diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 953b1e4c3..10c90f841 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -37,7 +37,10 @@ jobs:
           lfs: true  # Ensure LFS files are pulled
 
       - name: Install apt dependencies
-        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev ffmpeg
+      # portaudio19-dev is needed to install pyaudio
+        run: |
+          sudo apt-get update && \
+          sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
 
       - name: Install poetry
         run: |
@@ -111,7 +114,10 @@ jobs:
           lfs: true  # Ensure LFS files are pulled
 
       - name: Install apt dependencies
-        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
+      # portaudio19-dev is needed to install pyaudio
+        run: |
+          sudo apt-get update && \
+          sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
 
       - name: Install poetry
         run: |
diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md
index 50a2c6452..58bfc66c3 100644
--- a/examples/7_get_started_with_real_robot.md
+++ b/examples/7_get_started_with_real_robot.md
@@ -45,7 +45,7 @@ poetry install --sync --extras "dynamixel"
 ```bash
 conda install -c conda-forge ffmpeg
 pip uninstall opencv-python
-conda install -c conda-forge opencv>=4.10.0
+conda install -c conda-forge "opencv>=4.10.0"
 ```
 
 You are now ready to plug the 5V power supply to the motor bus of the leader arm (the smaller one) since all its motors only require 5V.
diff --git a/examples/8_use_stretch.md b/examples/8_use_stretch.md
new file mode 100644
index 000000000..fcd1cacee
--- /dev/null
+++ b/examples/8_use_stretch.md
@@ -0,0 +1,158 @@
+This tutorial explains how to use [Stretch 3](https://hello-robot.com/stretch-3-product) with LeRobot.
+
+## Setup
+
+Familiarize yourself with Stretch by following its [tutorials](https://docs.hello-robot.com/0.3/getting_started/hello_robot/) (recommended).
+
+To use LeRobot on Stretch, 3 options are available:
+- [tethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#tethered-setup)
+- [untethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#untethered-setup)
+- ssh directly into Stretch (you will first need to install and configure openssh-server on stretch using one of the two above setups)
+
+
+## Install LeRobot
+
+On Stretch's CLI, follow these steps:
+
+1. [Install Miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install):
+```bash
+mkdir -p ~/miniconda3
+wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
+bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
+rm ~/miniconda3/miniconda.sh
+~/miniconda3/bin/conda init bash
+```
+
+2. Comment out these lines in `~/.profile` (this can mess up paths used by conda and ~/.local/bin should already be in your PATH)
+```
+# set PATH so it includes user's private bin if it exists
+if [ -d "$HOME/.local/bin" ] ; then
+    PATH="$HOME/.local/bin:$PATH"
+fi
+```
+
+3. Restart shell or `source ~/.bashrc`
+
+4. Create and activate a fresh conda environment for lerobot
+```bash
+conda create -y -n lerobot python=3.10 && conda activate lerobot
+```
+
+5. Clone LeRobot:
+```bash
+git clone https://github.com/huggingface/lerobot.git ~/lerobot
+```
+
+6. Install LeRobot with stretch dependencies:
+```bash
+cd ~/lerobot && pip install -e ".[stretch]"
+```
+
+> **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`
+
+And install extra dependencies for recording datasets on Linux:
+```bash
+conda install -y -c conda-forge ffmpeg
+pip uninstall -y opencv-python
+conda install -y -c conda-forge "opencv>=4.10.0"
+```
+
+7. Run a [system check](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#system-check) to make sure your robot is ready:
+```bash
+stretch_system_check.py
+```
+
+> **Note:** You may need to free the "robot process" after booting Stretch by running `stretch_free_robot_process.py`. For more info this Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#turning-off-gamepad-teleoperation).
+
+You should get something like this:
+```bash
+For use with S T R E T C H (R) from Hello Robot Inc.
+---------------------------------------------------------------------
+
+Model = Stretch 3
+Tool = DexWrist 3 w/ Gripper
+Serial Number = stretch-se3-3054
+
+---- Checking Hardware ----
+[Pass] Comms are ready
+[Pass] Actuators are ready
+[Warn] Sensors not ready (IMU AZ = -10.19 out of range -10.1 to -9.5)
+[Pass] Battery voltage is 13.6 V
+
+---- Checking Software ----
+[Pass] Ubuntu 22.04 is ready
+[Pass] All APT pkgs are setup correctly
+[Pass] Firmware is up-to-date
+[Pass] Python pkgs are up-to-date
+[Pass] ROS2 Humble is ready
+```
+
+## Teleoperate, record a dataset and run a policy
+
+**Calibrate (Optional)**
+Before operating Stretch, you need to [home](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#homing) it first. Be mindful about giving Stretch some space as this procedure will move the robot's arm and gripper. Now run this command:
+```bash
+python lerobot/scripts/control_robot.py calibrate \
+    --robot-path lerobot/configs/robot/stretch.yaml
+```
+This is equivalent to running `stretch_robot_home.py`
+
+> **Note:** If you run any of the LeRobot scripts below and Stretch is not poperly homed, it will automatically home/calibrate first.
+
+**Teleoperate**
+Before trying teleoperation, you need activate the gamepad controller by pressing the middle button. For more info, see Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/hello_robot/#gamepad-teleoperation).
+
+Now try out teleoperation (see above documentation to learn about the gamepad controls):
+```bash
+python lerobot/scripts/control_robot.py teleoperate \
+    --robot-path lerobot/configs/robot/stretch.yaml
+```
+This is essentially the same as running `stretch_gamepad_teleop.py`
+
+**Record a dataset**
+Once you're familiar with the gamepad controls and after a bit of practice, you can try to record your first dataset with Stretch.
+
+If you want to use the Hugging Face hub features for uploading your dataset and you haven't previously done it, make sure you've logged in using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
+```bash
+huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
+```
+
+Store your Hugging Face repository name in a variable to run these commands:
+```bash
+HF_USER=$(huggingface-cli whoami | head -n 1)
+echo $HF_USER
+```
+
+Record one episode:
+```bash
+python lerobot/scripts/control_robot.py record \
+    --robot-path lerobot/configs/robot/stretch.yaml \
+    --fps 20 \
+    --root data \
+    --repo-id ${HF_USER}/stretch_test \
+    --tags stretch tutorial \
+    --warmup-time-s 3 \
+    --episode-time-s 40 \
+    --reset-time-s 10 \
+    --num-episodes 1 \
+    --push-to-hub 0
+```
+
+> **Note:** If you're using ssh to connect to Stretch and run this script, you won't be able to visualize its cameras feed (though they will still be recording). To see the cameras stream, use [tethered](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#tethered-setup) or [untethered setup](https://docs.hello-robot.com/0.3/getting_started/connecting_to_stretch/#untethered-setup).
+
+**Replay an episode**
+Now try to replay this episode (make sure the robot's initial position is the same):
+```bash
+python lerobot/scripts/control_robot.py replay \
+    --robot-path lerobot/configs/robot/stretch.yaml \
+    --fps 20 \
+    --root data \
+    --repo-id ${HF_USER}/stretch_test \
+    --episode 0
+```
+
+Follow [previous tutorial](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data) to train a policy on your data and run inference on your robot. You will need to adapt the code for Stretch.
+
+> TODO(rcadene, aliberts): Add already setup environment and policy yaml configuration files
+
+If you need help, please reach out on Discord in the channel `#stretch3-mobile-arm`.
diff --git a/lerobot/common/robot_devices/cameras/intelrealsense.py b/lerobot/common/robot_devices/cameras/intelrealsense.py
index c949109b8..66c7fe5cb 100644
--- a/lerobot/common/robot_devices/cameras/intelrealsense.py
+++ b/lerobot/common/robot_devices/cameras/intelrealsense.py
@@ -10,6 +10,7 @@
 import threading
 import time
 import traceback
+from collections import Counter
 from dataclasses import dataclass, replace
 from pathlib import Path
 from threading import Thread
@@ -27,47 +28,49 @@
 SERIAL_NUMBER_INDEX = 1
 
 
-def find_camera_indices(raise_when_empty=True, mock=False) -> list[int]:
+def find_cameras(raise_when_empty=True, mock=False) -> list[dict]:
     """
-    Find the serial numbers of the Intel RealSense cameras
+    Find the names and the serial numbers of the Intel RealSense cameras
     connected to the computer.
     """
     if mock:
-        from tests.mock_pyrealsense2 import (
-            RSCameraInfo,
-            RSContext,
-        )
+        import tests.mock_pyrealsense2 as rs
     else:
-        from pyrealsense2 import camera_info as RSCameraInfo  # noqa: N812
-        from pyrealsense2 import context as RSContext  # noqa: N812
+        import pyrealsense2 as rs
 
-    camera_ids = []
-    for device in RSContext().query_devices():
-        serial_number = int(device.get_info(RSCameraInfo(SERIAL_NUMBER_INDEX)))
-        camera_ids.append(serial_number)
+    cameras = []
+    for device in rs.context().query_devices():
+        serial_number = int(device.get_info(rs.camera_info(SERIAL_NUMBER_INDEX)))
+        name = device.get_info(rs.camera_info.name)
+        cameras.append(
+            {
+                "serial_number": serial_number,
+                "name": name,
+            }
+        )
 
-    if raise_when_empty and len(camera_ids) == 0:
+    if raise_when_empty and len(cameras) == 0:
         raise OSError(
             "Not a single camera was detected. Try re-plugging, or re-installing `librealsense` and its python wrapper `pyrealsense2`, or updating the firmware."
         )
 
-    return camera_ids
+    return cameras
 
 
-def save_image(img_array, camera_idx, frame_index, images_dir):
+def save_image(img_array, serial_number, frame_index, images_dir):
     try:
         img = Image.fromarray(img_array)
-        path = images_dir / f"camera_{camera_idx}_frame_{frame_index:06d}.png"
+        path = images_dir / f"camera_{serial_number}_frame_{frame_index:06d}.png"
         path.parent.mkdir(parents=True, exist_ok=True)
         img.save(str(path), quality=100)
         logging.info(f"Saved image: {path}")
     except Exception as e:
-        logging.error(f"Failed to save image for camera {camera_idx} frame {frame_index}: {e}")
+        logging.error(f"Failed to save image for camera {serial_number} frame {frame_index}: {e}")
 
 
 def save_images_from_cameras(
     images_dir: Path,
-    camera_ids: list[int] | None = None,
+    serial_numbers: list[int] | None = None,
     fps=None,
     width=None,
     height=None,
@@ -76,23 +79,25 @@ def save_images_from_cameras(
 ):
     """
     Initializes all the cameras and saves images to the directory. Useful to visually identify the camera
-    associated to a given camera index.
+    associated to a given serial number.
     """
-    if camera_ids is None:
-        camera_ids = find_camera_indices(mock=mock)
+    if serial_numbers is None or len(serial_numbers) == 0:
+        camera_infos = find_cameras(mock=mock)
+        serial_numbers = [cam["serial_number"] for cam in camera_infos]
 
     if mock:
-        from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor
+        import tests.mock_cv2 as cv2
     else:
-        from cv2 import COLOR_RGB2BGR, cvtColor
+        import cv2
 
     print("Connecting cameras")
     cameras = []
-    for cam_idx in camera_ids:
-        camera = IntelRealSenseCamera(cam_idx, fps=fps, width=width, height=height, mock=mock)
+    for cam_sn in serial_numbers:
+        print(f"{cam_sn=}")
+        camera = IntelRealSenseCamera(cam_sn, fps=fps, width=width, height=height, mock=mock)
         camera.connect()
         print(
-            f"IntelRealSenseCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
+            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -107,7 +112,7 @@ def save_images_from_cameras(
     frame_index = 0
     start_time = time.perf_counter()
     try:
-        with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor:
+        with concurrent.futures.ThreadPoolExecutor(max_workers=1) as executor:
             while True:
                 now = time.perf_counter()
 
@@ -118,12 +123,12 @@ def save_images_from_cameras(
                     if image is None:
                         print("No Frame")
 
-                    bgr_converted_image = cvtColor(image, COLOR_RGB2BGR)
+                    bgr_converted_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
 
                     executor.submit(
                         save_image,
                         bgr_converted_image,
-                        camera.camera_index,
+                        camera.serial_number,
                         frame_index,
                         images_dir,
                     )
@@ -155,6 +160,7 @@ class IntelRealSenseCameraConfig:
     IntelRealSenseCameraConfig(90, 640, 480)
     IntelRealSenseCameraConfig(30, 1280, 720)
     IntelRealSenseCameraConfig(30, 640, 480, use_depth=True)
+    IntelRealSenseCameraConfig(30, 640, 480, rotation=90)
     ```
     """
 
@@ -164,6 +170,7 @@ class IntelRealSenseCameraConfig:
     color_mode: str = "rgb"
     use_depth: bool = False
     force_hardware_reset: bool = True
+    rotation: int | None = None
     mock: bool = False
 
     def __post_init__(self):
@@ -180,13 +187,15 @@ def __post_init__(self):
                 f"but {self.fps=}, {self.width=}, {self.height=} were provided."
             )
 
+        if self.rotation not in [-90, None, 90, 180]:
+            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+
 
 class IntelRealSenseCamera:
     """
     The IntelRealSenseCamera class is similar to OpenCVCamera class but adds additional features for Intel Real Sense cameras:
-    - camera_index corresponds to the serial number of the camera,
-    - camera_index won't randomly change as it can be the case of OpenCVCamera for Linux,
-    - read is more reliable than OpenCVCamera,
+    - is instantiated with the serial number of the camera - won't randomly change as it can be the case of OpenCVCamera for Linux,
+    - can also be instantiated with the camera's name — if it's unique — using IntelRealSenseCamera.init_from_name(),
     - depth map can be returned.
 
     To find the camera indices of your cameras, you can run our utility script that will save a few frames for each camera:
@@ -199,8 +208,10 @@ class IntelRealSenseCamera:
 
     Example of usage:
     ```python
-    camera_index = 128422271347
-    camera = IntelRealSenseCamera(camera_index)
+    # Instantiate with its serial number
+    camera = IntelRealSenseCamera(128422271347)
+    # Or by its name if it's unique
+    camera = IntelRealSenseCamera.init_from_name("Intel RealSense D405")
     camera.connect()
     color_image = camera.read()
     # when done using the camera, consider disconnecting
@@ -209,19 +220,19 @@ class IntelRealSenseCamera:
 
     Example of changing default fps, width, height and color_mode:
     ```python
-    camera = IntelRealSenseCamera(camera_index, fps=30, width=1280, height=720)
+    camera = IntelRealSenseCamera(serial_number, fps=30, width=1280, height=720)
     camera = connect()  # applies the settings, might error out if these settings are not compatible with the camera
 
-    camera = IntelRealSenseCamera(camera_index, fps=90, width=640, height=480)
+    camera = IntelRealSenseCamera(serial_number, fps=90, width=640, height=480)
     camera = connect()
 
-    camera = IntelRealSenseCamera(camera_index, fps=90, width=640, height=480, color_mode="bgr")
+    camera = IntelRealSenseCamera(serial_number, fps=90, width=640, height=480, color_mode="bgr")
     camera = connect()
     ```
 
     Example of returning depth:
     ```python
-    camera = IntelRealSenseCamera(camera_index, use_depth=True)
+    camera = IntelRealSenseCamera(serial_number, use_depth=True)
     camera.connect()
     color_image, depth_map = camera.read()
     ```
@@ -229,7 +240,7 @@ class IntelRealSenseCamera:
 
     def __init__(
         self,
-        camera_index: int,
+        serial_number: int,
         config: IntelRealSenseCameraConfig | None = None,
         **kwargs,
     ):
@@ -239,7 +250,7 @@ def __init__(
         # Overwrite the config arguments using kwargs
         config = replace(config, **kwargs)
 
-        self.camera_index = camera_index
+        self.serial_number = serial_number
         self.fps = config.fps
         self.width = config.width
         self.height = config.height
@@ -256,41 +267,69 @@ def __init__(
         self.depth_map = None
         self.logs = {}
 
+        if self.mock:
+            import tests.mock_cv2 as cv2
+        else:
+            import cv2
+
+        # TODO(alibets): Do we keep original width/height or do we define them after rotation?
+        self.rotation = None
+        if config.rotation == -90:
+            self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
+        elif config.rotation == 90:
+            self.rotation = cv2.ROTATE_90_CLOCKWISE
+        elif config.rotation == 180:
+            self.rotation = cv2.ROTATE_180
+
+    @classmethod
+    def init_from_name(cls, name: str, config: IntelRealSenseCameraConfig | None = None, **kwargs):
+        camera_infos = find_cameras()
+        camera_names = [cam["name"] for cam in camera_infos]
+        this_name_count = Counter(camera_names)[name]
+        if this_name_count > 1:
+            # TODO(aliberts): Test this with multiple identical cameras (Aloha)
+            raise ValueError(
+                f"Multiple {name} cameras have been detected. Please use their serial number to instantiate them."
+            )
+
+        name_to_serial_dict = {cam["name"]: cam["serial_number"] for cam in camera_infos}
+        cam_sn = name_to_serial_dict[name]
+
+        if config is None:
+            config = IntelRealSenseCameraConfig()
+
+        # Overwrite the config arguments using kwargs
+        config = replace(config, **kwargs)
+
+        return cls(serial_number=cam_sn, config=config, **kwargs)
+
     def connect(self):
         if self.is_connected:
             raise RobotDeviceAlreadyConnectedError(
-                f"IntelRealSenseCamera({self.camera_index}) is already connected."
+                f"IntelRealSenseCamera({self.serial_number}) is already connected."
             )
 
         if self.mock:
-            from tests.mock_pyrealsense2 import (
-                RSConfig,
-                RSFormat,
-                RSPipeline,
-                RSStream,
-            )
+            import tests.mock_pyrealsense2 as rs
         else:
-            from pyrealsense2 import config as RSConfig  # noqa: N812
-            from pyrealsense2 import format as RSFormat  # noqa: N812
-            from pyrealsense2 import pipeline as RSPipeline  # noqa: N812
-            from pyrealsense2 import stream as RSStream  # noqa: N812
+            import pyrealsense2 as rs
 
