 100
+_CONNECT_TIMEOUT_S = 20.0
+# How often a failure that stands is worth saying again. A tick rate of complaints buries every other line.
+_COMPLAIN_EVERY_S = 5.0
+# How often the arm is asked back into the mode it should be in, once something has knocked it out.
+_RECOVER_EVERY_S = 1.0
+# The pace a leader is driven at, and the least time any such move takes. The operator has a hand on the
+# arm while it travels, so it goes no faster than the follower does.
+_MOVE_SPEED = 0.6  # rad/s
+_MIN_MOVE_TIME_S = 1.0
+
+
+def _connect(ip: str) -> Any:
+    """Open the controller of an arm held as a leader, and take ownership of it."""
+    driver = trossen_arm.TrossenArmDriver()
+    driver.configure(
+        trossen_arm.Model.wxai_v0, trossen_arm.StandardEndEffector.wxai_v0_leader, ip, True, _CONNECT_TIMEOUT_S
+    )
+    return driver
+
+
+@contextlib.contextmanager
+def _gripper_freed(driver: Any, constant: float | None) -> Iterator[None]:
+    """The gripper with ``constant`` as its friction constant term, and the arm's own value back after.
+
+    The controller adds this term to the effort it puts on the joint, in the direction the joint moves, so
+    a larger one leaves less of the gripper's own friction for the operator's hand to overcome.
+    """
+    if constant is None:
+        yield
+        return
+    characteristics = driver.get_joint_characteristics()
+    stood_at = characteristics[_GRIPPER_JOINT].friction_constant_term
+    characteristics[_GRIPPER_JOINT].friction_constant_term = constant
+    driver.set_joint_characteristics(characteristics)
+    logger.info(f'The gripper friction constant is {constant}, where the arm carries {stood_at}')
+    try:
+        yield
+    finally:
+        characteristics[_GRIPPER_JOINT].friction_constant_term = stood_at
+        try:
+            driver.set_joint_characteristics(characteristics)
+        # rules-allow: swallowed-error — an arm that cannot be reached keeps the term until it is
+        # configured again, and the handle still has to go back
+        except Exception as exc:
+            logger.error(f'The gripper keeps the friction constant {constant} until it is configured again: {exc}')
+
+
+@contextlib.contextmanager
+def _opened(connect: Callable[[str], Any], ip: str) -> Iterator[Any]:
+    """The arm, left idle and its handle given back however the run ends — including one that never starts."""
+    driver = connect(ip)
+    try:
+        yield driver
+    finally:
+        try:
+            driver.set_all_modes(trossen_arm.Mode.idle)
+        # rules-allow: swallowed-error — an arm that cannot be reached cannot be set idle either, and the
+        # handle still has to go back
+        except trossen_arm.RuntimeError as exc:
+            logger.error(f'The leader at {ip} was not set idle: {exc}')
+        finally:  # an arm that will not go idle still has a handle to give back
+            try:
+                driver.cleanup()
+            # rules-allow: swallowed-error — this runs in a `finally`, and a session that cannot be closed
+            # must not replace the reason the run is ending
+            except trossen_arm.RuntimeError as exc:
+                logger.error(f'The session with the leader at {ip} did not close: {exc}')
+
+
+class Leader(pimm.ControlSystem):
+    """One WidowX AI arm the operator holds, publishing the joints and the grip it is being moved to.
+
+    The arm is left free the whole time it runs: there is no tracking to switch on, because nothing is
+    driven from here. Whoever reads these ports decides when they reach a follower.
+    """
+
+    def __init__(
+        self,
+        ip: str,
+        *,
+        force_feedback_gain: float = 0.0,
+        gripper_friction_constant: float | None = None,
+        connect: Callable[[str], Any] = _connect,
+    ) -> None:
+        """
+        :param ip: Address of the leader arm's controller.
+        :param force_feedback_gain: Share of the follower's external effort pushed back into the
+            operator's hand. 0 leaves the arm in plain gravity compensation.
+        :param gripper_friction_constant: What the controller cancels of the gripper's own friction, in N.
+            None keeps the value the arm was calibrated with. A larger one takes the trigger's stiffness
+            off the operator's hand; too large and the trigger moves on its own.
+        :param connect: ``ip -> TrossenArmDriver`` factory; a test injects its own.
+        """
+        self._ip = ip
+        self._gain = force_feedback_gain
+        self._gripper_friction = gripper_friction_constant
+        self._connect = connect
+
+        self.joints = pimm.ControlSystemEmitter[np.ndarray](self)
+        self.grip = pimm.ControlSystemEmitter[float](self)
+        self.follower_efforts = pimm.ControlSystemReceiver[np.ndarray](self)
+        self.sync_move = pimm.calls.ControlSystemHandler[command.CommandType, None](self)
+
+    def _pushed_back(self) -> list[float]:
+        """What the leader pushes back with: the follower's own external effort, reversed and scaled, so
+        the operator feels what the follower is holding.
+
+        Zero while nothing reports it, which is gravity compensation and nothing else.
+        """
+        zero = [0.0] * (_ARM_JOINTS + 1)
+        if not self._gain:
+            return zero
+        felt = self.follower_efforts.read()
+        if felt is None:
+            return zero
+        return (-self._gain * np.asarray(felt.data, dtype=np.float64)).tolist()
+
+    def _go_to(self, driver: Any, asked: command.CommandType, closed: float, travel: float) -> None:
+        """Drive the arm to the joints ``asked`` names, then give it back to the operator's hand.
+
+        The controller plans the whole move, at the pace the follower travels at. The gripper stays where
+        the operator holds it: ``set_all_positions`` takes every joint, and this move is the arm's.
+        """
+        if not isinstance(asked, command.JointPosition):
+            raise NotImplementedError(f'A leader is driven to joints, and {asked} names none')
+        target = np.asarray(asked.positions, dtype=np.float64)
+        # Checked before the mode change: a shorter target broadcasts across the reading and moves every
+        # joint, and a NaN makes the travel time itself NaN, both with the arm already servoing.
+        if target.shape != (_ARM_JOINTS,) or not np.all(np.isfinite(target)):
+            raise ValueError(f'A leader takes {_ARM_JOINTS} finite joint positions, and this names {target}')
+        # Clipped to what this arm reports, as the follower clips the same pose to what its own controller
+        # reports: a leader sent past its limit is refused, and then the two cannot meet.
+        limits = driver.get_joint_limits()
+        lower = np.array([limits[i].position_min for i in range(_ARM_JOINTS)])
+        upper = np.array([limits[i].position_max for i in range(_ARM_JOINTS)])
+        if np.any(target < lower) or np.any(target > upper):
+            logger.warning(f'The leader at {self._ip} was asked for {target}, outside [{lower}, {upper}]')
+            target = np.clip(target, lower, upper)
+        positions = np.asarray(driver.get_all_positions(), dtype=np.float64)
+        seconds = max(_MIN_MOVE_TIME_S, float(np.max(np.abs(target - positions[:_ARM_JOINTS]))) / _MOVE_SPEED)
+        held = float(np.clip(positions[_GRIPPER_JOINT], closed, closed + travel))
+        logger.info(f'The leader at {self._ip} travels to the pose the session asked for, in {seconds:.1f} s')
+        driver.set_all_modes(trossen_arm.Mode.position)
+        try:
+            driver.set_all_positions([*target, held], seconds, True)
+        finally:
+            driver.set_all_modes(trossen_arm.Mode.external_effort)
+
+    def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[pimm.Command]:
+        with _opened(self._connect, self._ip) as driver, _gripper_freed(driver, self._gripper_friction):
+            limit = driver.get_joint_limits()[_GRIPPER_JOINT]
+            closed, travel = limit.position_min, limit.position_max - limit.position_min
+            driver.set_all_modes(trossen_arm.Mode.external_effort)
+            logger.info(f'The leader at {self._ip} is free to move; the controller holds its weight')
+
+            limiter = pimm.RateLimiter(clock, hz=_HZ)
+            complained_at: float = -_COMPLAIN_EVERY_S
+            failed_at: float | None = None
+            while not should_stop.value:
+                now = clock.now()
+                for call in self.sync_move.incoming():
+                    with pimm.calls.raise_to(call):
+                        self._go_to(driver, call.request, closed, travel)
+                        call.set_result(None)
+                if failed_at is None or now - failed_at >= _RECOVER_EVERY_S:
+                    try:
+                        if failed_at is not None:
+                            # TODO: a fault the controller latches is cleared by a new session, not by
+                            # asking for the mode again; reopen one, the way the follower's `recover` does.
+                            driver.set_all_modes(trossen_arm.Mode.external_effort)
+                            failed_at = None
+                            logger.info(f'The leader at {self._ip} is free to move again')
+                        driver.set_all_external_efforts(self._pushed_back(), 0.0, False)
+                        positions = np.asarray(driver.get_all_positions(), dtype=np.float64)
+                        ts = clock.now_ns()
+                        self.joints.emit(positions[:_ARM_JOINTS], ts)
+                        self.grip.emit(self._grip_of(positions[_GRIPPER_JOINT], closed, travel), ts)
+                    # rules-allow: swallowed-error — a leader that stops being heard from is one arm of a
+                    # session, and the rest of the rig goes on recording without it
+                    except Exception as exc:
+                        failed_at = now
+                        if now - complained_at >= _COMPLAIN_EVERY_S:
+                            complained_at = now
+                            logger.error(f'The leader at {self._ip} is not being read: {exc}')
+
+                yield limiter.wait()
+
+    @staticmethod
+    def _grip_of(position: float, closed: float, travel: float) -> float:
+        """How closed the operator is holding the trigger, as the 1-is-closed grip positronic speaks.
+
+        The reading sits a little outside the joint range at either end, so it saturates to 0..1.
+        """
+        return float(np.clip(1.0 - (position - closed) / travel, 0.0, 1.0))
diff --git a/positronic/drivers/roboarm/yam.py b/positronic/drivers/roboarm/yam.py
index 6611068ee..b2719a0ec 100644
--- a/positronic/drivers/roboarm/yam.py
+++ b/positronic/drivers/roboarm/yam.py
@@ -362,7 +362,7 @@ def run(self, should_stop: pimm.SignalReceiver, clock: pimm.Clock) -> Iterator[p
         with _opened(self._connect, self._channel, self._sim) as vendor:
             chain = self._chain(vendor, should_stop, clock)
             meta = {
-                'robot': 'i2rt_yam',
+                roboarm_keys.ROBOT: 'i2rt_yam',
                 roboarm_keys.JOINT_NAMES: list(_JOINT_NAMES),
                 roboarm_keys.CONTROL_FRAME: DEFAULT_FRAME,
             }
diff --git a/positronic/drivers/tests/test_utils.py b/positronic/drivers/tests/test_utils.py
index 26873f2bd..522783f8e 100644
--- a/positronic/drivers/tests/test_utils.py
+++ b/positronic/drivers/tests/test_utils.py
@@ -174,8 +174,10 @@ def test_a_grip_asked_for_past_the_range_is_tracked_against_a_width_the_fingers_
     assert answer.result() is None
 