-        config = RSConfig()
-        config.enable_device(str(self.camera_index))
+        config = rs.config()
+        config.enable_device(str(self.serial_number))
 
         if self.fps and self.width and self.height:
             # TODO(rcadene): can we set rgb8 directly?
-            config.enable_stream(RSStream.color, self.width, self.height, RSFormat.rgb8, self.fps)
+            config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps)
         else:
-            config.enable_stream(RSStream.color)
+            config.enable_stream(rs.stream.color)
 
         if self.use_depth:
             if self.fps and self.width and self.height:
-                config.enable_stream(RSStream.depth, self.width, self.height, RSFormat.z16, self.fps)
+                config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps)
             else:
-                config.enable_stream(RSStream.depth)
+                config.enable_stream(rs.stream.depth)
 
-        self.camera = RSPipeline()
+        self.camera = rs.pipeline()
         try:
             profile = self.camera.start(config)
             is_camera_open = True
@@ -301,17 +340,18 @@ def connect(self):
         # If the camera doesn't work, display the camera indices corresponding to
         # valid cameras.
         if not is_camera_open:
-            # Verify that the provided `camera_index` is valid before printing the traceback
-            available_cam_ids = find_camera_indices()
-            if self.camera_index not in available_cam_ids:
+            # Verify that the provided `serial_number` is valid before printing the traceback
+            camera_infos = find_cameras()
+            serial_numbers = [cam["serial_number"] for cam in camera_infos]
+            if self.serial_number not in serial_numbers:
                 raise ValueError(
-                    f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. "
-                    "To find the camera index you should use, run `python lerobot/common/robot_devices/cameras/intelrealsense.py`."
+                    f"`serial_number` is expected to be one of these available cameras {serial_numbers}, but {self.serial_number} is provided instead. "
+                    "To find the serial number you should use, run `python lerobot/common/robot_devices/cameras/intelrealsense.py`."
                 )
 
-            raise OSError(f"Can't access IntelRealSenseCamera({self.camera_index}).")
+            raise OSError(f"Can't access IntelRealSenseCamera({self.serial_number}).")
 
-        color_stream = profile.get_stream(RSStream.color)
+        color_stream = profile.get_stream(rs.stream.color)
         color_profile = color_stream.as_video_stream_profile()
         actual_fps = color_profile.fps()
         actual_width = color_profile.width()
@@ -321,15 +361,15 @@ def connect(self):
         if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
             # Using `OSError` since it's a broad that encompasses issues related to device communication
             raise OSError(
-                f"Can't set {self.fps=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_fps}."
+                f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
             )
         if self.width is not None and self.width != actual_width:
             raise OSError(
-                f"Can't set {self.width=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_width}."
+                f"Can't set {self.width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
             )
         if self.height is not None and self.height != actual_height:
             raise OSError(
-                f"Can't set {self.height=} for IntelRealSenseCamera({self.camera_index}). Actual value is {actual_height}."
+                f"Can't set {self.height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
@@ -350,9 +390,14 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
         """
         if not self.is_connected:
             raise RobotDeviceNotConnectedError(
-                f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first."
+                f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first."
             )
 
+        if self.mock:
+            import tests.mock_cv2 as cv2
+        else:
+            import cv2
+
         start_time = time.perf_counter()
 
         frame = self.camera.wait_for_frames(timeout_ms=5000)
@@ -360,7 +405,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
         color_frame = frame.get_color_frame()
 
         if not color_frame:
-            raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.camera_index}).")
+            raise OSError(f"Can't capture color image from IntelRealSenseCamera({self.serial_number}).")
 
         color_image = np.asanyarray(color_frame.get_data())
 
@@ -372,12 +417,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
 
         # IntelRealSense uses RGB format as default (red, green, blue).
         if requested_color_mode == "bgr":
-            if self.mock:
-                from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor
-            else:
-                from cv2 import COLOR_RGB2BGR, cvtColor
-
-            color_image = cvtColor(color_image, COLOR_RGB2BGR)
+            color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
 
         h, w, _ = color_image.shape
         if h != self.height or w != self.width:
@@ -385,6 +425,9 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
 
+        if self.rotation is not None:
+            color_image = cv2.rotate(color_image, self.rotation)
+
         # log the number of seconds it took to read the image
         self.logs["delta_timestamp_s"] = time.perf_counter() - start_time
 
@@ -394,7 +437,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
         if self.use_depth:
             depth_frame = frame.get_depth_frame()
             if not depth_frame:
-                raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.camera_index}).")
+                raise OSError(f"Can't capture depth image from IntelRealSenseCamera({self.serial_number}).")
 
             depth_map = np.asanyarray(depth_frame.get_data())
 
@@ -404,6 +447,9 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
                     f"Can't capture depth map with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
                 )
 
+            if self.rotation is not None:
+                depth_map = cv2.rotate(depth_map, self.rotation)
+
             return color_image, depth_map
         else:
             return color_image
@@ -419,7 +465,7 @@ def async_read(self):
         """Access the latest color image"""
         if not self.is_connected:
             raise RobotDeviceNotConnectedError(
-                f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first."
+                f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first."
             )
 
         if self.thread is None:
@@ -446,7 +492,7 @@ def async_read(self):
     def disconnect(self):
         if not self.is_connected:
             raise RobotDeviceNotConnectedError(
-                f"IntelRealSenseCamera({self.camera_index}) is not connected. Try running `camera.connect()` first."
+                f"IntelRealSenseCamera({self.serial_number}) is not connected. Try running `camera.connect()` first."
             )
 
         if self.thread is not None and self.thread.is_alive():
@@ -471,11 +517,11 @@ def __del__(self):
         description="Save a few frames using `IntelRealSenseCamera` for all cameras connected to the computer, or a selected subset."
     )
     parser.add_argument(
-        "--camera-ids",
+        "--serial-numbers",
         type=int,
         nargs="*",
         default=None,
-        help="List of camera indices used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.",
+        help="List of serial numbers used to instantiate the `IntelRealSenseCamera`. If not provided, find and use all available camera indices.",
     )
     parser.add_argument(
         "--fps",
diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py
index 4e5f5d183..7de4bc4e0 100644
--- a/lerobot/common/robot_devices/cameras/opencv.py
+++ b/lerobot/common/robot_devices/cameras/opencv.py
@@ -31,29 +31,48 @@
 MAX_OPENCV_INDEX = 60
 
 
-def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False):
+def find_cameras(raise_when_empty=False, max_index_search_range=MAX_OPENCV_INDEX, mock=False) -> list[dict]:
+    cameras = []
     if platform.system() == "Linux":
-        # Linux uses camera ports
         print("Linux detected. Finding available camera indices through scanning '/dev/video*' ports")
-        possible_camera_ids = []
-        for port in Path("/dev").glob("video*"):
-            camera_idx = int(str(port).replace("/dev/video", ""))
-            possible_camera_ids.append(camera_idx)
+        possible_ports = [str(port) for port in Path("/dev").glob("video*")]
+        ports = _find_cameras(possible_ports, mock=mock)
+        for port in ports:
+            cameras.append(
+                {
+                    "port": port,
+                    "index": int(port.removeprefix("/dev/video")),
+                }
+            )
     else:
         print(
             "Mac or Windows detected. Finding available camera indices through "
             f"scanning all indices from 0 to {MAX_OPENCV_INDEX}"
         )
-        possible_camera_ids = range(max_index_search_range)
+        possible_indices = range(max_index_search_range)
+        indices = _find_cameras(possible_indices, mock=mock)
+        for index in indices:
+            cameras.append(
+                {
+                    "port": None,
+                    "index": index,
+                }
+            )
 
+    return cameras
+
+
+def _find_cameras(
+    possible_camera_ids: list[int | str], raise_when_empty=False, mock=False
+) -> list[int | str]:
     if mock:
-        from tests.mock_cv2 import VideoCapture
+        import tests.mock_cv2 as cv2
     else:
-        from cv2 import VideoCapture
+        import cv2
 
     camera_ids = []
     for camera_idx in possible_camera_ids:
-        camera = VideoCapture(camera_idx)
+        camera = cv2.VideoCapture(camera_idx)
         is_open = camera.isOpened()
         camera.release()
 
@@ -70,6 +89,16 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC
     return camera_ids
 
 
+def is_valid_unix_path(path: str) -> bool:
+    """Note: if 'path' points to a symlink, this will return True only if the target exists"""
+    p = Path(path)
+    return p.is_absolute() and p.exists()
+
+
+def get_camera_index_from_unix_port(port: Path) -> int:
+    return int(str(port.resolve()).removeprefix("/dev/video"))
+
+
 def save_image(img_array, camera_index, frame_index, images_dir):
     img = Image.fromarray(img_array)
     path = images_dir / f"camera_{camera_index:02d}_frame_{frame_index:06d}.png"
@@ -79,7 +108,7 @@ def save_image(img_array, camera_index, frame_index, images_dir):
 
 def save_images_from_cameras(
     images_dir: Path,
-    camera_ids: list[int] | None = None,
+    camera_ids: list | None = None,
     fps=None,
     width=None,
     height=None,
@@ -90,8 +119,9 @@ def save_images_from_cameras(
     Initializes all the cameras and saves images to the directory. Useful to visually identify the camera
     associated to a given camera index.
     """
-    if camera_ids is None:
-        camera_ids = find_camera_indices(mock=mock)
+    if camera_ids is None or len(camera_ids) == 0:
+        camera_infos = find_cameras(mock=mock)
+        camera_ids = [cam["index"] for cam in camera_infos]
 
     print("Connecting cameras")
     cameras = []
@@ -114,7 +144,7 @@ def save_images_from_cameras(
     print(f"Saving images to {images_dir}")
     frame_index = 0
     start_time = time.perf_counter()
-    with concurrent.futures.ThreadPoolExecutor(max_workers=4) as executor:
+    with concurrent.futures.ThreadPoolExecutor(max_workers=1) as executor:
         while True:
             now = time.perf_counter()
 
@@ -126,7 +156,7 @@ def save_images_from_cameras(
                 executor.submit(
                     save_image,
                     image,
-                    camera.camera_index,
+                    camera.index,
                     frame_index,
                     images_dir,
                 )
@@ -135,11 +165,11 @@ def save_images_from_cameras(
                 dt_s = time.perf_counter() - now
                 busy_wait(1 / fps - dt_s)
 
+            print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
+
             if time.perf_counter() - start_time > record_time_s:
                 break
 
-            print(f"Frame: {frame_index:04d}\tLatency (ms): {(time.perf_counter() - now) * 1000:.2f}")
-
             frame_index += 1
 
     print(f"Images have been saved to {images_dir}")
@@ -162,6 +192,7 @@ class OpenCVCameraConfig:
     width: int | None = None
     height: int | None = None
     color_mode: str = "rgb"
+    rotation: int | None = None
     mock: bool = False
 
     def __post_init__(self):
@@ -170,6 +201,9 @@ def __post_init__(self):
                 f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
             )
 
+        if self.rotation not in [-90, None, 90, 180]:
+            raise ValueError(f"`rotation` must be in [-90, None, 90, 180] (got {self.rotation})")
+
 
 class OpenCVCamera:
     """
@@ -210,7 +244,7 @@ class OpenCVCamera:
     ```
     """
 
-    def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None, **kwargs):
+    def __init__(self, camera_index: int | str, config: OpenCVCameraConfig | None = None, **kwargs):
         if config is None:
             config = OpenCVCameraConfig()
 
@@ -218,6 +252,19 @@ def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None,
         config = replace(config, **kwargs)
 
         self.camera_index = camera_index
+        self.port = None
+
+        # Linux uses ports for connecting to cameras
+        if platform.system() == "Linux":
+            if isinstance(self.camera_index, int):
+                self.port = Path(f"/dev/video{self.camera_index}")
+            elif isinstance(self.camera_index, str) and is_valid_unix_path(self.camera_index):
+                self.port = Path(self.camera_index)
+                # Retrieve the camera index from a potentially symlinked path
+                self.camera_index = get_camera_index_from_unix_port(self.port)
+            else:
+                raise ValueError(f"Please check the provided camera_index: {camera_index}")
+
         self.fps = config.fps
         self.width = config.width
         self.height = config.height
@@ -231,34 +278,37 @@ def __init__(self, camera_index: int, config: OpenCVCameraConfig | None = None,
         self.color_image = None
         self.logs = {}
 
+        if self.mock:
+            import tests.mock_cv2 as cv2
+        else:
+            import cv2
+
+        # TODO(aliberts): Do we keep original width/height or do we define them after rotation?
+        self.rotation = None
+        if config.rotation == -90:
+            self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
+        elif config.rotation == 90:
+            self.rotation = cv2.ROTATE_90_CLOCKWISE
+        elif config.rotation == 180:
+            self.rotation = cv2.ROTATE_180
+
     def connect(self):
         if self.is_connected:
             raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
 
         if self.mock:
-            from tests.mock_cv2 import (
-                CAP_PROP_FPS,
-                CAP_PROP_FRAME_HEIGHT,
-                CAP_PROP_FRAME_WIDTH,
-                VideoCapture,
-            )
+            import tests.mock_cv2 as cv2
         else:
-            from cv2 import (
-                CAP_PROP_FPS,
-                CAP_PROP_FRAME_HEIGHT,
-                CAP_PROP_FRAME_WIDTH,
-                VideoCapture,
-                setNumThreads,
-            )
+            import cv2
 
             # Use 1 thread to avoid blocking the main thread. Especially useful during data collection
             # when other threads are used to save the images.
-            setNumThreads(1)
+            cv2.setNumThreads(1)
 
         camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
         # First create a temporary camera trying to access `camera_index`,
         # and verify it is a valid camera by calling `isOpened`.
-        tmp_camera = VideoCapture(camera_idx)
+        tmp_camera = cv2.VideoCapture(camera_idx)
         is_camera_open = tmp_camera.isOpened()
         # Release camera to make it accessible for `find_camera_indices`
         tmp_camera.release()
@@ -268,7 +318,8 @@ def connect(self):
         # valid cameras.
         if not is_camera_open:
             # Verify that the provided `camera_index` is valid before printing the traceback
-            available_cam_ids = find_camera_indices()
+            cameras_info = find_cameras()
+            available_cam_ids = [cam["index"] for cam in cameras_info]
             if self.camera_index not in available_cam_ids:
                 raise ValueError(
                     f"`camera_index` is expected to be one of these available cameras {available_cam_ids}, but {self.camera_index} is provided instead. "
@@ -280,18 +331,18 @@ def connect(self):
         # Secondly, create the camera that will be used downstream.
         # Note: For some unknown reason, calling `isOpened` blocks the camera which then
         # needs to be re-created.
-        self.camera = VideoCapture(camera_idx)
+        self.camera = cv2.VideoCapture(camera_idx)
 
         if self.fps is not None:
-            self.camera.set(CAP_PROP_FPS, self.fps)
+            self.camera.set(cv2.CAP_PROP_FPS, self.fps)
         if self.width is not None:
-            self.camera.set(CAP_PROP_FRAME_WIDTH, self.width)
+            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
         if self.height is not None:
-            self.camera.set(CAP_PROP_FRAME_HEIGHT, self.height)
+            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
 
-        actual_fps = self.camera.get(CAP_PROP_FPS)
-        actual_width = self.camera.get(CAP_PROP_FRAME_WIDTH)
-        actual_height = self.camera.get(CAP_PROP_FRAME_HEIGHT)
+        actual_fps = self.camera.get(cv2.CAP_PROP_FPS)
+        actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
+        actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
 
         # Using `math.isclose` since actual fps can be a float (e.g. 29.9 instead of 30)
         if self.fps is not None and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
@@ -299,11 +350,11 @@ def connect(self):
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.width is not None and self.width != actual_width:
+        if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3):
             raise OSError(
                 f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.height is not None and self.height != actual_height:
+        if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3):
             raise OSError(
                 f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )
@@ -345,11 +396,11 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
         # so we convert the image color from BGR to RGB.
         if requested_color_mode == "rgb":
             if self.mock:
-                from tests.mock_cv2 import COLOR_BGR2RGB, cvtColor
+                import tests.mock_cv2 as cv2
             else:
-                from cv2 import COLOR_BGR2RGB, cvtColor
+                import cv2
 
-            color_image = cvtColor(color_image, COLOR_BGR2RGB)
+            color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
 
         h, w, _ = color_image.shape
         if h != self.height or w != self.width:
@@ -357,6 +408,9 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
 
+        if self.rotation is not None:
+            color_image = cv2.rotate(color_image, self.rotation)
+
         # log the number of seconds it took to read the image
         self.logs["delta_timestamp_s"] = time.perf_counter() - start_time
 
@@ -455,7 +509,7 @@ def __del__(self):
     parser.add_argument(
         "--record-time-s",
         type=float,
-        default=2.0,
+        default=4.0,
         help="Set the number of seconds used to record the frames. By default, 2 seconds.",
     )
     args = parser.parse_args()
diff --git a/lerobot/common/robot_devices/cameras/utils.py b/lerobot/common/robot_devices/cameras/utils.py
index 0f329d9fb..7904a57a5 100644
--- a/lerobot/common/robot_devices/cameras/utils.py
+++ b/lerobot/common/robot_devices/cameras/utils.py
@@ -1,55 +1,8 @@
-from pathlib import Path
 from typing import Protocol
 
-import cv2
-import einops
 import numpy as np
 
 
-def write_shape_on_image_inplace(image):
-    height, width = image.shape[:2]
-    text = f"Width: {width} Height: {height}"
-
-    # Define the font, scale, color, and thickness
-    font = cv2.FONT_HERSHEY_SIMPLEX
-    font_scale = 1
-    color = (255, 0, 0)  # Blue in BGR
-    thickness = 2
-
-    position = (10, height - 10)  # 10 pixels from the bottom-left corner
-    cv2.putText(image, text, position, font, font_scale, color, thickness)
-
-
-def save_color_image(image, path, write_shape=False):
-    path = Path(path)
-    path.parent.mkdir(parents=True, exist_ok=True)
-    if write_shape:
-        write_shape_on_image_inplace(image)
-    cv2.imwrite(str(path), image)
-
-
-def save_depth_image(depth, path, write_shape=False):
-    path = Path(path)
-    path.parent.mkdir(parents=True, exist_ok=True)
-
-    # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
-    depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth, alpha=0.03), cv2.COLORMAP_JET)
-
-    if write_shape:
-        write_shape_on_image_inplace(depth_image)
-    cv2.imwrite(str(path), depth_image)
-
-
-def convert_torch_image_to_cv2(tensor, rgb_to_bgr=True):
-    assert tensor.ndim == 3
-    c, h, w = tensor.shape
-    assert c < h and c < w
-    color_image = einops.rearrange(tensor, "c h w -> h w c").numpy()
-    if rgb_to_bgr:
-        color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
-    return color_image
-
-
 # Defines a camera type
 class Camera(Protocol):
     def connect(self): ...
diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py
index 0c3145028..815b4986a 100644
--- a/lerobot/common/robot_devices/motors/dynamixel.py
+++ b/lerobot/common/robot_devices/motors/dynamixel.py
@@ -159,30 +159,25 @@ def convert_to_bytes(value, bytes, mock=False):
     if mock:
         return value
 
-    from dynamixel_sdk import (
-        DXL_HIBYTE,
-        DXL_HIWORD,
-        DXL_LOBYTE,
-        DXL_LOWORD,
-    )
+    import dynamixel_sdk as dxl
 
     # Note: No need to convert back into unsigned int, since this byte preprocessing
     # already handles it for us.
     if bytes == 1:
         data = [
-            DXL_LOBYTE(DXL_LOWORD(value)),
+            dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
         ]
     elif bytes == 2:
         data = [
-            DXL_LOBYTE(DXL_LOWORD(value)),
-            DXL_HIBYTE(DXL_LOWORD(value)),
+            dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
+            dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
         ]
     elif bytes == 4:
         data = [
-            DXL_LOBYTE(DXL_LOWORD(value)),
-            DXL_HIBYTE(DXL_LOWORD(value)),
-            DXL_LOBYTE(DXL_HIWORD(value)),
-            DXL_HIBYTE(DXL_HIWORD(value)),
+            dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
+            dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
+            dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
+            dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
         ]
     else:
         raise NotImplementedError(
@@ -361,12 +356,12 @@ def connect(self):
             )
 
         if self.mock:
-            from tests.mock_dynamixel_sdk import PacketHandler, PortHandler
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import PacketHandler, PortHandler
+            import dynamixel_sdk as dxl
 
-        self.port_handler = PortHandler(self.port)
-        self.packet_handler = PacketHandler(PROTOCOL_VERSION)
+        self.port_handler = dxl.PortHandler(self.port)
+        self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
 
         try:
             if not self.port_handler.openPort():
@@ -399,12 +394,12 @@ def connect(self):
 
     def reconnect(self):
         if self.mock:
-            from tests.mock_dynamixel_sdk import PacketHandler, PortHandler
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import PacketHandler, PortHandler
+            import dynamixel_sdk as dxl
 
-        self.port_handler = PortHandler(self.port)
-        self.packet_handler = PacketHandler(PROTOCOL_VERSION)
+        self.port_handler = dxl.PortHandler(self.port)
+        self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
 
         if not self.port_handler.openPort():
             raise OSError(f"Failed to open port '{self.port}'.")
@@ -795,9 +790,9 @@ def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] |
 
     def _read_with_motor_ids(self, motor_models, motor_ids, data_name):
         if self.mock:
-            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
+            import dynamixel_sdk as dxl
 
         return_list = True
         if not isinstance(motor_ids, list):
@@ -806,12 +801,12 @@ def _read_with_motor_ids(self, motor_models, motor_ids, data_name):
 
         assert_same_address(self.model_ctrl_table, self.motor_models, data_name)
         addr, bytes = self.model_ctrl_table[motor_models[0]][data_name]
-        group = GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes)
+        group = dxl.GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes)
         for idx in motor_ids:
             group.addParam(idx)
 
         comm = group.txRxPacket()
-        if comm != COMM_SUCCESS:
+        if comm != dxl.COMM_SUCCESS:
             raise ConnectionError(
                 f"Read failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
                 f"{self.packet_handler.getTxRxResult(comm)}"
@@ -836,9 +831,9 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
         start_time = time.perf_counter()
 
         if self.mock:
-            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
+            import dynamixel_sdk as dxl
 
         if motor_names is None:
             motor_names = self.motor_names
@@ -859,16 +854,18 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
 
         if data_name not in self.group_readers:
             # create new group reader
-            self.group_readers[group_key] = GroupSyncRead(self.port_handler, self.packet_handler, addr, bytes)
+            self.group_readers[group_key] = dxl.GroupSyncRead(
+                self.port_handler, self.packet_handler, addr, bytes
+            )
             for idx in motor_ids:
                 self.group_readers[group_key].addParam(idx)
 
         for _ in range(NUM_READ_RETRY):
             comm = self.group_readers[group_key].txRxPacket()
-            if comm == COMM_SUCCESS:
+            if comm == dxl.COMM_SUCCESS:
                 break
 
-        if comm != COMM_SUCCESS:
+        if comm != dxl.COMM_SUCCESS:
             raise ConnectionError(
                 f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
                 f"{self.packet_handler.getTxRxResult(comm)}"
@@ -900,9 +897,9 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
 
     def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values):
         if self.mock:
-            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
+            import dynamixel_sdk as dxl
 
         if not isinstance(motor_ids, list):
             motor_ids = [motor_ids]
@@ -911,13 +908,13 @@ def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values):
 
         assert_same_address(self.model_ctrl_table, motor_models, data_name)
         addr, bytes = self.model_ctrl_table[motor_models[0]][data_name]
-        group = GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes)
+        group = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, addr, bytes)
         for idx, value in zip(motor_ids, values, strict=True):
             data = convert_to_bytes(value, bytes, self.mock)
             group.addParam(idx, data)
 
         comm = group.txPacket()
-        if comm != COMM_SUCCESS:
+        if comm != dxl.COMM_SUCCESS:
             raise ConnectionError(
                 f"Write failed due to communication error on port {self.port_handler.port_name} for indices {motor_ids}: "
                 f"{self.packet_handler.getTxRxResult(comm)}"
@@ -932,9 +929,9 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str |
         start_time = time.perf_counter()
 
         if self.mock:
-            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
+            import tests.mock_dynamixel_sdk as dxl
         else:
-            from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
+            import dynamixel_sdk as dxl
 
         if motor_names is None:
             motor_names = self.motor_names
@@ -965,7 +962,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str |
 
         init_group = data_name not in self.group_readers
         if init_group:
-            self.group_writers[group_key] = GroupSyncWrite(
+            self.group_writers[group_key] = dxl.GroupSyncWrite(
                 self.port_handler, self.packet_handler, addr, bytes
             )
 
@@ -977,7 +974,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str |
                 self.group_writers[group_key].changeParam(idx, data)
 
         comm = self.group_writers[group_key].txPacket()
-        if comm != COMM_SUCCESS:
+        if comm != dxl.COMM_SUCCESS:
             raise ConnectionError(
                 f"Write failed due to communication error on port {self.port} for group_key {group_key}: "
                 f"{self.packet_handler.getTxRxResult(comm)}"
diff --git a/lerobot/common/robot_devices/robots/factory.py b/lerobot/common/robot_devices/robots/factory.py
index 2edcd2925..17e8e5e6a 100644
--- a/lerobot/common/robot_devices/robots/factory.py
+++ b/lerobot/common/robot_devices/robots/factory.py
@@ -1,7 +1,9 @@
 import hydra
 from omegaconf import DictConfig
 
+from lerobot.common.robot_devices.robots.utils import Robot
 
-def make_robot(cfg: DictConfig):
+
+def make_robot(cfg: DictConfig) -> Robot:
     robot = hydra.utils.instantiate(cfg)
     return robot
diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py
index 337519765..98ae691a0 100644
--- a/lerobot/common/robot_devices/robots/manipulator.py
+++ b/lerobot/common/robot_devices/robots/manipulator.py
@@ -681,6 +681,10 @@ def send_action(self, action: torch.Tensor) -> torch.Tensor:
 
         return torch.cat(action_sent)
 
+    def print_logs(self):
+        pass
+        # TODO(aliberts): move robot-specific logs logic here
+
     def disconnect(self):
         if not self.is_connected:
             raise RobotDeviceNotConnectedError(
diff --git a/lerobot/common/robot_devices/robots/stretch.py b/lerobot/common/robot_devices/robots/stretch.py
new file mode 100644
index 000000000..ff86b6d80
--- /dev/null
+++ b/lerobot/common/robot_devices/robots/stretch.py
@@ -0,0 +1,216 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+from dataclasses import dataclass, field, replace
+
+import torch
+from stretch_body.gamepad_teleop import GamePadTeleop
+from stretch_body.robot import Robot as StretchAPI
+from stretch_body.robot_params import RobotParams
+
+from lerobot.common.robot_devices.cameras.utils import Camera
+
+
+@dataclass
+class StretchRobotConfig:
+    robot_type: str | None = "stretch"
+    cameras: dict[str, Camera] = field(default_factory=lambda: {})
+    # TODO(aliberts): add feature with max_relative target
+    # TODO(aliberts): add comment on max_relative target
+    max_relative_target: list[float] | float | None = None
+
+
+class StretchRobot(StretchAPI):
+    """Wrapper of stretch_body.robot.Robot"""
+
+    def __init__(self, config: StretchRobotConfig | None = None, **kwargs):
+        super().__init__()
+        if config is None:
+            config = StretchRobotConfig()
+        # Overwrite config arguments using kwargs
+        self.config = replace(config, **kwargs)
+
+        self.robot_type = self.config.robot_type
+        self.cameras = self.config.cameras
+        self.is_connected = False
+        self.teleop = None
+        self.logs = {}
+
+        # TODO(aliberts): test this
+        RobotParams.set_logging_level("WARNING")
+        RobotParams.set_logging_formatter("brief_console_formatter")
+
+        self.state_keys = None
+        self.action_keys = None
+
+    def connect(self) -> None:
+        self.is_connected = self.startup()
+        if not self.is_connected:
+            print("Another process is already using Stretch. Try running 'stretch_free_robot_process.py'")
+            raise ConnectionError()
+
+        for name in self.cameras:
+            self.cameras[name].connect()
+            self.is_connected = self.is_connected and self.cameras[name].is_connected
+
+        if not self.is_connected:
+            print("Could not connect to the cameras, check that all cameras are plugged-in.")
+            raise ConnectionError()
+
+        self.run_calibration()
+
+    def run_calibration(self) -> None:
+        if not self.is_homed():
+            self.home()
+
+    def teleop_step(
+        self, record_data=False
+    ) -> None | tuple[dict[str, torch.Tensor], dict[str, torch.Tensor]]:
+        # TODO(aliberts): return ndarrays instead of torch.Tensors
+        if not self.is_connected:
+            raise ConnectionError()
+
+        if self.teleop is None:
+            self.teleop = GamePadTeleop(robot_instance=False)
+            self.teleop.startup(robot=self)
+
+        before_read_t = time.perf_counter()
+        state = self.get_state()
+        action = self.teleop.gamepad_controller.get_state()
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+
+        before_write_t = time.perf_counter()
+        self.teleop.do_motion(robot=self)
+        self.push_command()
+        self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
+
+        if self.state_keys is None:
+            self.state_keys = list(state)
+
+        if not record_data:
+            return
+
+        state = torch.as_tensor(list(state.values()))
+        action = torch.as_tensor(list(action.values()))
+
+        # Capture images from cameras
+        images = {}
+        for name in self.cameras:
+            before_camread_t = time.perf_counter()
+            images[name] = self.cameras[name].async_read()
+            images[name] = torch.from_numpy(images[name])
+            self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
+            self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
+
+        # Populate output dictionnaries
+        obs_dict, action_dict = {}, {}
+        obs_dict["observation.state"] = state
+        action_dict["action"] = action
+        for name in self.cameras:
+            obs_dict[f"observation.images.{name}"] = images[name]
+
+        return obs_dict, action_dict
+
+    def get_state(self) -> dict:
+        status = self.get_status()
+        return {
+            "head_pan.pos": status["head"]["head_pan"]["pos"],
+            "head_tilt.pos": status["head"]["head_tilt"]["pos"],
+            "lift.pos": status["lift"]["pos"],
+            "arm.pos": status["arm"]["pos"],
+            "wrist_pitch.pos": status["end_of_arm"]["wrist_pitch"]["pos"],
+            "wrist_roll.pos": status["end_of_arm"]["wrist_roll"]["pos"],
+            "wrist_yaw.pos": status["end_of_arm"]["wrist_yaw"]["pos"],
+            "gripper.pos": status["end_of_arm"]["stretch_gripper"]["pos"],
+            "base_x.vel": status["base"]["x_vel"],
+            "base_y.vel": status["base"]["y_vel"],
+            "base_theta.vel": status["base"]["theta_vel"],
+        }
+
+    def capture_observation(self) -> dict:
+        # TODO(aliberts): return ndarrays instead of torch.Tensors
+        before_read_t = time.perf_counter()
+        state = self.get_state()
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+
+        if self.state_keys is None:
+            self.state_keys = list(state)
+
+        state = torch.as_tensor(list(state.values()))
+
+        # Capture images from cameras
+        images = {}
+        for name in self.cameras:
+            before_camread_t = time.perf_counter()
+            images[name] = self.cameras[name].async_read()
+            images[name] = torch.from_numpy(images[name])
+            self.logs[f"read_camera_{name}_dt_s"] = self.cameras[name].logs["delta_timestamp_s"]
+            self.logs[f"async_read_camera_{name}_dt_s"] = time.perf_counter() - before_camread_t
+
+        # Populate output dictionnaries
+        obs_dict = {}
+        obs_dict["observation.state"] = state
+        for name in self.cameras:
+            obs_dict[f"observation.images.{name}"] = images[name]
+
+        return obs_dict
+
+    def send_action(self, action: torch.Tensor) -> torch.Tensor:
+        # TODO(aliberts): return ndarrays instead of torch.Tensors
+        if not self.is_connected:
+            raise ConnectionError()
+
+        if self.teleop is None:
+            self.teleop = GamePadTeleop(robot_instance=False)
+            self.teleop.startup(robot=self)
+
+        if self.action_keys is None:
+            dummy_action = self.teleop.gamepad_controller.get_state()
+            self.action_keys = list(dummy_action.keys())
+
+        action_dict = dict(zip(self.action_keys, action.tolist(), strict=True))
+
+        before_write_t = time.perf_counter()
+        self.teleop.do_motion(state=action_dict, robot=self)
+        self.push_command()
+        self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
+
+        # TODO(aliberts): return action_sent when motion is limited
+        return action
+
+    def print_logs(self) -> None:
+        pass
+        # TODO(aliberts): move robot-specific logs logic here
+
+    def teleop_safety_stop(self) -> None:
+        if self.teleop is not None:
+            self.teleop._safety_stop(robot=self)
+
+    def disconnect(self) -> None:
+        self.stop()
+        if self.teleop is not None:
+            self.teleop.gamepad_controller.stop()
+            self.teleop.stop()
+
+        if len(self.cameras) > 0:
+            for cam in self.cameras.values():
+                cam.disconnect()
+
+        self.is_connected = False
+
+    def __del__(self):
+        self.disconnect()
diff --git a/lerobot/common/robot_devices/robots/utils.py b/lerobot/common/robot_devices/robots/utils.py
index 122155f78..5cd5bd100 100644
--- a/lerobot/common/robot_devices/robots/utils.py
+++ b/lerobot/common/robot_devices/robots/utils.py
@@ -9,8 +9,12 @@ def get_arm_id(name, arm_type):
 
 
 class Robot(Protocol):
-    def init_teleop(self): ...
+    # TODO(rcadene, aliberts): Add unit test checking the protocol is implemented in the corresponding classes
+    robot_type: str
+
+    def connect(self): ...
     def run_calibration(self): ...
     def teleop_step(self, record_data=False): ...
     def capture_observation(self): ...
     def send_action(self, action): ...
+    def disconnect(self): ...
diff --git a/lerobot/common/robot_devices/utils.py b/lerobot/common/robot_devices/utils.py
index bcbeb8e02..19bb637e5 100644
--- a/lerobot/common/robot_devices/utils.py
+++ b/lerobot/common/robot_devices/utils.py
@@ -16,6 +16,20 @@ def busy_wait(seconds):
             time.sleep(seconds)
 