 
-def test_a_streamed_grip_waits_for_the_call_queue_to_be_empty(asking):
-    """A signal holds only its latest value, so a stream read in the same tick as a call would be lost."""
+def test_a_setpoint_the_device_was_moved_away_from_is_let_go(asking):
+    """A setpoint says where the device is wanted now, and the move taken after it puts the device
+    somewhere else. Applying the setpoint once the move lands takes the device back off the pose it was
+    asked for, in one step and with nobody asking."""
     ask, moves, stream = asking
     stream.push(0.25)
     ask(0.9)
@@ -183,8 +185,34 @@ def test_a_streamed_grip_waits_for_the_call_queue_to_be_empty(asking):
     assert grip_setpoint(moves, grip=0.0, now=0.0) == 0.9
     assert grip_setpoint(moves, grip=0.9, now=0.1) is None  # the call arrives
     moves.answer()
-    assert grip_setpoint(moves, grip=0.9, now=0.2) == 0.25  # the stream, still waiting
-    assert grip_setpoint(moves, grip=0.25, now=0.3) is None
+    assert grip_setpoint(moves, grip=0.9, now=0.2) is None, 'the setpoint the move superseded reached the device'
+
+
+def test_the_newest_setpoint_is_what_the_device_is_asked_for(asking):
+    """A transport that queues setpoints hands the oldest over first. A device asked for one a tick is
+    driven through what its asker has already done, and falls further behind the longer it runs."""
+    _ask, moves, stream = asking
+    for width in (0.1, 0.2, 0.3):
+        stream.push(width)
+
+    assert grip_setpoint(moves, grip=0.0, now=0.0) == 0.3
+    assert grip_setpoint(moves, grip=0.3, now=0.1) is None, 'the device was asked for a width it had passed'
+
+
+def test_setpoints_streamed_at_a_travelling_device_do_not_reach_it_when_the_move_lands(asking):
+    """Nothing reads the stream for as long as a move owns the device, so what arrives in that time is
+    where the asker wanted the device before the move — every setpoint of it, oldest first."""
+    ask, moves, stream = asking
+    ask(0.9)
+    assert grip_setpoint(moves, grip=0.0, now=0.0) == 0.9
+
+    stream.push(0.25)
+    stream.push(0.30)
+    assert grip_setpoint(moves, grip=0.0, now=0.1) is None  # the move still travels
+    assert grip_setpoint(moves, grip=0.9, now=0.2) is None  # ... and lands
+    moves.answer()
+
+    assert grip_setpoint(moves, grip=0.9, now=0.3) is None, 'the device was driven back through the stream'
 