 
+def safe_disconnect(func):
+    # TODO(aliberts): Allow to pass custom exceptions
+    # (e.g. ThreadServiceExit, KeyboardInterrupt, SystemExit, UnpluggedError, DynamixelCommError)
+    def wrapper(robot, *args, **kwargs):
+        try:
+            return func(robot, *args, **kwargs)
+        except Exception as e:
+            if robot.is_connected:
+                robot.disconnect()
+            raise e
+
+    return wrapper
+
+
 class RobotDeviceNotConnectedError(Exception):
     """Exception raised when the robot device is not connected."""
 
diff --git a/lerobot/configs/robot/aloha.yaml b/lerobot/configs/robot/aloha.yaml
index 938fa2e3d..51cde6a69 100644
--- a/lerobot/configs/robot/aloha.yaml
+++ b/lerobot/configs/robot/aloha.yaml
@@ -91,25 +91,25 @@ follower_arms:
 cameras:
   cam_high:
     _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
-    camera_index: 128422271347
+    serial_number: 128422271347
     fps: 30
     width: 640
     height: 480
   cam_low:
     _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
-    camera_index: 130322270656
+    serial_number: 130322270656
     fps: 30
     width: 640
     height: 480
   cam_left_wrist:
     _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
-    camera_index: 218622272670
+    serial_number: 218622272670
     fps: 30
     width: 640
     height: 480
   cam_right_wrist:
     _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera
-    camera_index: 130322272300
+    serial_number: 130322272300
     fps: 30
     width: 640
     height: 480
diff --git a/lerobot/configs/robot/stretch.yaml b/lerobot/configs/robot/stretch.yaml
new file mode 100644
index 000000000..6d9f0be85
--- /dev/null
+++ b/lerobot/configs/robot/stretch.yaml
@@ -0,0 +1,24 @@
+_target_: lerobot.common.robot_devices.robots.stretch.StretchRobot
+robot_type: stretch3
+
+cameras:
+  navigation:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: /dev/hello-nav-head-camera
+    fps: 10
+    width: 1280
+    height: 720
+    rotation: -90
+  head:
+    _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera.init_from_name
+    name: Intel RealSense D435I
+    fps: 30
+    width: 640
+    height: 480
+    rotation: 90
+  wrist:
+    _target_: lerobot.common.robot_devices.cameras.intelrealsense.IntelRealSenseCamera.init_from_name
+    name: Intel RealSense D405
+    fps: 30
+    width: 640
+    height: 480
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index ff9cf3dc3..742dd8bca 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -128,7 +128,7 @@
 from lerobot.common.policies.factory import make_policy
 from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.robot_devices.robots.utils import Robot, get_arm_id
-from lerobot.common.robot_devices.utils import busy_wait
+from lerobot.common.robot_devices.utils import busy_wait, safe_disconnect
 from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed
 from lerobot.scripts.eval import get_pretrained_policy_path
 from lerobot.scripts.push_dataset_to_hub import (
@@ -176,7 +176,7 @@ def none_or_int(value):
     return int(value)
 
 
-def log_control_info(robot, dt_s, episode_index=None, frame_index=None, fps=None):
+def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
     log_items = []
     if episode_index is not None:
         log_items.append(f"ep:{episode_index}")
@@ -195,24 +195,26 @@ def log_dt(shortname, dt_val_s):
     # total step time displayed in milliseconds and its frequency
     log_dt("dt", dt_s)
 
-    for name in robot.leader_arms:
-        key = f"read_leader_{name}_pos_dt_s"
-        if key in robot.logs:
-            log_dt("dtRlead", robot.logs[key])
+    # TODO(aliberts): move robot-specific logs logic in robot.print_logs()
+    if not robot.robot_type.startswith("stretch"):
+        for name in robot.leader_arms:
+            key = f"read_leader_{name}_pos_dt_s"
+            if key in robot.logs:
+                log_dt("dtRlead", robot.logs[key])
 
-    for name in robot.follower_arms:
-        key = f"write_follower_{name}_goal_pos_dt_s"
-        if key in robot.logs:
-            log_dt("dtWfoll", robot.logs[key])
+        for name in robot.follower_arms:
+            key = f"write_follower_{name}_goal_pos_dt_s"
+            if key in robot.logs:
+                log_dt("dtWfoll", robot.logs[key])
 
-        key = f"read_follower_{name}_pos_dt_s"
-        if key in robot.logs:
-            log_dt("dtRfoll", robot.logs[key])
+            key = f"read_follower_{name}_pos_dt_s"
+            if key in robot.logs:
+                log_dt("dtRfoll", robot.logs[key])
 
-    for name in robot.cameras:
-        key = f"read_camera_{name}_dt_s"
-        if key in robot.logs:
-            log_dt(f"dtR{name}", robot.logs[key])
+        for name in robot.cameras:
+            key = f"read_camera_{name}_dt_s"
+            if key in robot.logs:
+                log_dt(f"dtR{name}", robot.logs[key])
 
     info_str = " ".join(log_items)
     logging.info(info_str)
@@ -237,9 +239,8 @@ def is_headless():
         return True
 
 
-########################################################################################
-# Control modes
-########################################################################################
+def has_method(_object: object, method_name: str):
+    return hasattr(_object, method_name) and callable(getattr(_object, method_name))
 
 
 def get_available_arms(robot):
@@ -254,7 +255,21 @@ def get_available_arms(robot):
     return available_arms
 
 
+########################################################################################
+# Control modes
+########################################################################################
+
+
+@safe_disconnect
 def calibrate(robot: Robot, arms: list[str] | None):
+    # TODO(aliberts): move this code in robots' classes
+    if robot.robot_type.startswith("stretch"):
+        if not robot.is_connected:
+            robot.connect()
+        if not robot.is_homed():
+            robot.home()
+        return
+
     available_arms = get_available_arms(robot)
     unknown_arms = [arm_id for arm_id in arms if arm_id not in available_arms]
     available_arms_str = " ".join(available_arms)
@@ -289,6 +304,7 @@ def calibrate(robot: Robot, arms: list[str] | None):
     print("Calibration is done! You can now teleoperate and record datasets!")
 
 
+@safe_disconnect
 def teleoperate(robot: Robot, fps: int | None = None, teleop_time_s: float | None = None):
     # TODO(rcadene): Add option to record logs
     if not robot.is_connected:
@@ -310,6 +326,7 @@ def teleoperate(robot: Robot, fps: int | None = None, teleop_time_s: float | Non
             break
 
 
+@safe_disconnect
 def record(
     robot: Robot,
     policy: torch.nn.Module | None = None,
@@ -443,6 +460,9 @@ def on_press(key):
 
         timestamp = time.perf_counter() - start_warmup_t
 
+    if has_method(robot, "teleop_safety_stop"):
+        robot.teleop_safety_stop()
+
     # Save images using threads to reach high fps (30 and more)
     # Using `with` to exist smoothly if an execption is raised.
     futures = []
@@ -536,6 +556,10 @@ def on_press(key):
                     exit_early = False
                     break
 
+            # TODO(alibets): allow for teleop during reset
+            if has_method(robot, "teleop_safety_stop"):
+                robot.teleop_safety_stop()
+
             if not stop_recording:
                 # Start resetting env while the executor are finishing
                 logging.info("Reset the environment")
diff --git a/poetry.lock b/poetry.lock
index a46d38b59..43089048d 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -11,101 +11,141 @@ files = [
     {file = "absl_py-2.1.0-py3-none-any.whl", hash = "sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308"},
 ]
 
+[[package]]
+name = "aiohappyeyeballs"
+version = "2.4.0"
+description = "Happy Eyeballs for asyncio"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "aiohappyeyeballs-2.4.0-py3-none-any.whl", hash = "sha256:7ce92076e249169a13c2f49320d1967425eaf1f407522d707d59cac7628d62bd"},
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 ]
 
 [package.dependencies]
+aiohappyeyeballs = ">=2.3.0"
 aiosignal = ">=1.1.2"
 async-timeout = {version = ">=4.0,<5.0", markers = "python_version < \"3.11\""}
 attrs = ">=17.3.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
-yarl = ">=1.0,<2.0"
+yarl = ">=1.12.0,<2.0"
 
 [package.extras]
-speedups = ["Brotli", "aiodns", "brotlicffi"]
+speedups = ["Brotli", "aiodns (>=3.2.0)", "brotlicffi"]
+
+[[package]]
+name = "aioserial"
+version = "1.3.1"
+description = "An asynchronous serial port library of Python"
+optional = true
+python-versions = ">=3.6,<4.0"
+files = [
+    {file = "aioserial-1.3.1.tar.gz", hash = "sha256:702bf03b0eb84b8ef2d8dac5cb925e1e685dce98f77b125569bc6fd2b3b58228"},
+]
+
+[package.dependencies]
+pyserial = "*"
 
 [[package]]
 name = "aiosignal"
@@ -131,6 +171,115 @@ files = [
     {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
 ]
 
+[[package]]
+name = "anyio"
+version = "4.6.0"
+description = "High level compatibility layer for multiple asynchronous event loop implementations"
+optional = true
+python-versions = ">=3.9"
+files = [
+    {file = "anyio-4.6.0-py3-none-any.whl", hash = "sha256:c7d2e9d63e31599eeb636c8c5c03a7e108d73b345f064f1c19fdc87b79036a9a"},
+    {file = "anyio-4.6.0.tar.gz", hash = "sha256:137b4559cbb034c477165047febb6ff83f390fc3b20bf181c1fc0a728cb8beeb"},
+]
+
+[package.dependencies]
+exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""}
+idna = ">=2.8"
+sniffio = ">=1.1"
+typing-extensions = {version = ">=4.1", markers = "python_version < \"3.11\""}
+
+[package.extras]
+doc = ["Sphinx (>=7.4,<8.0)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
+test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.21.0b1)"]
+trio = ["trio (>=0.26.1)"]
+
+[[package]]
+name = "appnope"
+version = "0.1.4"
+description = "Disable App Nap on macOS >= 10.9"
+optional = true
+python-versions = ">=3.6"
+files = [
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+]
+
+[[package]]
+name = "argon2-cffi"
+version = "23.1.0"
+description = "Argon2 for Python"
+optional = true
+python-versions = ">=3.7"
+files = [
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+version = "1.3.0"
+description = "Better dates & times for Python"
+optional = true
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 version = "0.3.3"
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+
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@@ -154,22 +335,36 @@ files = [
 
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 [[package]]
 name = "beautifulsoup4"
@@ -192,6 +387,24 @@ charset-normalizer = ["charset-normalizer"]
 html5lib = ["html5lib"]
 lxml = ["lxml"]
 
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+
+[package.extras]
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+description = "Python sound notifications made easy."
+optional = true
+python-versions = ">=3.6,<4.0"
+files = [
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 version = "8.1.7"
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+description = "CMA-ES, Covariance Matrix Adaptation Evolution Strategy for non-linear numerical optimization in Python"
+optional = true
+python-versions = "*"
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+[package.dependencies]
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+
+[package.extras]
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+plotting = ["matplotlib"]
+
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+optional = true
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+[package.dependencies]
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+
+[package.extras]
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+
+[[package]]
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@@ -520,108 +913,209 @@ tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.1
 [package.extras]
 toml = ["tomli"]
 
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+
+[[package]]
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+
+[package.extras]
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+[[package]]
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 [[package]]
 name = "datasets"
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 description = "HuggingFace community-driven open-source library of datasets"
 optional = false
 python-versions = ">=3.8.0"
 files = [
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 filelock = "*"
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 numpy = ">=1.17"
 packaging = "*"
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 [package.extras]
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-audio = ["librosa", "soundfile (>=0.12.1)"]
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+[[package]]
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 python-versions = ">=3.8"
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 [package.dependencies]
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+orderly-set = "5.2.2"
 
 [package.extras]
 cli = ["click (==8.1.7)", "pyyaml (==6.0.1)"]
 optimize = ["orjson"]
 
+[[package]]
+name = "defusedxml"
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+optional = true
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
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+
 [[package]]
 name = "diffusers"
-version = "0.29.2"
+version = "0.30.3"
 description = "State-of-the-art diffusion in PyTorch and JAX."
 optional = false
 python-versions = ">=3.8.0"
 files = [
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 ]
 
 [package.dependencies]
@@ -635,13 +1129,13 @@ requests = "*"
 safetensors = ">=0.3.1"
 
 [package.extras]
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+dev = ["GitPython (<3.1.19)", "Jinja2", "accelerate (>=0.31.0)", "compel (==0.1.8)", "datasets", "flax (>=0.4.1)", "hf-doc-builder (>=0.3.0)", "invisible-watermark (>=0.2.0)", "isort (>=5.5.4)", "jax (>=0.4.1)", "jaxlib (>=0.4.1)", "k-diffusion (>=0.0.12)", "librosa", "parameterized", "peft (>=0.6.0)", "protobuf (>=3.20.3,<4)", "pytest", "pytest-timeout", "pytest-xdist", "requests-mock (==1.10.0)", "ruff (==0.1.5)", "safetensors (>=0.3.1)", "scipy", "sentencepiece (>=0.1.91,!=0.1.92)", "tensorboard", "torch (>=1.4)", "torchvision", "transformers (>=4.41.2)", "urllib3 (<=2.0.0)"]
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 flax = ["flax (>=0.4.1)", "jax (>=0.4.1)", "jaxlib (>=0.4.1)"]
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-training = ["Jinja2", "accelerate (>=0.29.3)", "datasets", "peft (>=0.6.0)", "protobuf (>=3.20.3,<4)", "tensorboard"]
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+training = ["Jinja2", "accelerate (>=0.31.0)", "datasets", "peft (>=0.6.0)", "protobuf (>=3.20.3,<4)", "tensorboard"]
 
 [[package]]
 name = "dill"
@@ -787,26 +1281,40 @@ six = ">=1.4.0"
 
 [[package]]
 name = "dora-rs"
-version = "0.3.5"
+version = "0.3.6"
 description = "`dora` goal is to be a low latency, composable, and distributed data flow."
 optional = true
 python-versions = "*"
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 ]
 
 [package.dependencies]
 pyarrow = "*"
 
+[[package]]
+name = "drawnow"
+version = "0.72.5"
+description = "MATLAB-like drawnow"
+optional = true
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+matplotlib = ">=1.5"
+
 [[package]]
 name = "dynamixel-sdk"
 version = "3.7.31"
@@ -855,6 +1363,20 @@ files = [
 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "executing"
+version = "2.1.0"
+description = "Get the currently executing AST node of a frame, and other information"
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.extras]
+tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
+
 [[package]]
 name = "farama-notifications"
 version = "0.0.4"
@@ -877,21 +1399,35 @@ files = [
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 ]
 
+[[package]]
+name = "fastjsonschema"
+version = "2.20.0"
+description = "Fastest Python implementation of JSON schema"
+optional = true
+python-versions = "*"
+files = [
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+]
+
+[package.extras]
+devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"]
+
 [[package]]
 name = "filelock"
-version = "3.15.4"
+version = "3.16.1"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
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-testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
-typing = ["typing-extensions (>=4.8)"]
+docs = ["furo (>=2024.8.6)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4.1)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.6.1)", "diff-cover (>=9.2)", "pytest (>=8.3.3)", "pytest-asyncio (>=0.24)", "pytest-cov (>=5)", "pytest-mock (>=3.14)", "pytest-timeout (>=2.3.1)", "virtualenv (>=20.26.4)"]
+typing = ["typing-extensions (>=4.12.2)"]
 
 [[package]]
 name = "flask"
@@ -915,6 +1451,104 @@ Werkzeug = ">=3.0.0"
 async = ["asgiref (>=3.2)"]
 dotenv = ["python-dotenv"]
 
+[[package]]
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+version = "4.54.1"
+description = "Tools to manipulate font files"
+optional = true
+python-versions = ">=3.8"
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+[[package]]
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+description = "Freetype python bindings"
+optional = true
+python-versions = ">=3.7"
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+    {file = "freetype_py-2.5.1-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:3c1aefc4f0d5b7425f014daccc5fdc7c6f914fb7d6a695cc684f1c09cd8c1660"},
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+]
+
 [[package]]
 name = "frozenlist"
 version = "1.4.1"
@@ -1003,13 +1637,13 @@ files = [
 
 [[package]]
 name = "fsspec"
-version = "2024.5.0"
+version = "2024.6.1"
 description = "File-system specification"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "fsspec-2024.6.1-py3-none-any.whl", hash = "sha256:3cb443f8bcd2efb31295a5b9fdb02aee81d8452c80d28f97a6d0959e6cee101e"},
+    {file = "fsspec-2024.6.1.tar.gz", hash = "sha256:fad7d7e209dd4c1208e3bbfda706620e0da5142bebbd9c384afb95b07e798e49"},
 ]
 
 [package.dependencies]
@@ -1021,6 +1655,7 @@ adl = ["adlfs"]
 arrow = ["pyarrow (>=1)"]
 dask = ["dask", "distributed"]
 dev = ["pre-commit", "ruff"]
+doc = ["numpydoc", "sphinx", "sphinx-design", "sphinx-rtd-theme", "yarl"]
 dropbox = ["dropbox", "dropboxdrivefs", "requests"]
 full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
 fuse = ["fusepy"]
@@ -1042,6 +1677,17 @@ test-downstream = ["aiobotocore (>=2.5.4,<3.0.0)", "dask-expr", "dask[dataframe,
 test-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "cloudpickle", "dask", "distributed", "dropbox", "dropboxdrivefs", "fastparquet", "fusepy", "gcsfs", "jinja2", "kerchunk", "libarchive-c", "lz4", "notebook", "numpy", "ocifs", "pandas", "panel", "paramiko", "pyarrow", "pyarrow (>=1)", "pyftpdlib", "pygit2", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "python-snappy", "requests", "smbprotocol", "tqdm", "urllib3", "zarr", "zstandard"]
 tqdm = ["tqdm"]
 
+[[package]]
+name = "future"
+version = "1.0.0"
+description = "Clean single-source support for Python 3 and 2"
+optional = true
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
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+]
+
 [[package]]
 name = "gdown"
 version = "5.2.0"
@@ -1154,7 +1800,7 @@ pyarrow = ">=12.0.0"
 type = "git"
 url = "https://github.com/dora-rs/dora-lerobot.git"
 reference = "HEAD"
-resolved_reference = "fda22deba84c46695369736edd34dc740aef45eb"
+resolved_reference = "3a5dbc4d36d9973439470128f309ef7511d23465"
 subdirectory = "gym_dora"
 
 [[package]]
@@ -1253,6 +1899,17 @@ PettingZoo = ">=1.23.0"
 mujoco-py = ["cython (<3)", "mujoco-py (>=2.1,<2.2)"]
 testing = ["Jinja2 (>=3.0.3)", "PettingZoo (>=1.23.0)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "pytest (==7.0.1)"]
 
+[[package]]
+name = "h11"
+version = "0.14.0"
+description = "A pure-Python, bring-your-own-I/O implementation of HTTP/1.1"
+optional = true
+python-versions = ">=3.7"
+files = [
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+    {file = "h11-0.14.0.tar.gz", hash = "sha256:8f19fbbe99e72420ff35c00b27a34cb9937e902a8b810e2c88300c6f0a3b699d"},
+]
+
 [[package]]
 name = "h5py"
 version = "3.11.0"
@@ -1287,86 +1944,267 @@ files = [
 numpy = ">=1.17.3"
 
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-description = ""
+name = "hello-robot-stretch-body"
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+description = "Stretch Body low level Python API"
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+python-versions = "*"
+files = [
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+drawnow = "*"
+dynamixel-sdk = "*"
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+SpeechRecognition = "*"
+sympy = "*"
+transforms3d = ">=0.4.2"
+urchin = "*"
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+version = "0.7.13"
+description = "Stretch Body Tools"
+optional = true
+python-versions = "*"
+files = [
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 ]
 
 [package.dependencies]
@@ -1412,13 +2250,13 @@ packaging = "*"
 
 [[package]]
 name = "identify"
-version = "2.6.0"
+version = "2.6.1"
 description = "File identification library for Python"
 optional = true
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.6.0-py2.py3-none-any.whl", hash = "sha256:e79ae4406387a9d300332b5fd366d8994f1525e8414984e1a59e058b2eda2dd0"},
-    {file = "identify-2.6.0.tar.gz", hash = "sha256:cb171c685bdc31bcc4c1734698736a7d5b6c8bf2e0c15117f4d469c8640ae5cf"},
+    {file = "identify-2.6.1-py2.py3-none-any.whl", hash = "sha256:53863bcac7caf8d2ed85bd20312ea5dcfc22226800f6d6881f232d861db5a8f0"},
+    {file = "identify-2.6.1.tar.gz", hash = "sha256:91478c5fb7c3aac5ff7bf9b4344f803843dc586832d5f110d672b19aa1984c98"},
 ]
 
 [package.extras]
@@ -1426,50 +2264,60 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.7"
+version = "3.10"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 files = [
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+    {file = "idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3"},
+    {file = "idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9"},
 ]
 
+[package.extras]
+all = ["flake8 (>=7.1.1)", "mypy (>=1.11.2)", "pytest (>=8.3.2)", "ruff (>=0.6.2)"]
+
 [[package]]
 name = "imagecodecs"
-version = "2024.6.1"
+version = "2024.9.22"
 description = "Image transformation, compression, and decompression codecs"
 optional = true
 python-versions = ">=3.9"
 files = [
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+    {file = "imagecodecs-2024.9.22-cp39-cp39-win_amd64.whl", hash = "sha256:3e55abc2934442fe3055b4f8943ebe8ff6c7eb57f9f895c80ca1732f38632d9f"},
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+    {file = "imagecodecs-2024.9.22.tar.gz", hash = "sha256:fea0801b4008d25e971918d991397a351bbe76276cfa98eed2de54cb87e894a3"},
 ]
 
 [package.dependencies]
@@ -1477,16 +2325,17 @@ numpy = "*"
 
 [package.extras]
 all = ["matplotlib", "numcodecs", "tifffile"]
+test = ["bitshuffle", "blosc", "blosc2", "czifile", "lz4", "numcodecs", "pyliblzfse", "pytest", "python-lzf", "python-snappy", "tifffile", "zarr (<3)", "zopflipy", "zstd"]
 
 [[package]]
 name = "imageio"
-version = "2.34.2"
+version = "2.35.1"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "imageio-2.34.2-py3-none-any.whl", hash = "sha256:a0bb27ec9d5bab36a9f4835e51b21d2cb099e1f78451441f94687ff3404b79f8"},
-    {file = "imageio-2.34.2.tar.gz", hash = "sha256:5c0c0ee8faa018a1c42f649b90395dd4d3bb6187c09053a0cd6f1fdd51bbff5e"},
+    {file = "imageio-2.35.1-py3-none-any.whl", hash = "sha256:6eb2e5244e7a16b85c10b5c2fe0f7bf961b40fcb9f1a9fd1bd1d2c2f8fb3cd65"},
+    {file = "imageio-2.35.1.tar.gz", hash = "sha256:4952dfeef3c3947957f6d5dedb1f4ca31c6e509a476891062396834048aeed2a"},
 ]
 
 [package.dependencies]
@@ -1496,19 +2345,20 @@ pillow = ">=8.3.2"
 psutil = {version = "*", optional = true, markers = "extra == \"ffmpeg\""}
 
 [package.extras]
-all-plugins = ["astropy", "av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
-all-plugins-pypy = ["av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
+all-plugins = ["astropy", "av", "imageio-ffmpeg", "psutil", "tifffile"]
+all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
 build = ["wheel"]
 dev = ["black", "flake8", "fsspec[github]", "pytest", "pytest-cov"]
 docs = ["numpydoc", "pydata-sphinx-theme", "sphinx (<6)"]
 ffmpeg = ["imageio-ffmpeg", "psutil"]
 fits = ["astropy"]
-full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpydoc", "pillow-heif", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx (<6)", "tifffile", "wheel"]
+full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpy (>2)", "numpydoc", "pillow-heif", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "rawpy", "sphinx (<6)", "tifffile", "wheel"]
 gdal = ["gdal"]
 itk = ["itk"]
 linting = ["black", "flake8"]
 pillow-heif = ["pillow-heif"]
 pyav = ["av"]
+rawpy = ["numpy (>2)", "rawpy"]
 test = ["fsspec[github]", "pytest", "pytest-cov"]
 tifffile = ["tifffile"]
 
@@ -1532,22 +2382,26 @@ setuptools = "*"
 
 [[package]]
 name = "importlib-metadata"
-version = "8.0.0"
+version = "8.5.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-8.0.0-py3-none-any.whl", hash = "sha256:15584cf2b1bf449d98ff8a6ff1abef57bf20f3ac6454f431736cd3e660921b2f"},
-    {file = "importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812"},
+    {file = "importlib_metadata-8.5.0-py3-none-any.whl", hash = "sha256:45e54197d28b7a7f1559e60b95e7c567032b602131fbd588f1497f47880aa68b"},
+    {file = "importlib_metadata-8.5.0.tar.gz", hash = "sha256:71522656f0abace1d072b9e5481a48f07c138e00f079c38c8f883823f9c26bd7"},
 ]
 
 [package.dependencies]
-zipp = ">=0.5"
+zipp = ">=3.20"
 
 [package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
 perf = ["ipython"]
-test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-perf (>=0.9.2)"]
+type = ["pytest-mypy"]
 
 [[package]]
 name = "iniconfig"
@@ -1560,6 +2414,17 @@ files = [
     {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
 
+[[package]]
+name = "inputs"
+version = "0.5"
+description = "Cross-platform Python support for keyboards, mice and gamepads."
+optional = true
+python-versions = "*"
+files = [
+    {file = "inputs-0.5-py2.py3-none-any.whl", hash = "sha256:13f894564e52134cf1e3862b1811da034875eb1f2b62e6021e3776e9669a96ec"},
+    {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
+]
+
 [[package]]
 name = "inquirerpy"
 version = "0.3.4"
@@ -1579,19 +2444,110 @@ prompt-toolkit = ">=3.0.1,<4.0.0"
 docs = ["Sphinx (>=4.1.2,<5.0.0)", "furo (>=2021.8.17-beta.43,<2022.0.0)", "myst-parser (>=0.15.1,<0.16.0)", "sphinx-autobuild (>=2021.3.14,<2022.0.0)", "sphinx-copybutton (>=0.4.0,<0.5.0)"]
 
 [[package]]
-name = "intel-openmp"
-version = "2021.4.0"
-description = "Intel OpenMP* Runtime Library"
-optional = false
-python-versions = "*"
+name = "ipykernel"
+version = "6.29.5"
+description = "IPython Kernel for Jupyter"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "ipykernel-6.29.5-py3-none-any.whl", hash = "sha256:afdb66ba5aa354b09b91379bac28ae4afebbb30e8b39510c9690afb7a10421b5"},
+    {file = "ipykernel-6.29.5.tar.gz", hash = "sha256:f093a22c4a40f8828f8e330a9c297cb93dcab13bd9678ded6de8e5cf81c56215"},
+]
+
+[package.dependencies]
+appnope = {version = "*", markers = "platform_system == \"Darwin\""}
+comm = ">=0.1.1"
+debugpy = ">=1.6.5"
+ipython = ">=7.23.1"
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+matplotlib-inline = ">=0.1"
+nest-asyncio = "*"
+packaging = "*"
+psutil = "*"
+pyzmq = ">=24"
+tornado = ">=6.1"
+traitlets = ">=5.4.0"
+
+[package.extras]
+cov = ["coverage[toml]", "curio", "matplotlib", "pytest-cov", "trio"]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "trio"]
+pyqt5 = ["pyqt5"]
+pyside6 = ["pyside6"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.23.5)", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "ipython"
+version = "8.27.0"
+description = "IPython: Productive Interactive Computing"
+optional = true
+python-versions = ">=3.10"
+files = [
+    {file = "ipython-8.27.0-py3-none-any.whl", hash = "sha256:f68b3cb8bde357a5d7adc9598d57e22a45dfbea19eb6b98286fa3b288c9cd55c"},
+    {file = "ipython-8.27.0.tar.gz", hash = "sha256:0b99a2dc9f15fd68692e898e5568725c6d49c527d36a9fb5960ffbdeaa82ff7e"},
+]
+
+[package.dependencies]
+decorator = "*"
+exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
+jedi = ">=0.16"
+matplotlib-inline = "*"
+pexpect = {version = ">4.3", markers = "sys_platform != \"win32\" and sys_platform != \"emscripten\""}
+prompt-toolkit = ">=3.0.41,<3.1.0"
+pygments = ">=2.4.0"
+stack-data = "*"
+traitlets = ">=5.13.0"
+typing-extensions = {version = ">=4.6", markers = "python_version < \"3.12\""}
+
+[package.extras]
+all = ["ipython[black,doc,kernel,matplotlib,nbconvert,nbformat,notebook,parallel,qtconsole]", "ipython[test,test-extra]"]
+black = ["black"]
+doc = ["docrepr", "exceptiongroup", "intersphinx-registry", "ipykernel", "ipython[test]", "matplotlib", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "sphinxcontrib-jquery", "tomli", "typing-extensions"]
+kernel = ["ipykernel"]
+matplotlib = ["matplotlib"]
+nbconvert = ["nbconvert"]
+nbformat = ["nbformat"]
+notebook = ["ipywidgets", "notebook"]
+parallel = ["ipyparallel"]
+qtconsole = ["qtconsole"]
+test = ["packaging", "pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
+test-extra = ["curio", "ipython[test]", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.23)", "pandas", "trio"]
+
+[[package]]
+name = "ipywidgets"
+version = "8.1.5"
+description = "Jupyter interactive widgets"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "ipywidgets-8.1.5-py3-none-any.whl", hash = "sha256:3290f526f87ae6e77655555baba4f36681c555b8bdbbff430b70e52c34c86245"},
+    {file = "ipywidgets-8.1.5.tar.gz", hash = "sha256:870e43b1a35656a80c18c9503bbf2d16802db1cb487eec6fab27d683381dde17"},
+]
+
+[package.dependencies]
+comm = ">=0.1.3"
+ipython = ">=6.1.0"
+jupyterlab-widgets = ">=3.0.12,<3.1.0"
+traitlets = ">=4.3.1"
+widgetsnbextension = ">=4.0.12,<4.1.0"
+
+[package.extras]
+test = ["ipykernel", "jsonschema", "pytest (>=3.6.0)", "pytest-cov", "pytz"]
+
+[[package]]
+name = "isoduration"
+version = "20.11.0"
+description = "Operations with ISO 8601 durations"
+optional = true
+python-versions = ">=3.7"
 files = [
-    {file = "intel_openmp-2021.4.0-py2.py3-none-macosx_10_15_x86_64.macosx_11_0_x86_64.whl", hash = "sha256:41c01e266a7fdb631a7609191709322da2bbf24b252ba763f125dd651bcc7675"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:3b921236a38384e2016f0f3d65af6732cf2c12918087128a9163225451e776f2"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:e2240ab8d01472fed04f3544a878cda5da16c26232b7ea1b59132dbfb48b186e"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-win32.whl", hash = "sha256:6e863d8fd3d7e8ef389d52cf97a50fe2afe1a19247e8c0d168ce021546f96fc9"},
-    {file = "intel_openmp-2021.4.0-py2.py3-none-win_amd64.whl", hash = "sha256:eef4c8bcc8acefd7f5cd3b9384dbf73d59e2c99fc56545712ded913f43c4a94f"},
+    {file = "isoduration-20.11.0-py3-none-any.whl", hash = "sha256:b2904c2a4228c3d44f409c8ae8e2370eb21a26f7ac2ec5446df141dde3452042"},
+    {file = "isoduration-20.11.0.tar.gz", hash = "sha256:ac2f9015137935279eac671f94f89eb00584f940f5dc49462a0c4ee692ba1bd9"},
 ]
 
+[package.dependencies]
+arrow = ">=0.15.0"
+
 [[package]]
 name = "itsdangerous"
 version = "2.2.0"
@@ -1603,6 +2559,25 @@ files = [
     {file = "itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173"},
 ]
 