 
 def test_how_long_a_move_gets_is_the_driver_s_to_say():
diff --git a/positronic/drivers/tests/test_webxr.py b/positronic/drivers/tests/test_webxr.py
new file mode 100644
index 000000000..16ceb6faa
--- /dev/null
+++ b/positronic/drivers/tests/test_webxr.py
@@ -0,0 +1,41 @@
+"""What the WebXR driver makes of the payload from the headset."""
+
+import numpy as np
+import pytest
+
+from positronic.drivers.webxr import BUTTONS, CONTROLLERS, ORIENTATION, POSITION, SIDES, _parse_controller_data
+
+TOUCH_BUTTONS = [0.4, 0.0, 0.0, 0.0, 1.0, 0.0]  # trigger, squeeze, unused, stick, A, B
+
+
+def _payload(**controllers):
+    return {CONTROLLERS: {**dict.fromkeys(SIDES), **controllers}}
+
+
+def _controller(buttons):
+    return {POSITION: [0.1, 0.2, 0.3], ORIENTATION: [1.0, 0.0, 0.0, 0.0], BUTTONS: buttons}
+
+
+def test_gamepad_buttons_reach_the_caller():
+    _, buttons = _parse_controller_data(_payload(right=_controller(TOUCH_BUTTONS)))
+
+    right = buttons['right']
+    assert right is not None
+    np.testing.assert_allclose(right, TOUCH_BUTTONS)
+
+
+def test_an_input_source_that_cannot_drive_the_arm_is_refused():
+    """Every teleoperation control is a button, so a source with none of them controls nothing."""
+    with pytest.raises(ValueError, match=r'shaped \(0,\)'):
+        _parse_controller_data(_payload(right=_controller([])))
+
+
+def test_a_controller_short_of_a_button_is_refused():
+    with pytest.raises(ValueError, match=r'shaped \(5,\)'):
+        _parse_controller_data(_payload(right=_controller(TOUCH_BUTTONS[:5])))
+
+
+def test_buttons_that_are_not_one_row_are_refused():
+    """Six buttons in a nested list count six, and the reads that follow take one of the rows for a value."""
+    with pytest.raises(ValueError, match=r'shaped \(1, 6\)'):
+        _parse_controller_data(_payload(right=_controller([TOUCH_BUTTONS])))
diff --git a/positronic/drivers/utils.py b/positronic/drivers/utils.py
index aead06e36..41971df96 100644
--- a/positronic/drivers/utils.py
+++ b/positronic/drivers/utils.py
@@ -78,18 +78,32 @@ def target(self) -> np.ndarray | float:
         assert self._call is not None, 'no move is in flight'
         return self._target
 
+    def streamed(self) -> T | None:
+        """The newest setpoint streamed at the device; reading it lets go of every setpoint older than it.
+
+        A setpoint says where the device is wanted now. A transport that queues them hands the oldest over
+        first, so a device asked for one a tick is driven through what its asker has already done — seconds
+        of it where a move owned the device and nothing was read at all.
+        """
+        latest = None
+        while (message := self._async_move.read()) is not None and message.updated:
+            latest = message.data
+        return latest
+
     def next_request(self) -> pimm.calls.Call[T, None] | T | None:
         """What the device is asked for now: a call whose asker waits to hear it arrive, a streamed setpoint
         nobody waits on, or nothing.
 
-        A call comes first, because a signal holds only its latest value and a setpoint read in the same tick
-        would be lost. A device a move already owns is asked for nothing.
+        A call comes first: a setpoint says where the device is wanted now, and the move that follows it
+        puts the device somewhere else. A device a move already owns is asked for nothing, and the setpoints
+        streamed at it while it travels are let go for the same reason.
         """
+        streamed = self.streamed()
         if self.busy:
             return None
         if (call := next(self._sync_move.incoming(), None)) is not None:
             return call
-        return pimm.value_updated(self._async_move)
+        return streamed
 
     def accept(
         self, call: pimm.calls.Call[T, None], target: np.ndarray | float, tol: float, now: float, timeout_s: float
@@ -191,6 +205,8 @@ def grip_setpoint(moves: Moves[float], grip: float, now: float) -> float | None:
     driver writes before calling ``Moves.answer``.
     """
     if moves.active:
+        # A width streamed at fingers a move owns is older than where the move puts them.
+        moves.streamed()
         return grip if moves.settle(grip, now) is MoveStatus.GAVE_UP else None
     asked = moves.next_request()
     if isinstance(asked, pimm.calls.Call):
diff --git a/positronic/drivers/webxr.py b/positronic/drivers/webxr.py
index 269914df0..ccffd70a1 100644
--- a/positronic/drivers/webxr.py
+++ b/positronic/drivers/webxr.py
@@ -30,15 +30,29 @@
 }
 