+[[package]]
+name = "jedi"
+version = "0.19.1"
+description = "An autocompletion tool for Python that can be used for text editors."
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "jedi-0.19.1-py2.py3-none-any.whl", hash = "sha256:e983c654fe5c02867aef4cdfce5a2fbb4a50adc0af145f70504238f18ef5e7e0"},
+    {file = "jedi-0.19.1.tar.gz", hash = "sha256:cf0496f3651bc65d7174ac1b7d043eff454892c708a87d1b683e57b569927ffd"},
+]
+
+[package.dependencies]
+parso = ">=0.8.3,<0.9.0"
+
+[package.extras]
+docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alabaster (==0.7.12)", "babel (==2.9.1)", "chardet (==4.0.0)", "commonmark (==0.8.1)", "docutils (==0.17.1)", "future (==0.18.2)", "idna (==2.10)", "imagesize (==1.2.0)", "mock (==1.0.1)", "packaging (==20.9)", "pyparsing (==2.4.7)", "pytz (==2021.1)", "readthedocs-sphinx-ext (==2.1.4)", "recommonmark (==0.5.0)", "requests (==2.25.1)", "six (==1.15.0)", "snowballstemmer (==2.1.0)", "sphinx (==1.8.5)", "sphinx-rtd-theme (==0.4.3)", "sphinxcontrib-serializinghtml (==1.1.4)", "sphinxcontrib-websupport (==1.2.4)", "urllib3 (==1.26.4)"]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
+
 [[package]]
 name = "jinja2"
 version = "3.1.4"
@@ -1620,6 +2595,453 @@ MarkupSafe = ">=2.0"
 [package.extras]
 i18n = ["Babel (>=2.7)"]
 
+[[package]]
+name = "json5"
+version = "0.9.25"
+description = "A Python implementation of the JSON5 data format."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "json5-0.9.25-py3-none-any.whl", hash = "sha256:34ed7d834b1341a86987ed52f3f76cd8ee184394906b6e22a1e0deb9ab294e8f"},
+    {file = "json5-0.9.25.tar.gz", hash = "sha256:548e41b9be043f9426776f05df8635a00fe06104ea51ed24b67f908856e151ae"},
+]
+
+[[package]]
+name = "jsonpointer"
+version = "3.0.0"
+description = "Identify specific nodes in a JSON document (RFC 6901)"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "jsonpointer-3.0.0-py2.py3-none-any.whl", hash = "sha256:13e088adc14fca8b6aa8177c044e12701e6ad4b28ff10e65f2267a90109c9942"},
+    {file = "jsonpointer-3.0.0.tar.gz", hash = "sha256:2b2d729f2091522d61c3b31f82e11870f60b68f43fbc705cb76bf4b832af59ef"},
+]
+
+[[package]]
+name = "jsonschema"
+version = "4.23.0"
+description = "An implementation of JSON Schema validation for Python"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "jsonschema-4.23.0-py3-none-any.whl", hash = "sha256:fbadb6f8b144a8f8cf9f0b89ba94501d143e50411a1278633f56a7acf7fd5566"},
+    {file = "jsonschema-4.23.0.tar.gz", hash = "sha256:d71497fef26351a33265337fa77ffeb82423f3ea21283cd9467bb03999266bc4"},
+]
+
+[package.dependencies]
+attrs = ">=22.2.0"
+fqdn = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+idna = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+isoduration = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+jsonpointer = {version = ">1.13", optional = true, markers = "extra == \"format-nongpl\""}
+jsonschema-specifications = ">=2023.03.6"
+referencing = ">=0.28.4"
+rfc3339-validator = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+rfc3986-validator = {version = ">0.1.0", optional = true, markers = "extra == \"format-nongpl\""}
+rpds-py = ">=0.7.1"
+uri-template = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+webcolors = {version = ">=24.6.0", optional = true, markers = "extra == \"format-nongpl\""}
+
+[package.extras]
+format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
+format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=24.6.0)"]
+
+[[package]]
+name = "jsonschema-specifications"
+version = "2023.12.1"
+description = "The JSON Schema meta-schemas and vocabularies, exposed as a Registry"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "jsonschema_specifications-2023.12.1-py3-none-any.whl", hash = "sha256:87e4fdf3a94858b8a2ba2778d9ba57d8a9cafca7c7489c46ba0d30a8bc6a9c3c"},
+    {file = "jsonschema_specifications-2023.12.1.tar.gz", hash = "sha256:48a76787b3e70f5ed53f1160d2b81f586e4ca6d1548c5de7085d1682674764cc"},
+]
+
+[package.dependencies]
+referencing = ">=0.31.0"
+
+[[package]]
+name = "jupyter"
+version = "1.1.1"
+description = "Jupyter metapackage. Install all the Jupyter components in one go."
+optional = true
+python-versions = "*"
+files = [
+    {file = "jupyter-1.1.1-py2.py3-none-any.whl", hash = "sha256:7a59533c22af65439b24bbe60373a4e95af8f16ac65a6c00820ad378e3f7cc83"},
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+[package.dependencies]
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+ipywidgets = "*"
+jupyter-console = "*"
+jupyterlab = "*"
+nbconvert = "*"
+notebook = "*"
+
+[[package]]
+name = "jupyter-client"
+version = "8.6.3"
+description = "Jupyter protocol implementation and client libraries"
+optional = true
+python-versions = ">=3.8"
+files = [
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+pyzmq = ">=23.0"
+tornado = ">=6.2"
+traitlets = ">=5.3"
+
+[package.extras]
+docs = ["ipykernel", "myst-parser", "pydata-sphinx-theme", "sphinx (>=4)", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["coverage", "ipykernel (>=6.14)", "mypy", "paramiko", "pre-commit", "pytest (<8.2.0)", "pytest-cov", "pytest-jupyter[client] (>=0.4.1)", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-console"
+version = "6.6.3"
+description = "Jupyter terminal console"
+optional = true
+python-versions = ">=3.7"
+files = [
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+prompt-toolkit = ">=3.0.30"
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+pyzmq = ">=17"
+traitlets = ">=5.4"
+
+[package.extras]
+test = ["flaky", "pexpect", "pytest"]
+
+[[package]]
+name = "jupyter-core"
+version = "5.7.2"
+description = "Jupyter core package. A base package on which Jupyter projects rely."
+optional = true
+python-versions = ">=3.8"
+files = [
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+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "traitlets"]
+test = ["ipykernel", "pre-commit", "pytest (<8)", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-events"
+version = "0.10.0"
+description = "Jupyter Event System library"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_events-0.10.0-py3-none-any.whl", hash = "sha256:4b72130875e59d57716d327ea70d3ebc3af1944d3717e5a498b8a06c6c159960"},
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+[package.dependencies]
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+python-json-logger = ">=2.0.4"
+pyyaml = ">=5.3"
+referencing = "*"
+rfc3339-validator = "*"
+rfc3986-validator = ">=0.1.1"
+traitlets = ">=5.3"
+
+[package.extras]
+cli = ["click", "rich"]
+docs = ["jupyterlite-sphinx", "myst-parser", "pydata-sphinx-theme", "sphinxcontrib-spelling"]
+test = ["click", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.19.0)", "pytest-console-scripts", "rich"]
+
+[[package]]
+name = "jupyter-lsp"
+version = "2.2.5"
+description = "Multi-Language Server WebSocket proxy for Jupyter Notebook/Lab server"
+optional = true
+python-versions = ">=3.8"
+files = [
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+[package.dependencies]
+jupyter-server = ">=1.1.2"
+
+[[package]]
+name = "jupyter-server"
+version = "2.14.2"
+description = "The backend—i.e. core services, APIs, and REST endpoints—to Jupyter web applications."
+optional = true
+python-versions = ">=3.8"
+files = [
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 htmlsoup = ["BeautifulSoup4"]
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+
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 name = "markupsafe"
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 ]
 
+[package.dependencies]
+typing-extensions = {version = ">=4.1.0", markers = "python_version < \"3.11\""}
+
 [[package]]
 name = "multiprocess"
 version = "0.70.16"
@@ -2135,8 +3681,99 @@ files = [
     {file = "multiprocess-0.70.16.tar.gz", hash = "sha256:161af703d4652a0e1410be6abccecde4a7ddffd19341be0a7011b94aeb171ac1"},
 ]
 
-[package.dependencies]
-dill = ">=0.3.8"
+[package.dependencies]
+dill = ">=0.3.8"
+
+[[package]]
+name = "nbclient"
+version = "0.10.0"
+description = "A client library for executing notebooks. Formerly nbconvert's ExecutePreprocessor."
+optional = true
+python-versions = ">=3.8.0"
+files = [
+    {file = "nbclient-0.10.0-py3-none-any.whl", hash = "sha256:f13e3529332a1f1f81d82a53210322476a168bb7090a0289c795fe9cc11c9d3f"},
+    {file = "nbclient-0.10.0.tar.gz", hash = "sha256:4b3f1b7dba531e498449c4db4f53da339c91d449dc11e9af3a43b4eb5c5abb09"},
+]
+
+[package.dependencies]
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+nbformat = ">=5.1"
+traitlets = ">=5.4"
+
+[package.extras]
+dev = ["pre-commit"]
+docs = ["autodoc-traits", "mock", "moto", "myst-parser", "nbclient[test]", "sphinx (>=1.7)", "sphinx-book-theme", "sphinxcontrib-spelling"]
+test = ["flaky", "ipykernel (>=6.19.3)", "ipython", "ipywidgets", "nbconvert (>=7.0.0)", "pytest (>=7.0,<8)", "pytest-asyncio", "pytest-cov (>=4.0)", "testpath", "xmltodict"]
+
+[[package]]
+name = "nbconvert"
+version = "7.16.4"
+description = "Converting Jupyter Notebooks (.ipynb files) to other formats.  Output formats include asciidoc, html, latex, markdown, pdf, py, rst, script.  nbconvert can be used both as a Python library (`import nbconvert`) or as a command line tool (invoked as `jupyter nbconvert ...`)."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "nbconvert-7.16.4-py3-none-any.whl", hash = "sha256:05873c620fe520b6322bf8a5ad562692343fe3452abda5765c7a34b7d1aa3eb3"},
+    {file = "nbconvert-7.16.4.tar.gz", hash = "sha256:86ca91ba266b0a448dc96fa6c5b9d98affabde2867b363258703536807f9f7f4"},
+]
+
+[package.dependencies]
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+bleach = "!=5.0.0"
+defusedxml = "*"
+jinja2 = ">=3.0"
+jupyter-core = ">=4.7"
+jupyterlab-pygments = "*"
+markupsafe = ">=2.0"
+mistune = ">=2.0.3,<4"
+nbclient = ">=0.5.0"
+nbformat = ">=5.7"
+packaging = "*"
+pandocfilters = ">=1.4.1"
+pygments = ">=2.4.1"
+tinycss2 = "*"
+traitlets = ">=5.1"
+
+[package.extras]
+all = ["flaky", "ipykernel", "ipython", "ipywidgets (>=7.5)", "myst-parser", "nbsphinx (>=0.2.12)", "playwright", "pydata-sphinx-theme", "pyqtwebengine (>=5.15)", "pytest (>=7)", "sphinx (==5.0.2)", "sphinxcontrib-spelling", "tornado (>=6.1)"]
+docs = ["ipykernel", "ipython", "myst-parser", "nbsphinx (>=0.2.12)", "pydata-sphinx-theme", "sphinx (==5.0.2)", "sphinxcontrib-spelling"]
+qtpdf = ["pyqtwebengine (>=5.15)"]
+qtpng = ["pyqtwebengine (>=5.15)"]
+serve = ["tornado (>=6.1)"]
+test = ["flaky", "ipykernel", "ipywidgets (>=7.5)", "pytest (>=7)"]
+webpdf = ["playwright"]
+
+[[package]]
+name = "nbformat"
+version = "5.10.4"
+description = "The Jupyter Notebook format"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "nbformat-5.10.4-py3-none-any.whl", hash = "sha256:3b48d6c8fbca4b299bf3982ea7db1af21580e4fec269ad087b9e81588891200b"},
+    {file = "nbformat-5.10.4.tar.gz", hash = "sha256:322168b14f937a5d11362988ecac2a4952d3d8e3a2cbeb2319584631226d5b3a"},
+]
+
+[package.dependencies]
+fastjsonschema = ">=2.15"
+jsonschema = ">=2.6"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+traitlets = ">=5.1"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["pep440", "pre-commit", "pytest", "testpath"]
+
+[[package]]
+name = "nest-asyncio"
+version = "1.6.0"
+description = "Patch asyncio to allow nested event loops"
+optional = true
+python-versions = ">=3.5"
+files = [
+    {file = "nest_asyncio-1.6.0-py3-none-any.whl", hash = "sha256:87af6efd6b5e897c81050477ef65c62e2b2f35d51703cae01aff2905b1852e1c"},
+    {file = "nest_asyncio-1.6.0.tar.gz", hash = "sha256:6f172d5449aca15afd6c646851f4e31e02c598d553a667e38cafa997cfec55fe"},
+]
 
 [[package]]
 name = "networkx"
@@ -2167,6 +3804,58 @@ files = [
     {file = "nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f"},
 ]
 
+[[package]]
+name = "nose"
+version = "1.3.7"
+description = "nose extends unittest to make testing easier"
+optional = true
+python-versions = "*"
+files = [
+    {file = "nose-1.3.7-py2-none-any.whl", hash = "sha256:dadcddc0aefbf99eea214e0f1232b94f2fa9bd98fa8353711dacb112bfcbbb2a"},
+    {file = "nose-1.3.7-py3-none-any.whl", hash = "sha256:9ff7c6cc443f8c51994b34a667bbcf45afd6d945be7477b52e97516fd17c53ac"},
+    {file = "nose-1.3.7.tar.gz", hash = "sha256:f1bffef9cbc82628f6e7d7b40d7e255aefaa1adb6a1b1d26c69a8b79e6208a98"},
+]
+
+[[package]]
+name = "notebook"
+version = "7.2.2"
+description = "Jupyter Notebook - A web-based notebook environment for interactive computing"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "notebook-7.2.2-py3-none-any.whl", hash = "sha256:c89264081f671bc02eec0ed470a627ed791b9156cad9285226b31611d3e9fe1c"},
+    {file = "notebook-7.2.2.tar.gz", hash = "sha256:2ef07d4220421623ad3fe88118d687bc0450055570cdd160814a59cf3a1c516e"},
+]
+
+[package.dependencies]
+jupyter-server = ">=2.4.0,<3"
+jupyterlab = ">=4.2.0,<4.3"
+jupyterlab-server = ">=2.27.1,<3"
+notebook-shim = ">=0.2,<0.3"
+tornado = ">=6.2.0"
+
+[package.extras]
+dev = ["hatch", "pre-commit"]
+docs = ["myst-parser", "nbsphinx", "pydata-sphinx-theme", "sphinx (>=1.3.6)", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["importlib-resources (>=5.0)", "ipykernel", "jupyter-server[test] (>=2.4.0,<3)", "jupyterlab-server[test] (>=2.27.1,<3)", "nbval", "pytest (>=7.0)", "pytest-console-scripts", "pytest-timeout", "pytest-tornasync", "requests"]
+
+[[package]]
+name = "notebook-shim"
+version = "0.2.4"
+description = "A shim layer for notebook traits and config"
+optional = true
+python-versions = ">=3.7"
+files = [
+    {file = "notebook_shim-0.2.4-py3-none-any.whl", hash = "sha256:411a5be4e9dc882a074ccbcae671eda64cceb068767e9a3419096986560e1cef"},
+    {file = "notebook_shim-0.2.4.tar.gz", hash = "sha256:b4b2cfa1b65d98307ca24361f5b30fe785b53c3fd07b7a47e89acb5e6ac638cb"},
+]
+
+[package.dependencies]
+jupyter-server = ">=1.8,<3"
+
+[package.extras]
+test = ["pytest", "pytest-console-scripts", "pytest-jupyter", "pytest-tornasync"]
+
 [[package]]
 name = "numba"
 version = "0.60.0"
@@ -2279,6 +3968,21 @@ files = [
     {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
 ]
 
+[[package]]
+name = "numpy-stl"
+version = "3.1.2"
+description = "Library to make reading, writing and modifying both binary and ascii STL files easy."
+optional = true
+python-versions = ">3.6.0"
+files = [
+    {file = "numpy_stl-3.1.2-py3-none-any.whl", hash = "sha256:a55288340c837378bf44753a1c595c6823312995acda97f27ed04db4ff1d25f3"},
+    {file = "numpy_stl-3.1.2.tar.gz", hash = "sha256:72b46950dfa3642df1c7b873cfa78a548533724b907478c567db42fdf57ee3d2"},
+]
+
+[package.dependencies]
+numpy = "*"
+python-utils = ">=3.4.5"
+
 [[package]]
 name = "nvidia-cublas-cu12"
 version = "12.1.3.1"
@@ -2325,12 +4029,13 @@ files = [
 
 [[package]]
 name = "nvidia-cudnn-cu12"
-version = "8.9.2.26"
+version = "9.1.0.70"
 description = "cuDNN runtime libraries"
 optional = false
 python-versions = ">=3"
 files = [
-    {file = "nvidia_cudnn_cu12-8.9.2.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:5ccb288774fdfb07a7e7025ffec286971c06d8d7b4fb162525334616d7629ff9"},
+    {file = "nvidia_cudnn_cu12-9.1.0.70-py3-none-manylinux2014_x86_64.whl", hash = "sha256:165764f44ef8c61fcdfdfdbe769d687e06374059fbb388b6c89ecb0e28793a6f"},
+    {file = "nvidia_cudnn_cu12-9.1.0.70-py3-none-win_amd64.whl", hash = "sha256:6278562929433d68365a07a4a1546c237ba2849852c0d4b2262a486e805b977a"},
 ]
 