 
+# Every teleoperation control is a button, and the highest index one of them reads is the B button's.
+_TELEOP_BUTTONS = 6
+
+
+# The fields of the payload the headset sends, and the hands it sends one for.
+CONTROLLERS, POSITION, ORIENTATION, BUTTONS = 'controllers', 'position', 'orientation', 'buttons'
+SIDES = ('right', 'left')
+
+
 def _parse_controller_data(data: dict):
-    controller_positions = {'left': None, 'right': None}
-    buttons_dict = {'left': None, 'right': None}
-    for side in ['right', 'left']:
-        if data['controllers'][side] is not None:
-            translation = np.array(data['controllers'][side]['position'], dtype=np.float64)
-            rotation = np.array(data['controllers'][side]['orientation'], dtype=np.float64)
-            buttons = np.array(data['controllers'][side]['buttons'], dtype=np.float64)
+    controller_positions: dict[str, geom.Transform3D | None] = dict.fromkeys(SIDES)
+    buttons_dict: dict[str, np.ndarray | None] = dict.fromkeys(SIDES)
+    for side in SIDES:
+        if data[CONTROLLERS][side] is not None:
+            translation = np.array(data[CONTROLLERS][side][POSITION], dtype=np.float64)
+            rotation = np.array(data[CONTROLLERS][side][ORIENTATION], dtype=np.float64)
+            buttons = np.array(data[CONTROLLERS][side][BUTTONS], dtype=np.float64)
             controller_positions[side] = geom.Transform3D(translation, geom.Rotation.from_quat(rotation))
+            if buttons.ndim != 1 or buttons.size < _TELEOP_BUTTONS:
+                raise ValueError(
+                    f'The {side} controller sends buttons shaped {buttons.shape}; teleoperation reads '
+                    f'{_TELEOP_BUTTONS} of them, one after another'
+                )
             buttons_dict[side] = buttons
 
     return controller_positions, buttons_dict
@@ -213,9 +227,9 @@ async def websocket_endpoint(websocket: WebSocket):
                         controller_positions, buttons = _parse_controller_data(data)
 
                         # apply scaling
-                        for side, transform in controller_positions.items():
+                        for transform in controller_positions.values():
                             if transform is not None:
-                                controller_positions[side].translation *= self.sensitivity
+                                transform.translation *= self.sensitivity
 
                         ts = clock.now_ns()
                         if controller_positions['left'] is not None or controller_positions['right'] is not None:
diff --git a/positronic/inference.py b/positronic/inference.py
index f32877c4a..0e311c724 100644
--- a/positronic/inference.py
+++ b/positronic/inference.py
@@ -13,6 +13,7 @@
 import pimm
 import positronic.cfg.embodiment
 import positronic.cfg.eval.real.droid
+import positronic.cfg.eval.real.trossen
 import positronic.cfg.policy as policy_cfg
 from pimm.logging import init_logging
 from positronic.cfg.eval.sim.positronic import stack_cubes
@@ -109,6 +110,13 @@ def real(policy, embodiment: Embodiment, next_task: Callable[[], Task], output_d
 )
 
 
+# The Trossen station, whose arm and cameras are the ones its demonstrations were recorded with. Every
+# trial opens at the same start pose the operator's own trials open at.
+trossen_cfg = real_cfg.override(
+    embodiment=positronic.cfg.embodiment.trossen, next_task=positronic.cfg.eval.real.trossen.attended_trials
+)
+
+
 # Console entry point for [project.scripts].
 @pos3.with_mirror()
 def _internal_main():
@@ -116,6 +124,7 @@ def _internal_main():
     cfn.cli({
         'run': real_cfg,
         'real': real_cfg,  # `real` is the documented name for the hardware path
+        'trossen': trossen_cfg,
         'sim': run.override(eval=stack_cubes),
         'stats': stats,
     })
diff --git a/positronic/server/dataset_utils.py b/positronic/server/dataset_utils.py
index f47ec1d5e..ebfe6a6d4 100644
--- a/positronic/server/dataset_utils.py
+++ b/positronic/server/dataset_utils.py
@@ -555,7 +555,7 @@ def _log_urdf_robot(
     """Log the episode's robot model, its joints animated by `joint_sig`."""
     joint_names = ep.static.get(roboarm_keys.JOINT_NAMES)
     urdf_str = ep.static.get(roboarm_keys.URDF)
-    meshes = ep.static.get('meshes')
+    meshes = ep.static.get(roboarm_keys.MESHES)
     if not (joint_names and urdf_str and meshes):
         return
     ts_arr, q_vals = numeric_data[joint_sig]
diff --git a/positronic/tests/test_components.py b/positronic/tests/test_components.py
index 2f9d0a645..5bb438da2 100644
--- a/positronic/tests/test_components.py
+++ b/positronic/tests/test_components.py
@@ -1,3 +1,4 @@
+import logging
 import pickle
 from collections.abc import Callable
 from importlib import import_module
@@ -8,11 +9,24 @@
 import pimm
 from pimm.core import ControlSystem
 
+logger = logging.getLogger(__name__)
+
+_OURS = ('positronic', 'pimm')
+
 
 def _optional_import(module: str, symbol: str) -> Any | None:
+    """``symbol``, or ``None`` where the vendor package it needs is not usable on this machine.
+
+    A vendor that is installed but cannot load — its own native library is missing — leaves this station
+    without the component just as an absent package does. A project module that fails to import is a broken
+    build rather than a missing vendor, and is not one of those.
+    """
     try:
         return getattr(import_module(module), symbol)
-    except ModuleNotFoundError:  # pragma: no cover - optional dependency
+    except ImportError as e:  # pragma: no cover - optional dependency
+        if (e.name or '').split('.')[0] in _OURS:
+            raise
+        logger.error('%s is not available: %s', module, e)
         return None
 
 
diff --git a/positronic/tests/test_data_collection.py b/positronic/tests/test_data_collection.py
index 77b64e809..80c1a36f5 100644
--- a/positronic/tests/test_data_collection.py
+++ b/positronic/tests/test_data_collection.py
@@ -1,16 +1,18 @@
 from collections.abc import Callable, Sequence
+from dataclasses import dataclass, field
 from pathlib import Path
 
 import numpy as np
 import pytest
 
 import pimm
-from positronic import data_collection, keys, wire
+from positronic import data_collection, geom, keys, wire
 from positronic.data_collection import DataCollectionController, OperatorPosition, controller_positions_serializer
-from positronic.dataset.ds_writer_agent import DsWriterAgent, DsWriterCommand
+from positronic.dataset.ds_writer_agent import DsWriterAgent, DsWriterCommand, DsWriterCommandType
 from positronic.dataset.episode import Episode
 from positronic.dataset.local_dataset import LocalDataset, LocalDatasetWriter
 from positronic.dataset.serializers import Serializers
+from positronic.drivers.roboarm import RobotStatus
 from positronic.drivers.roboarm import command as roboarm_command
 from positronic.drivers.webxr import WebXR
 from positronic.geom import Rotation, Transform3D
@@ -67,6 +69,58 @@ def build_collection(world, out_dir: Path, *, metadata_getter: Callable[[], dict
     return dc, ds_agent, ctrl_em_dc, ctrl_em_agent, buttons_em, robot
 