 [package.dependencies]
@@ -2401,13 +4106,14 @@ files = [
 
 [[package]]
 name = "nvidia-nvjitlink-cu12"
-version = "12.5.82"
+version = "12.6.68"
 description = "Nvidia JIT LTO Library"
 optional = false
 python-versions = ">=3"
 files = [
-    {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_x86_64.whl", hash = "sha256:f9b37bc5c8cf7509665cb6ada5aaa0ce65618f2332b7d3e78e9790511f111212"},
-    {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-win_amd64.whl", hash = "sha256:e782564d705ff0bf61ac3e1bf730166da66dd2fe9012f111ede5fc49b64ae697"},
+    {file = "nvidia_nvjitlink_cu12-12.6.68-py3-none-manylinux2014_aarch64.whl", hash = "sha256:b3fd0779845f68b92063ab1393abab1ed0a23412fc520df79a8190d098b5cd6b"},
+    {file = "nvidia_nvjitlink_cu12-12.6.68-py3-none-manylinux2014_x86_64.whl", hash = "sha256:125a6c2a44e96386dda634e13d944e60b07a0402d391a070e8fb4104b34ea1ab"},
+    {file = "nvidia_nvjitlink_cu12-12.6.68-py3-none-win_amd64.whl", hash = "sha256:a55744c98d70317c5e23db14866a8cc2b733f7324509e941fc96276f9f37801d"},
 ]
 
 [[package]]
@@ -2436,6 +4142,66 @@ files = [
 antlr4-python3-runtime = "==4.9.*"
 PyYAML = ">=5.1.0"
 
+[[package]]
+name = "open3d"
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+    {file = "pandas-2.2.3-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:31d0ced62d4ea3e231a9f228366919a5ea0b07440d9d4dac345376fd8e1477ea"},
+    {file = "pandas-2.2.3-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:7eee9e7cea6adf3e3d24e304ac6b8300646e2a5d1cd3a3c2abed9101b0846761"},
+    {file = "pandas-2.2.3-cp39-cp39-win_amd64.whl", hash = "sha256:4850ba03528b6dd51d6c5d273c46f183f39a9baf3f0143e566b89450965b105e"},
+    {file = "pandas-2.2.3.tar.gz", hash = "sha256:4f18ba62b61d7e192368b84517265a99b4d7ee8912f8708660fb4a366cc82667"},
 ]
 
 [package.dependencies]
@@ -2558,6 +4345,43 @@ sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-d
 test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
 xml = ["lxml (>=4.9.2)"]
 
+[[package]]
+name = "pandocfilters"
+version = "1.5.1"
+description = "Utilities for writing pandoc filters in python"
+optional = true
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "pandocfilters-1.5.1-py2.py3-none-any.whl", hash = "sha256:93be382804a9cdb0a7267585f157e5d1731bbe5545a85b268d6f5fe6232de2bc"},
+    {file = "pandocfilters-1.5.1.tar.gz", hash = "sha256:002b4a555ee4ebc03f8b66307e287fa492e4a77b4ea14d3f934328297bb4939e"},
+]
+
+[[package]]
+name = "parso"
+version = "0.8.4"
+description = "A Python Parser"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "parso-0.8.4-py2.py3-none-any.whl", hash = "sha256:a418670a20291dacd2dddc80c377c5c3791378ee1e8d12bffc35420643d43f18"},
+    {file = "parso-0.8.4.tar.gz", hash = "sha256:eb3a7b58240fb99099a345571deecc0f9540ea5f4dd2fe14c2a99d6b281ab92d"},
+]
+
+[package.extras]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["docopt", "pytest"]
+
+[[package]]
+name = "pathlib"
+version = "1.0.1"
+description = "Object-oriented filesystem paths"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pathlib-1.0.1-py3-none-any.whl", hash = "sha256:f35f95ab8b0f59e6d354090350b44a80a80635d22efdedfa84c7ad1cf0a74147"},
+    {file = "pathlib-1.0.1.tar.gz", hash = "sha256:6940718dfc3eff4258203ad5021090933e5c04707d5ca8cc9e73c94a7894ea9f"},
+]
+
 [[package]]
 name = "pettingzoo"
 version = "1.24.3"
@@ -2583,6 +4407,20 @@ other = ["pillow (>=8.0.1)"]
 sisl = ["box2d-py (==2.3.5)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "scipy (>=1.4.1)"]
 testing = ["AutoROM", "pre-commit", "pynput", "pytest", "pytest-cov", "pytest-markdown-docs", "pytest-xdist"]
 
+[[package]]
+name = "pexpect"
+version = "4.9.0"
+description = "Pexpect allows easy control of interactive console applications."
+optional = true
+python-versions = "*"
+files = [
+    {file = "pexpect-4.9.0-py2.py3-none-any.whl", hash = "sha256:7236d1e080e4936be2dc3e326cec0af72acf9212a7e1d060210e70a47e253523"},
+    {file = "pexpect-4.9.0.tar.gz", hash = "sha256:ee7d41123f3c9911050ea2c2dac107568dc43b2d3b0c7557a33212c398ead30f"},
+]
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
 [[package]]
 name = "pfzy"
 version = "0.3.4"
@@ -2694,21 +4532,51 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 typing = ["typing-extensions"]
 xmp = ["defusedxml"]
 
+[[package]]
+name = "pixel-ring"
+version = "0.1.0"
+description = "respeaker series pixel ring library"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pixel-ring-0.1.0.tar.gz", hash = "sha256:9480f23b58ccb912321b989d00e9d31f087f7bbcd8d970fca0fb319853d03270"},
+    {file = "pixel_ring-0.1.0-py2.py3-none-any.whl", hash = "sha256:c0fa51beb67be81b1f6ab058f651c489d69b47fb884d4361a0cf7594f093885b"},
+]
+
+[package.dependencies]
+pyusb = "*"
+spidev = "*"
+
 [[package]]
 name = "platformdirs"
-version = "4.2.2"
+version = "4.3.6"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "platformdirs-4.2.2-py3-none-any.whl", hash = "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee"},
-    {file = "platformdirs-4.2.2.tar.gz", hash = "sha256:38b7b51f512eed9e84a22788b4bce1de17c0adb134d6becb09836e37d8654cd3"},
+    {file = "platformdirs-4.3.6-py3-none-any.whl", hash = "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb"},
+    {file = "platformdirs-4.3.6.tar.gz", hash = "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907"},
 ]
 
 [package.extras]
-docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
-test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
-type = ["mypy (>=1.8)"]
+docs = ["furo (>=2024.8.6)", "proselint (>=0.14)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=8.3.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)"]
+type = ["mypy (>=1.11.2)"]
+
+[[package]]
+name = "plotly"
+version = "5.24.1"
+description = "An open-source, interactive data visualization library for Python"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "plotly-5.24.1-py3-none-any.whl", hash = "sha256:f67073a1e637eb0dc3e46324d9d51e2fe76e9727c892dde64ddf1e1b51f29089"},
+    {file = "plotly-5.24.1.tar.gz", hash = "sha256:dbc8ac8339d248a4bcc36e08a5659bacfe1b079390b8953533f4eb22169b4bae"},
+]
+
+[package.dependencies]
+packaging = "*"
+tenacity = ">=6.2.0"
 
 [[package]]
 name = "pluggy"
@@ -2727,13 +4595,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = true
 python-versions = ">=3.9"
 files = [
-    {file = "pre_commit-3.7.1-py2.py3-none-any.whl", hash = "sha256:fae36fd1d7ad7d6a5a1c0b0d5adb2ed1a3bda5a21bf6c3e5372073d7a11cd4c5"},
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+    {file = "pre_commit-3.8.0-py2.py3-none-any.whl", hash = "sha256:9a90a53bf82fdd8778d58085faf8d83df56e40dfe18f45b19446e26bf1b3a63f"},
+    {file = "pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af"},
 ]
 
 [package.dependencies]
@@ -2743,6 +4611,20 @@ nodeenv = ">=0.11.1"
 pyyaml = ">=5.1"
 virtualenv = ">=20.10.0"
 
+[[package]]
+name = "prometheus-client"
+version = "0.21.0"
+description = "Python client for the Prometheus monitoring system."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "prometheus_client-0.21.0-py3-none-any.whl", hash = "sha256:4fa6b4dd0ac16d58bb587c04b1caae65b8c5043e85f778f42f5f632f6af2e166"},
+    {file = "prometheus_client-0.21.0.tar.gz", hash = "sha256:96c83c606b71ff2b0a433c98889d275f51ffec6c5e267de37c7a2b5c9aa9233e"},
+]
+
+[package.extras]
+twisted = ["twisted"]
+
 [[package]]
 name = "prompt-toolkit"
 version = "3.0.47"
@@ -2759,22 +4641,22 @@ wcwidth = "*"
 
 [[package]]
 name = "protobuf"
-version = "5.27.2"
+version = "5.28.2"
 description = ""
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "protobuf-5.27.2.tar.gz", hash = "sha256:f3ecdef226b9af856075f28227ff2c90ce3a594d092c39bee5513573f25e2714"},
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+    {file = "protobuf-5.28.2-cp310-abi3-win_amd64.whl", hash = "sha256:2c69461a7fcc8e24be697624c09a839976d82ae75062b11a0972e41fd2cd9132"},
+    {file = "protobuf-5.28.2-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:a8b9403fc70764b08d2f593ce44f1d2920c5077bf7d311fefec999f8c40f78b7"},
+    {file = "protobuf-5.28.2-cp38-abi3-manylinux2014_aarch64.whl", hash = "sha256:35cfcb15f213449af7ff6198d6eb5f739c37d7e4f1c09b5d0641babf2cc0c68f"},
+    {file = "protobuf-5.28.2-cp38-abi3-manylinux2014_x86_64.whl", hash = "sha256:5e8a95246d581eef20471b5d5ba010d55f66740942b95ba9b872d918c459452f"},
+    {file = "protobuf-5.28.2-cp38-cp38-win32.whl", hash = "sha256:87317e9bcda04a32f2ee82089a204d3a2f0d3c8aeed16568c7daf4756e4f1fe0"},
+    {file = "protobuf-5.28.2-cp38-cp38-win_amd64.whl", hash = "sha256:c0ea0123dac3399a2eeb1a1443d82b7afc9ff40241433296769f7da42d142ec3"},
+    {file = "protobuf-5.28.2-cp39-cp39-win32.whl", hash = "sha256:ca53faf29896c526863366a52a8f4d88e69cd04ec9571ed6082fa117fac3ab36"},
+    {file = "protobuf-5.28.2-cp39-cp39-win_amd64.whl", hash = "sha256:8ddc60bf374785fb7cb12510b267f59067fa10087325b8e1855b898a0d81d276"},
+    {file = "protobuf-5.28.2-py3-none-any.whl", hash = "sha256:52235802093bd8a2811abbe8bf0ab9c5f54cca0a751fdd3f6ac2a21438bffece"},
+    {file = "protobuf-5.28.2.tar.gz", hash = "sha256:59379674ff119717404f7454647913787034f03fe7049cbef1d74a97bb4593f0"},
 ]
 
 [[package]]
@@ -2806,6 +4688,31 @@ files = [
 [package.extras]
 test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
+[[package]]
+name = "ptyprocess"
+version = "0.7.0"
+description = "Run a subprocess in a pseudo terminal"
+optional = true
+python-versions = "*"
+files = [
+    {file = "ptyprocess-0.7.0-py2.py3-none-any.whl", hash = "sha256:4b41f3967fce3af57cc7e94b888626c18bf37a083e3651ca8feeb66d492fef35"},
+    {file = "ptyprocess-0.7.0.tar.gz", hash = "sha256:5c5d0a3b48ceee0b48485e0c26037c0acd7d29765ca3fbb5cb3831d347423220"},
+]
+
+[[package]]
+name = "pure-eval"
+version = "0.2.3"
+description = "Safely evaluate AST nodes without side effects"
+optional = true
+python-versions = "*"
+files = [
+    {file = "pure_eval-0.2.3-py3-none-any.whl", hash = "sha256:1db8e35b67b3d218d818ae653e27f06c3aa420901fa7b081ca98cbedc874e0d0"},
+    {file = "pure_eval-0.2.3.tar.gz", hash = "sha256:5f4e983f40564c576c7c8635ae88db5956bb2229d7e9237d03b3c0b0190eaf42"},
+]
+
+[package.extras]
+tests = ["pytest"]
+
 [[package]]
 name = "pyarrow"
 version = "17.0.0"
@@ -2858,46 +4765,81 @@ numpy = ">=1.16.6"
 test = ["cffi", "hypothesis", "pandas", "pytest", "pytz"]
 
 [[package]]
-name = "pyarrow-hotfix"
-version = "0.6"
-description = ""
-optional = false
-python-versions = ">=3.5"
+name = "pyaudio"
+version = "0.2.14"
+description = "Cross-platform audio I/O with PortAudio"
+optional = true
+python-versions = "*"
 files = [
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+    {file = "PyAudio-0.2.14-cp310-cp310-win32.whl", hash = "sha256:126065b5e82a1c03ba16e7c0404d8f54e17368836e7d2d92427358ad44fefe61"},
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+    {file = "PyAudio-0.2.14-cp311-cp311-win32.whl", hash = "sha256:506b32a595f8693811682ab4b127602d404df7dfc453b499c91a80d0f7bad289"},
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+
+[[package]]
+name = "pycollada"
+version = "0.8"
+description = "python library for reading and writing collada documents"
+optional = true
+python-versions = "*"
+files = [
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+[package.dependencies]
+numpy = "*"
+python-dateutil = ">=2.2"
+
+[package.extras]
+prettyprint = ["lxml"]
+validation = ["lxml"]
+
 [[package]]
 name = "pycparser"
 version = "2.22"
@@ -2975,6 +4917,31 @@ files = [
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 ]
 
+[[package]]
+name = "pyglet"
+version = "2.0.17"
+description = "pyglet is a cross-platform games and multimedia package."
+optional = true
+python-versions = ">=3.8"
+files = [
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+
+[[package]]
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+version = "2.18.0"
+description = "Pygments is a syntax highlighting package written in Python."
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.extras]
+windows-terminal = ["colorama (>=0.4.6)"]
+
 [[package]]
 name = "pymunk"
 version = "6.8.1"
@@ -3181,13 +5148,13 @@ files = [
 
 [[package]]
 name = "pyparsing"
-version = "3.1.2"
+version = "3.1.4"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = true
 python-versions = ">=3.6.8"
 files = [
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 ]
 
 [package.extras]
@@ -3216,6 +5183,64 @@ files = [
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 ]
 
+[[package]]
+name = "pyrender"
+version = "0.1.45"
+description = "Easy-to-use Python renderer for 3D visualization"
+optional = true
+python-versions = "*"
+files = []
+develop = false
+
+[package.dependencies]
+freetype-py = "*"
+imageio = "*"
+networkx = "*"
+numpy = "*"
+Pillow = "*"
+pyglet = ">=1.4.10"
+PyOpenGL = ">=3.1.0,<3.2.0"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx_rtd_theme"]
+
+[package.source]
+type = "git"
+url = "https://github.com/mmatl/pyrender.git"
+reference = "HEAD"
+resolved_reference = "a59963ef890891656fd17c90e12d663233dcaa99"
+
+[[package]]
+name = "pyribbit"
+version = "0.1.46"
+description = "Easy-to-use Python renderer for 3D visualization"
+optional = true
+python-versions = "*"
+files = [
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+    {file = "pyribbit-0.1.46.tar.gz", hash = "sha256:3bb7a31841549ed74c50e31415738d2494b720df825cf387501f17102299940b"},
+]
+
+[package.dependencies]
+freetype-py = "*"
+imageio = "*"
+networkx = "*"
+numpy = "*"
+Pillow = "*"
+pyglet = ">=1.4.10"
+PyOpenGL = ">=3.1.0"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
 [[package]]
 name = "pyserial"
 version = "3.5"
@@ -3244,13 +5269,13 @@ files = [
 
 [[package]]
 name = "pytest"
-version = "8.2.2"
+version = "8.3.3"
 description = "pytest: simple powerful testing with Python"
 optional = true
 python-versions = ">=3.8"
 files = [
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+    {file = "pytest-8.3.3-py3-none-any.whl", hash = "sha256:a6853c7375b2663155079443d2e45de913a911a11d669df02a50814944db57b2"},
+    {file = "pytest-8.3.3.tar.gz", hash = "sha256:70b98107bd648308a7952b06e6ca9a50bc660be218d53c257cc1fc94fda10181"},
 ]
 
 [package.dependencies]
@@ -3258,7 +5283,7 @@ colorama = {version = "*", markers = "sys_platform == \"win32\""}
 exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.5,<2.0"
+pluggy = ">=1.5,<2"
 tomli = {version = ">=1", markers = "python_version < \"3.11\""}
 