 
+def test_the_tracker_takes_the_shake_out_of_a_hand_that_holds_still():
+    """A hand at rest still shakes, and the arm shows every bit of it unless the tracker holds it back."""
+    tracker = data_collection._Tracker(data_collection.OperatorPosition.BACK.value)
+    tracker.turn_on(geom.Transform3D())
+    shake, seen = 0.004, []
+    for tick in range(400):  # four seconds of a hand shaking 10 Hz about one spot
+        at = geom.Transform3D(np.array([shake * np.sin(2 * np.pi * 10 * tick / 100), 0.0, 0.0]))
+        seen.append(tracker.update(at, tick * 10_000_000).translation)
+    left = np.ptp(np.asarray(seen)[100:], axis=0).max()
+    assert left < shake, f"the arm still swings {left * 1000:.1f} mm of the hand's {shake * 2000:.1f} mm"
+
+
+def test_the_tracker_follows_a_hand_that_means_it():
+    """What the filter holds back is the shake, not the movement: a hand that goes somewhere arrives."""
+    tracker = data_collection._Tracker(data_collection.OperatorPosition.BACK.value)
+    tracker.turn_on(geom.Transform3D())
+    where = geom.Transform3D()
+    for tick in range(100):  # one second of holding the hand 20 cm away
+        where = tracker.update(geom.Transform3D(np.array([0.2, 0.0, 0.0])), tick * 10_000_000)
+    assert np.linalg.norm(where.translation) > 0.19
+
+
+def test_a_pose_that_is_not_a_number_does_not_settle_in_the_filter():
+    """The lag keeps what it is given, so one NaN would sit in it and every pose after it would come back
+    NaN -- the arm would take no target again until the run was started afresh."""
+    tracker = data_collection._Tracker(data_collection.OperatorPosition.BACK.value)
+    tracker.turn_on(geom.Transform3D())
+    good = tracker.update(geom.Transform3D(np.array([0.1, 0.0, 0.0])), 10_000_000)
+
+    tracker.update(geom.Transform3D(np.array([np.nan, 0.0, 0.0])), 20_000_000)
+    after = tracker.update(geom.Transform3D(np.array([0.1, 0.0, 0.0])), 30_000_000)
+
+    assert np.all(np.isfinite(good.translation))
+    assert np.all(np.isfinite(after.translation))
+
+
+def test_the_tracker_reads_a_negated_quaternion_as_the_turn_it_is():
+    """A rotation and its negated quaternion are the same turn, and a hand holding still sends either."""
+    tracker = data_collection._Tracker(data_collection.OperatorPosition.BACK.value)
+    tracker.turn_on(geom.Transform3D())
+    held = geom.Rotation.from_rotvec(np.array([0.01, 0.0, 0.0]))
+    barely_moved = geom.Rotation.from_rotvec(np.array([0.02, 0.0, 0.0]))
+    negated = geom.Rotation.from_quat(-barely_moved.as_quat)  # the same turn, written the other way
+
+    first = tracker.update(geom.Transform3D(rotation=held), 0)
+    second = tracker.update(geom.Transform3D(rotation=negated), 10_000_000)
+
+    # A rotation matrix reads the same for a quaternion and its negative, so it is what the two are alike in
+    swing = float(np.abs(first.rotation.as_rotation_matrix - second.rotation.as_rotation_matrix).max())
+    assert swing < 0.02, f'the arm turned where the hand barely moved, by {swing:.3f} of a rotation matrix'
+
+
 def test_data_collection_records_task_metadata(tmp_path, world):
     call_count = 0
 
@@ -306,6 +360,261 @@ def test_every_start_pose_is_a_fresh_per_joint_draw_around_the_nominal():
     assert np.all(offsets.std(axis=1) > 0)  # each joint drawn on its own, not one offset for the whole vector
 
 
+@dataclass
+class _StandingStill:
+    """The least an arm reports for a controller to follow it: where it stands, and that it takes commands."""
+
+    ee_pose: Transform3D = field(default_factory=Transform3D)
+    status: RobotStatus = RobotStatus.AVAILABLE
+    q: np.ndarray = field(default_factory=lambda: np.zeros(6))
+    dq: np.ndarray = field(default_factory=lambda: np.zeros(6))
+
+
+@dataclass
+class _LeaderRig:
+    """A controller over an arm the operator drives with the leader beside it, with its ports paired."""
+
+    dc: DataCollectionController
+    commands: RecordingEmitter
+    grips: RecordingEmitter
+    state: pimm.ControlSystemEmitter
+    joints: pimm.ControlSystemEmitter
+    grip: pimm.ControlSystemEmitter
+    events: pimm.ControlSystemEmitter
+    move: pimm.calls.ControlSystemHandler
+    leader_move: pimm.calls.ControlSystemHandler
+
+    def answer_moves(self) -> list:
+        """Answer every move both arms have been asked for, as arms that arrive do."""
+        asked = [*self.move.incoming(), *self.leader_move.incoming()]
+        for call in asked:
+            call.set_result(None)
+        return asked
+
+
+PARK_JOINTS = np.zeros(len(NOMINAL_JOINTS))
+
+
+def build_leader_rig(world) -> _LeaderRig:
+    dc = DataCollectionController(
+        OperatorPosition.FRONT.value, NOMINAL_JOINTS, park_joints=PARK_JOINTS, teleop=data_collection.Teleop.LEADER
+    )
+    commands, grips = RecordingEmitter(), RecordingEmitter()
+    dc.robot_commands._bind(commands)
+    dc.target_grip._bind(grips)
+    return _LeaderRig(
+        dc=dc,
+        commands=commands,
+        grips=grips,
+        state=world.pair(dc.robot_state),
+        joints=world.pair(dc.leader_joints),
+        grip=world.pair(dc.leader_grip),
+        events=world.pair(dc.session_events),
+        move=world.pair(dc.sync_move),
+        leader_move=world.pair(dc.leader_move),
+    )
+
+
+def test_the_keys_the_session_answers_to():
+    """The names a key asks by are the session's, not the keyboard's: a pedal would ask by the same ones."""
+    assert data_collection._session_event('r') is data_collection.SessionEvent.RECORD
+    assert data_collection._session_event(' ') is data_collection.SessionEvent.READY
+    assert data_collection._session_event('h') is data_collection.SessionEvent.PARK
+    assert data_collection._session_event('x') is None
+
+
+def test_a_follower_waits_until_its_leader_has_come_to_it(world):
+    """A follower that starts copying a leader standing somewhere else travels the whole way there at once.
+    Rather than take the operator's word that the arms are lined up, this waits until they are."""
+    rig = build_leader_rig(world)
+    apart, together = np.full(6, 0.5), np.full(6, 0.05)
+    marks = {}
+
+    driver = ManualDriver([
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (rig.answer_moves, 0.01),
+        (lambda: rig.state.emit(_StandingStill(q=np.zeros(6))), 0.01),
+        (lambda: rig.grip.emit(0.0), 0.01),
+        (lambda: rig.joints.emit(apart), 0.01),
+        (lambda: rig.joints.emit(apart), 0.01),
+        (lambda: marks.update(apart=len(rig.commands.emitted)), 0.01),
+        (lambda: rig.joints.emit(together), 0.01),
+        (lambda: rig.joints.emit(together), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert marks['apart'] == 0, 'the follower was sent to where the leader stood, all at once'
+    asked = rig.commands.emitted
+    assert asked, 'the follower never took up the leader it had met'
+    assert isinstance(asked[-1][1], roboarm_command.JointPosition), 'the leader was solved for, not copied'
+    np.testing.assert_allclose(asked[-1][1].positions, together)
+
+
+def test_a_follower_holds_still_until_the_session_puts_both_arms_where_they_start(world):
+    """The arms stand close the moment a run starts, and the operator has asked for nothing yet. A follower
+    that took its leader up there moves on the first hand laid on the leader."""
+    rig = build_leader_rig(world)
+    together = np.full(6, 0.05)
+
+    driver = ManualDriver([
+        (lambda: rig.state.emit(_StandingStill(q=np.zeros(6))), 0.01),
+        (lambda: rig.joints.emit(together), 0.01),
+        (lambda: rig.joints.emit(together), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert not rig.commands.emitted, 'the follower took up its leader before the session asked for anything'
+
+
+def test_the_start_pose_takes_the_leader_with_the_follower(world):
+    """A leader left where it stands is the gap the follower jumps the moment it takes it up, so both arms
+    travel to the same start pose and stand together when the operator takes over."""
+    rig = build_leader_rig(world)
+    asked = []
+
+    driver = ManualDriver([
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (lambda: asked.extend(rig.answer_moves()), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert len(asked) == 2, f'the start pose reached {len(asked)} of the two arms'
+    poses = [call.request.positions for call in asked]
+    np.testing.assert_allclose(poses[0], poses[1], err_msg='the arms were sent to poses of their own')
+
+
+def test_the_park_key_takes_both_arms_to_rest(world):
+    """The pose the arms rest at is measured, not drawn: an arm that rests where it is asked to holds
+    itself there with the controller off."""
+    rig = build_leader_rig(world)
+    asked = []
+
+    driver = ManualDriver([
+        (lambda: rig.events.emit(data_collection.SessionEvent.PARK), 0.01),
+        (lambda: asked.extend(rig.answer_moves()), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert len(asked) == 2, f'the rest pose reached {len(asked)} of the two arms'
+    for call in asked:
+        np.testing.assert_array_equal(call.request.positions, PARK_JOINTS)
+
+
+def test_a_reading_taken_before_the_rig_travelled_never_reaches_the_follower(world):
+    """The arms stood together before the move, so what they reported then passes for a meeting. A
+    follower that took it up would leave the leader standing and go back to the pose it was moved from."""
+    rig = build_leader_rig(world)
+    before = np.full(6, 0.5)
+
+    driver = ManualDriver([
+        (lambda: rig.state.emit(_StandingStill(q=before)), 0.01),
+        (lambda: rig.joints.emit(before), 0.01),
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (lambda: rig.joints.emit(before), 0.01),  # both arms report where they stood as they travel
+        (lambda: rig.state.emit(_StandingStill(q=before)), 0.01),
+        (rig.answer_moves, 0.01),
+        (lambda: rig.state.emit(_StandingStill(q=np.zeros(6))), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert not rig.commands.emitted, 'the follower was sent to the pose the arms stood at before the move'
+
+
+def test_the_trigger_of_a_leader_holds_the_follower_grip(world):
+    """The grip crosses even before the arms meet: closing the hand is not moving the arm."""
+    rig = build_leader_rig(world)
+
+    driver = ManualDriver([(lambda: rig.grip.emit(0.75), 0.01), (None, 0.01)])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert rig.grips.emitted[-1][1] == pytest.approx(0.75)
+
+
+def test_the_keys_carry_the_session_a_leader_rig_has_no_buttons_for(world):
+    """The operator's hand is on the arm, so the recording and the start pose are asked for by name from
+    somewhere else — the same names whatever presses them."""
+    rig = build_leader_rig(world)
+    written = RecordingEmitter()
+    rig.dc.ds_agent_commands._bind(written)
+    asked = []
+
+    driver = ManualDriver([
+        (lambda: rig.events.emit(data_collection.SessionEvent.RECORD), 0.01),
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (lambda: asked.extend(rig.move.incoming()), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    started = [command for _ts, command in written.emitted]
+    assert started and started[0].type is DsWriterCommandType.START_EPISODE, 'the keys started no episode'
+    assert len(asked) == 1, 'the start pose did not reach the arm'
+
+
+def test_a_press_in_front_of_a_travelling_arm_does_not_run_the_move_again(world):
+    """An operator watching an arm cross the table presses again because it is slow, not because they want
+    a second start pose. The arm that arrives is the one the first press asked for."""
+    rig = build_leader_rig(world)
+    asked, marks = [], {}
+
+    driver = ManualDriver([
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (lambda: asked.extend(rig.move.incoming()), 0.01),
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),  # ... while the arm travels
+        (lambda: rig.events.emit(data_collection.SessionEvent.READY), 0.01),
+        (lambda: asked.extend(rig.move.incoming()), 0.01),
+        (lambda: marks.update(travelling=len(asked)), 0.01),
+        (lambda: [call.set_result(None) for call in asked], 0.01),
+        (lambda: asked.extend(rig.move.incoming()), 0.01),
+        (None, 0.01),
+    ])
+    drive_scheduler(world.start([rig.dc, driver]), steps=400)
+
+    assert marks['travelling'] == 1, 'a press in front of the travelling arm asked for the move again'
+    assert len(asked) == 1, 'the presses the arm outran reached it after it landed'
+
+
+def test_an_arm_driven_by_both_a_leader_and_a_headset_is_refused():
+    """Two things asking one arm to be in two places at once is not a rig; it is a fight, and the arm loses
+    it somewhere over the table."""
+    with pytest.raises(ValueError, match='leader'):
+        data_collection.main(
+            robot_arm=DummyRobot(),
+            gripper=None,
+            webxr=WebXR(port=0),
+            sound=None,
+            cameras=None,
+            nominal_joints=NOMINAL_JOINTS.tolist(),
+            leader=DummyRobot(),
+        )
+
+
+def test_a_rest_pose_that_does_not_cover_every_joint_of_the_start_pose_is_refused():
+    """Both poses belong to one arm. A rest pose of another length reaches the arm as a failed move, with
+    nothing to say which of the two the station named wrong."""
+    with pytest.raises(ValueError, match='park_joints'):
+        data_collection.main(
+            robot_arm=DummyRobot(),
+            gripper=None,
+            webxr=WebXR(port=0),
+            sound=None,
+            cameras=None,
+            nominal_joints=NOMINAL_JOINTS.tolist(),
+            park_joints=NOMINAL_JOINTS[:-1].tolist(),
+        )
+
+
+def test_a_leader_with_no_follower_is_refused():
+    """A leader is held to drive a follower. One with nothing on the other end moves nothing at all."""
+    with pytest.raises(ValueError, match='leader'):
+        data_collection.main(robot_arm=None, gripper=None, webxr=None, sound=None, cameras=None, leader=DummyRobot())
+
+
 def test_data_collection_with_mujoco_robot_gripper(tmp_path):
     sim = MujocoSim('positronic/assets/mujoco/franka_table.xml', loaders=())
 
diff --git a/positronic/vendors/lerobot_0_3_3/codecs.py b/positronic/vendors/lerobot_0_3_3/codecs.py
index d46fc0d2b..6587c3978 100644
--- a/positronic/vendors/lerobot_0_3_3/codecs.py
+++ b/positronic/vendors/lerobot_0_3_3/codecs.py
@@ -18,6 +18,17 @@
     horizon=1.0,
 )
 
+# The Trossen WidowX AI carries six arm joints where the codecs above assume seven, and a demonstration
+# driven by a leader arm records the joints the leader asked for. Those are what the follower's own driver
+# takes back, with no pose to solve for on the way in or out.
+trossen_joints = codecs.compose.override(
+    obs=codecs.joints_obs.override(state_features={keys.JOINTS: 6, keys.GRIP: 1}),
+    action=codecs.absolute_joints_action.override(
+        tgt_joints_key=keys.TARGET_JOINTS, tgt_grip_key=keys.TARGET_GRIP, num_joints=6
+    ),
+    horizon=1.0,
+)
+
 # IK variants: reconstruct joint targets from recorded EE targets via IK
 joints_ik = ee.override(obs=codecs.joints_obs, action=codecs.ik_joints_action)
 joints_ik_sim = joints_ik.override(**{'action.solver': 'lm'})
diff --git a/positronic/vendors/lerobot_0_3_3/server.py b/positronic/vendors/lerobot_0_3_3/server.py
index 7b6e9e74a..661bd43ba 100644
--- a/positronic/vendors/lerobot_0_3_3/server.py
+++ b/positronic/vendors/lerobot_0_3_3/server.py
@@ -93,6 +93,7 @@ def pipeline(codec: Codec, source: ModelSource):
 joints_traj = pipeline.override(codec=lerobot_codecs.joints_traj)
 joints_ik = pipeline.override(codec=lerobot_codecs.joints_ik)
 joints_ik_sim = pipeline.override(codec=lerobot_codecs.joints_ik_sim)
+trossen_joints = pipeline.override(codec=lerobot_codecs.trossen_joints)
 # For checkpoints trained on inverted-grip (1 = open) sim data, which speak the flipped convention.
 ee_flip = pipeline.override(codec=lerobot_codecs.ee.override(flip_grip=True))
 
@@ -107,6 +108,7 @@ def pipeline(codec: Codec, source: ModelSource):
     'joints_traj': serve.override(pipeline=joints_traj),
     'joints_ik': serve.override(pipeline=joints_ik),
     'joints_ik_sim': serve.override(pipeline=joints_ik_sim),
+    'trossen_joints': serve.override(pipeline=trossen_joints),
     'ee_flip': serve.override(pipeline=ee_flip),
     'phail': serve.override(
         pipeline=ee.override(
diff --git a/pyproject.toml b/pyproject.toml
index f3c790f4a..005450dd5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -106,6 +106,10 @@ lance = [
 yam = [
     "i2rt",  # i2rt YAM arm: joint-space position-PD + gravity-comp over CAN; not on PyPI, see [tool.uv.sources]
 ]
+trossen = [
+    # Trossen WidowX AI arm, over Ethernet. The SDK version must match the arm firmware version.
+    "trossen-arm>=1.11,<1.12",
+]
 telemetry = [
     # `positronic eval run --timing` only: the OTel SDK + exporter that write the span sidecars, and the
     # machine-load sampler's probes.
diff --git a/uv.lock b/uv.lock
index c025bf7c0..e5e94309c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -3,52 +3,52 @@ revision = 3
 requires-python = ">=3.11, <3.14"
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 conflicts = [[
@@ -319,18 +319,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -367,34 +367,34 @@ version = "16.1.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/78/cd/3a83ffbc3cc25b39721d174487fb0d51a76582f4a1703f98e46170ce83d4/av-16.1.0.tar.gz", hash = "sha256:a094b4fd87a3721dacf02794d3d2c82b8d712c85b9534437e82a8a978c175ffd", size = 4285203, upload-time = "2026-01-11T07:31:33.772Z" }
@@ -637,10 +637,10 @@ version = "8.1.8"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -657,46 +657,46 @@ version = "8.4.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -723,18 +723,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -768,14 +768,14 @@ version = "4.2.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
@@ -817,10 +817,10 @@ version = "5.4.3.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -845,46 +845,46 @@ version = "6.0.2"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -906,10 +906,10 @@ version = "1.87.0.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -941,46 +941,46 @@ version = "1.89.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -1481,14 +1481,14 @@ version = "3.6.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
@@ -1520,18 +1520,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -1631,18 +1631,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -1669,14 +1669,14 @@ version = "0.36.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
@@ -1787,10 +1787,10 @@ version = "3.10.3"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -1819,46 +1819,46 @@ version = "3.12.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -1908,10 +1908,10 @@ version = "1.2.9"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -1934,46 +1934,46 @@ version = "1.3.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -2270,14 +2270,14 @@ version = "0.29.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
@@ -2300,18 +2300,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -2456,25 +2456,25 @@ version = "0.35.3"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
@@ -2510,28 +2510,28 @@ version = "1.19.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -3129,14 +3129,14 @@ version = "0.3.3"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
@@ -3177,18 +3177,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -3859,10 +3859,10 @@ version = "2.2.6"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/76/21/7d2a95e4bba9dc13d043ee156a356c0a8f0c6309dff6b21b4d71a073b8a8/numpy-2.2.6.tar.gz", hash = "sha256:e29554e2bef54a90aa5cc07da6ce955accb83f21ab5de01a62c8478897b264fd", size = 20276440, upload-time = "2025-05-17T22:38:04.611Z" }
@@ -3915,46 +3915,46 @@ version = "2.3.5"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
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     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/76/65/21b3bc86aac7b8f2862db1e808f1ea22b028e30a225a34a5ede9bf8678f2/numpy-2.3.5.tar.gz", hash = "sha256:784db1dcdab56bf0517743e746dfb0f885fc68d948aba86eeec2cba234bdf1c0", size = 20584950, upload-time = "2025-11-16T22:52:42.067Z" }
@@ -4213,18 +4213,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -4249,34 +4249,34 @@ version = "4.13.0.92"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -4407,18 +4407,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -4435,34 +4435,34 @@ version = "26.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/65/ee/299d360cdc32edc7d2cf530f3accf79c4fca01e96ffc950d8a52213bd8e4/packaging-26.0.tar.gz", hash = "sha256:00243ae351a257117b6a241061796684b084ed1c516a08c48a3f7e147a9d80b4", size = 143416, upload-time = "2026-01-21T20:50:39.064Z" }
@@ -4621,10 +4621,10 @@ version = "3.4.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -4655,46 +4655,46 @@ version = "3.8.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -4726,10 +4726,10 @@ version = "0.9.16"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -4762,46 +4762,46 @@ version = "0.9.20"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -4974,6 +4974,9 @@ telemetry = [
     { name = "opentelemetry-exporter-otlp-json-file" },
     { name = "opentelemetry-sdk" },
 ]
+trossen = [
+    { name = "trossen-arm" },
+]
 yam = [
     { name = "i2rt" },
 ]
@@ -5057,11 +5060,12 @@ requires-dist = [
     { name = "torch", marker = "extra == 'molmoact2'" },
     { name = "torchvision", marker = "extra == 'molmoact2'" },
     { name = "transformers", marker = "extra == 'molmoact2'", specifier = ">=5.3,<6" },
+    { name = "trossen-arm", marker = "extra == 'trossen'", specifier = ">=1.11,<1.12" },
     { name = "uvicorn", extras = ["standard"] },
     { name = "websockets", specifier = ">=15.0.1" },
     { name = "zmq" },
 ]
-provides-extras = ["openpi", "hardware", "lerobot-0-3-3", "lerobot", "molmoact2", "dreamzero", "lance", "yam", "telemetry"]
+provides-extras = ["openpi", "hardware", "lerobot-0-3-3", "lerobot", "molmoact2", "dreamzero", "lance", "yam", "trossen", "telemetry"]
 
 [package.metadata.requires-dev]
 dev = [
@@ -5943,10 +5947,10 @@ version = "4.7.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform != 'linux'",
 ]
 dependencies = [
@@ -5972,46 +5976,46 @@ version = "4.8.2"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'darwin' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
 ]
 dependencies = [
@@ -6552,18 +6556,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' 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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and sys_platform == 'win32'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten'",
     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
     "python_full_version < '3.12' and sys_platform == 'darwin'",
     "python_full_version < '3.12' and sys_platform == 'win32'",
     "python_full_version < '3.12' and sys_platform == 'emscripten'",
@@ -6580,34 +6584,34 @@ version = "82.0.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version == '3.12.*' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra == 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra == 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
+    "python_full_version < '3.12' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform == 'emscripten' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
     "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-10-positronic-lerobot' and extra == 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version >= '3.13' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
-    "python_full_version == '3.12.*' and sys_platform == 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
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-    "python_full_version >= '3.13' and sys_platform != 'linux' and extra != 'extra-10-positronic-lerobot' and extra != 'extra-10-positronic-lerobot-0-3-3' and extra != 'extra-10-positronic-molmoact2' and extra != 'extra-10-positronic-yam'",
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@@ -6967,18 +6971,18 @@ source = { registry = "https://pypi.org/simple" }
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-    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
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-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
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     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
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     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
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     "python_full_version < '3.12' and sys_platform == 'win32'",
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@@ -7007,10 +7011,10 @@ version = "5.11.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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-    "python_full_version == '3.12.*' and sys_platform == 'linux'",
-    "python_full_version < '3.12' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and sys_platform != 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and sys_platform != 'linux'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
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 ]
 dependencies = [
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 ]
 
+[[package]]
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+version = "1.11.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
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+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-10-positronic-lerobot' or extra == 'extra-10-positronic-lerobot-0-3-3' or extra == 'extra-10-positronic-molmoact2' or extra != 'extra-10-positronic-yam'" },
+]
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+    { url = "https://files.pythonhosted.org/packages/2e/37/1a61b635b944a619726c614aa146fdd67ac8096fc36bd9c7428dc366f2db/trossen_arm-1.11.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:835c2e547d5239e15963df3659f4f26ae772e25df524e9f99849dda23ca7b4a9", size = 753053, upload-time = "2026-07-01T23:47:22.99Z" },
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+    { url = "https://files.pythonhosted.org/packages/72/c9/2d6b5c0b345ee7728a8570027745c3675383342bd236d425bbd85e41c30c/trossen_arm-1.11.0-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:96549d0a266a1104e0648e1278dae85e5f743e372ef378c22d66612da09c0a52", size = 981086, upload-time = "2026-07-01T23:47:25.655Z" },
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+
 [[package]]
 name = "typeguard"
 version = "4.5.2"
@@ -7260,18 +7284,18 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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     "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 == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
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-    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
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-    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
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     "python_full_version >= '3.13' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and sys_platform == 'win32'",
     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
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@@ -7308,14 +7332,14 @@ version = "0.25.0"
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 resolution-markers = [
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     "python_full_version >= '3.13' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version == '3.12.*' and sys_platform == 'linux'",
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     "python_full_version == '3.12.*' and sys_platform == 'emscripten'",
     "python_full_version == '3.12.*' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'linux'",
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