 [package.extras]
@@ -3296,6 +5321,36 @@ files = [
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
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+version = "2.0.7"
+description = "A python library adding a json log formatter"
+optional = true
+python-versions = ">=3.6"
+files = [
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+    {file = "python_json_logger-2.0.7-py3-none-any.whl", hash = "sha256:f380b826a991ebbe3de4d897aeec42760035ac760345e57b812938dc8b35e2bd"},
+]
+
+[[package]]
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+version = "3.9.0"
+description = "Python Utils is a module with some convenient utilities not included with the standard Python install"
+optional = true
+python-versions = ">3.9.0"
+files = [
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+    {file = "python_utils-3.9.0.tar.gz", hash = "sha256:3689556884e3ae53aec5a4c9f17b36e752a3e93a7ba2768c6553fc4dd6fa70ef"},
+]
+
+[package.dependencies]
+typing-extensions = ">3.10.0.2"
+
+[package.extras]
+docs = ["mock", "python-utils", "sphinx"]
+loguru = ["loguru"]
+tests = ["blessings", "loguru", "loguru-mypy", "mypy-ipython", "pyright", "pytest", "pytest-asyncio", "pytest-cov", "pytest-mypy", "ruff", "sphinx", "types-setuptools"]
+
 [[package]]
 name = "python-xlib"
 version = "0.33"
@@ -3312,163 +5367,355 @@ six = ">=1.10.0"
 
 [[package]]
 name = "pytz"
-version = "2024.1"
+version = "2024.2"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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+[[package]]
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+version = "1.2.1"
+description = "Python USB access module"
+optional = true
+python-versions = ">=3.6.0"
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+description = "Wrapper package for OpenCV with Inference Engine python bindings, but compiled under another namespace to prevent conflicts with the default OpenCV python packages"
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+python-versions = "*"
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 version = "2.32.3"
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 [[package]]
 name = "rerun-sdk"
-version = "0.17.0"
+version = "0.18.2"
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 python-versions = "<3.13,>=3.8"
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 typing-extensions = ">=4.5"
 
 [package.extras]
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 tests = ["pytest (==7.1.2)"]
 
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+
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 [package.dependencies]
@@ -3725,18 +6172,34 @@ numpy = ">=1.23.5,<2.3"
 
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+
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+name = "send2trash"
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+objc = ["pyobjc-framework-Cocoa"]
+win32 = ["pywin32"]
 
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 name = "sentry-sdk"
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+version = "2.14.0"
 description = "Python client for Sentry (https://sentry.io)"
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 python-versions = ">=3.6"
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 [package.dependencies]
@@ -3763,10 +6226,11 @@ httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
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 ]
 
 [package.dependencies]
@@ -3968,26 +6453,101 @@ files = [
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 ]
 
+[[package]]
+name = "snakeviz"
+version = "2.2.0"
+description = "A web-based viewer for Python profiler output"
+optional = true
+python-versions = ">=3.7"
+files = [
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+]
+
+[package.dependencies]
+tornado = ">=2.0"
+
+[[package]]
+name = "sniffio"
+version = "1.3.1"
+description = "Sniff out which async library your code is running under"
+optional = true
+python-versions = ">=3.7"
+files = [
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+]
+
 [[package]]
 name = "soupsieve"
-version = "2.5"
+version = "2.6"
 description = "A modern CSS selector implementation for Beautiful Soup."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "soupsieve-2.6.tar.gz", hash = "sha256:e2e68417777af359ec65daac1057404a3c8a5455bb8abc36f1a9866ab1a51abb"},
+]
+
+[[package]]
+name = "speechrecognition"
+version = "3.10.4"
+description = "Library for performing speech recognition, with support for several engines and APIs, online and offline."
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+requests = ">=2.26.0"
+typing-extensions = "*"
+
+[package.extras]
+dev = ["flake8", "rstcheck"]
+whisper-api = ["openai"]
+whisper-local = ["openai-whisper", "soundfile"]
+
+[[package]]
+name = "spidev"
+version = "3.6"
+description = "Python bindings for Linux SPI access through spidev"
+optional = true
+python-versions = "*"
+files = [
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+]
+
+[[package]]
+name = "stack-data"
+version = "0.6.3"
+description = "Extract data from python stack frames and tracebacks for informative displays"
+optional = true
+python-versions = "*"
+files = [
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 ]
 
+[package.dependencies]
+asttokens = ">=2.1.0"
+executing = ">=1.2.0"
+pure-eval = "*"
+
+[package.extras]
+tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+
 [[package]]
 name = "sympy"
-version = "1.13.0"
+version = "1.13.3"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "sympy-1.13.3.tar.gz", hash = "sha256:b27fd2c6530e0ab39e275fc9b683895367e51d5da91baa8d3d64db2565fec4d9"},
 ]
 
 [package.dependencies]
@@ -3997,18 +6557,34 @@ mpmath = ">=1.1.0,<1.4"
 dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
 
 [[package]]
-name = "tbb"
-version = "2021.13.0"
-description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
-optional = false
-python-versions = "*"
+name = "tabulate"
+version = "0.9.0"
+description = "Pretty-print tabular data"
+optional = true
+python-versions = ">=3.7"
+files = [
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+    {file = "tabulate-0.9.0.tar.gz", hash = "sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c"},
+]
+
+[package.extras]
+widechars = ["wcwidth"]
+
+[[package]]
+name = "tenacity"
+version = "9.0.0"
+description = "Retry code until it succeeds"
+optional = true
+python-versions = ">=3.8"
 files = [
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+    {file = "tenacity-9.0.0.tar.gz", hash = "sha256:807f37ca97d62aa361264d497b0e31e92b8027044942bfa756160d908320d73b"},
 ]
 
+[package.extras]
+doc = ["reno", "sphinx"]
+test = ["pytest", "tornado (>=4.5)", "typeguard"]
+
 [[package]]
 name = "termcolor"
 version = "2.4.0"
@@ -4023,15 +6599,36 @@ files = [
 [package.extras]
 tests = ["pytest", "pytest-cov"]
 
+[[package]]
+name = "terminado"
+version = "0.18.1"
+description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+ptyprocess = {version = "*", markers = "os_name != \"nt\""}
+pywinpty = {version = ">=1.1.0", markers = "os_name == \"nt\""}
+tornado = ">=6.1.0"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["pre-commit", "pytest (>=7.0)", "pytest-timeout"]
+typing = ["mypy (>=1.6,<2.0)", "traitlets (>=5.11.1)"]
+
 [[package]]
 name = "tifffile"
-version = "2024.7.2"
+version = "2024.9.20"
 description = "Read and write TIFF files"
 optional = true
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 files = [
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 ]
 
 [package.dependencies]
@@ -4039,6 +6636,29 @@ numpy = "*"
 
 [package.extras]
 all = ["defusedxml", "fsspec", "imagecodecs (>=2023.8.12)", "lxml", "matplotlib", "zarr"]
+codecs = ["imagecodecs (>=2023.8.12)"]
+plot = ["matplotlib"]
+test = ["cmapfile", "czifile", "dask", "defusedxml", "fsspec", "imagecodecs", "lfdfiles", "lxml", "ndtiff", "oiffile", "psdtags", "pytest", "roifile", "xarray", "zarr"]
+xml = ["defusedxml", "lxml"]
+zarr = ["fsspec", "zarr"]
+
+[[package]]
+name = "tinycss2"
+version = "1.3.0"
+description = "A tiny CSS parser"
+optional = true
+python-versions = ">=3.8"
+files = [
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+    {file = "tinycss2-1.3.0.tar.gz", hash = "sha256:152f9acabd296a8375fbca5b84c961ff95971fcfc32e79550c8df8e29118c54d"},
+]
+
+[package.dependencies]
+webencodings = ">=0.4"
+
+[package.extras]
+doc = ["sphinx", "sphinx_rtd_theme"]
+test = ["pytest", "ruff"]
 
 [[package]]
 name = "tomli"
@@ -4053,104 +6673,125 @@ files = [
 
 [[package]]
 name = "torch"
-version = "2.3.1"
+version = "2.4.1"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = false
 python-versions = ">=3.8.0"
 files = [
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 ]
 
 [package.dependencies]
 filelock = "*"
 fsspec = "*"
 jinja2 = "*"
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 networkx = "*"
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-nvidia-cudnn-cu12 = {version = "8.9.2.26", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
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 nvidia-cufft-cu12 = {version = "11.0.2.54", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
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 nvidia-nvtx-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
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 sympy = "*"
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+triton = {version = "3.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.13\""}
 typing-extensions = ">=4.8.0"
 
 [package.extras]
 opt-einsum = ["opt-einsum (>=3.3)"]
-optree = ["optree (>=0.9.1)"]
+optree = ["optree (>=0.11.0)"]
 
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 name = "torchvision"
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 description = "image and video datasets and models for torch deep learning"
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 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
-torch = "2.3.1"
+torch = "2.4.1"
 
 [package.extras]
+gdown = ["gdown (>=4.7.3)"]
 scipy = ["scipy"]
 
+[[package]]
+name = "tornado"
+version = "6.4.1"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = true
+python-versions = ">=3.8"
+files = [
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+]
+
 [[package]]
 name = "tqdm"
-version = "4.66.4"
+version = "4.66.5"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -4162,19 +6803,68 @@ notebook = ["ipywidgets (>=6)"]
 slack = ["slack-sdk"]
 telegram = ["requests"]
 
+[[package]]
+name = "traitlets"
+version = "5.14.3"
+description = "Traitlets Python configuration system"
+optional = true
+python-versions = ">=3.8"
+files = [
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+    {file = "traitlets-5.14.3.tar.gz", hash = "sha256:9ed0579d3502c94b4b3732ac120375cda96f923114522847de4b3bb98b96b6b7"},
+]
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.2)", "pytest-mock", "pytest-mypy-testing"]
+
+[[package]]
+name = "transforms3d"
+version = "0.4.2"
+description = "Functions for 3D coordinate transformations"
+optional = true
+python-versions = ">=3.6"
+files = [
+    {file = "transforms3d-0.4.2-py3-none-any.whl", hash = "sha256:1c70399d9e9473ecc23311fd947f727f7c69ed0b063244828c383aa1aefa5941"},
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+]
+
+[package.dependencies]
+numpy = ">=1.15"
+
+[[package]]
+name = "trimesh"
+version = "4.4.7"
+description = "Import, export, process, analyze and view triangular meshes."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "trimesh-4.4.7-py3-none-any.whl", hash = "sha256:6df98f3f5b971945b416f567b7ff6ee0c51b70f01b80a16a990fdcceb8dbd114"},
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+]
+
+[package.dependencies]
+numpy = ">=1.20"
+
+[package.extras]
+all = ["trimesh[deprecated,easy,recommend,test]"]
+deprecated = ["gmsh (==4.12.2)"]
+easy = ["chardet", "colorlog", "embreex", "httpx", "jsonschema", "lxml", "manifold3d (>=2.3.0)", "mapbox-earcut (>=1.0.2)", "networkx", "pillow", "pycollada", "rtree", "scipy", "setuptools", "shapely", "svg.path", "vhacdx", "xatlas", "xxhash"]
+recommend = ["cascadio", "glooey", "meshio", "openctm", "psutil", "pyglet (<2)", "python-fcl", "scikit-image", "sympy"]
+test = ["coveralls", "ezdxf", "matplotlib", "pyinstrument", "pymeshlab", "pyright", "pytest", "pytest-beartype", "pytest-cov", "ruff"]
+
 [[package]]
 name = "triton"
-version = "2.3.1"
+version = "3.0.0"
 description = "A language and compiler for custom Deep Learning operations"
 optional = false
 python-versions = "*"
 files = [
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+    {file = "triton-3.0.0-1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:34e509deb77f1c067d8640725ef00c5cbfcb2052a1a3cb6a6d343841f92624eb"},
+    {file = "triton-3.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:bcbf3b1c48af6a28011a5c40a5b3b9b5330530c3827716b5fbf6d7adcc1e53e9"},
+    {file = "triton-3.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:6e5727202f7078c56f91ff13ad0c1abab14a0e7f2c87e91b12b6f64f3e8ae609"},
 ]
 
 [package.dependencies]
@@ -4182,8 +6872,19 @@ filelock = "*"
 
 [package.extras]
 build = ["cmake (>=3.20)", "lit"]
-tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)", "torch"]
-tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
+tests = ["autopep8", "flake8", "isort", "llnl-hatchet", "numpy", "pytest", "scipy (>=1.7.1)"]
+tutorials = ["matplotlib", "pandas", "tabulate"]
+
+[[package]]
+name = "types-python-dateutil"
+version = "2.9.0.20240906"
+description = "Typing stubs for python-dateutil"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "types-python-dateutil-2.9.0.20240906.tar.gz", hash = "sha256:9706c3b68284c25adffc47319ecc7947e5bb86b3773f843c73906fd598bc176e"},
+    {file = "types_python_dateutil-2.9.0.20240906-py3-none-any.whl", hash = "sha256:27c8cc2d058ccb14946eebcaaa503088f4f6dbc4fb6093d3d456a49aef2753f6"},
+]
 
 [[package]]
 name = "typing-extensions"
@@ -4198,24 +6899,78 @@ files = [
 
 [[package]]
 name = "tzdata"
-version = "2024.1"
+version = "2024.2"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2024.1-py2.py3-none-any.whl", hash = "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"},
-    {file = "tzdata-2024.1.tar.gz", hash = "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd"},
+    {file = "tzdata-2024.2-py2.py3-none-any.whl", hash = "sha256:a48093786cdcde33cad18c2555e8532f34422074448fbc874186f0abd79565cd"},
+    {file = "tzdata-2024.2.tar.gz", hash = "sha256:7d85cc416e9382e69095b7bdf4afd9e3880418a2413feec7069d533d6b4e31cc"},
+]
+
+[[package]]
+name = "urchin"
+version = "0.0.27"
+description = "URDF parser and manipulator for Python"
+optional = true
+python-versions = "*"
+files = [
+    {file = "urchin-0.0.27-py3-none-any.whl", hash = "sha256:e4cf43c8f52a44e0075e1778b76c203922085dd1fb9340cd703bf54188208611"},
+    {file = "urchin-0.0.27.tar.gz", hash = "sha256:bda308ed7d2b80eb1e097dc3963fabe9e00a6cbd89a1f6be6f063c2a065d3671"},
+]
+
+[package.dependencies]
+lxml = "*"
+networkx = "*"
+numpy = "*"
+pillow = "*"
+pycollada = ">=0.6"
+pyribbit = ">=0.1.46"
+scipy = "*"
+six = "*"
+trimesh = "*"
+
+[package.extras]
+dev = ["flake8", "pre-commit", "pytest", "pytest-cov", "tox"]
+docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
+
+[[package]]
+name = "urdf-parser-py"
+version = "0.0.4"
+description = "This package contains a python parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model."
+optional = true
+python-versions = "*"
+files = [
+    {file = "urdf_parser_py-0.0.4.tar.gz", hash = "sha256:e983f637145fded67bcff6a542302069bb975b2edf1b18318c093abba1b794cc"},
+]
+
+[package.dependencies]
+lxml = "*"
+pyyaml = "*"
+
+[[package]]
+name = "uri-template"
+version = "1.3.0"
+description = "RFC 6570 URI Template Processor"
+optional = true
+python-versions = ">=3.7"
+files = [
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 ]
 
+[package.extras]
+dev = ["flake8", "flake8-annotations", "flake8-bandit", "flake8-bugbear", "flake8-commas", "flake8-comprehensions", "flake8-continuation", "flake8-datetimez", "flake8-docstrings", "flake8-import-order", "flake8-literal", "flake8-modern-annotations", "flake8-noqa", "flake8-pyproject", "flake8-requirements", "flake8-typechecking-import", "flake8-use-fstring", "mypy", "pep8-naming", "types-PyYAML"]
+
 [[package]]
 name = "urllib3"
-version = "2.2.2"
+version = "2.2.3"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac"},
+    {file = "urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"},
 ]
 
 [package.extras]
@@ -4226,13 +6981,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.3"
+version = "20.26.5"
 description = "Virtual Python Environment builder"
 optional = true
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
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+    {file = "virtualenv-20.26.5-py3-none-any.whl", hash = "sha256:4f3ac17b81fba3ce3bd6f4ead2749a72da5929c01774948e243db9ba41df4ff6"},
+    {file = "virtualenv-20.26.5.tar.gz", hash = "sha256:ce489cac131aa58f4b25e321d6d186171f78e6cb13fafbf32a840cee67733ff4"},
 ]
 
 [package.dependencies]
@@ -4246,18 +7001,19 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "wandb"
-version = "0.17.4"
+version = "0.18.1"
 description = "A CLI and library for interacting with the Weights & Biases API."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "wandb-0.18.1-py3-none-any.whl", hash = "sha256:be936a193eeb940ce03d966f013b847562497e76256852d5fb170cdcdf50f185"},
+    {file = "wandb-0.18.1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:1f143b814b0fd51b5f1a676ad8b66bd06a5ee4ad22fc46bcbf24048d76c77d35"},
+    {file = "wandb-0.18.1-py3-none-macosx_11_0_x86_64.whl", hash = "sha256:86b73a9f94f18b07f0e937ae945560244b560b57c16a9dfb8f03e2516d0cc666"},
+    {file = "wandb-0.18.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cc404682ebfb2477b48cb436a331e1bea0262e002d6fb3ccafe71d13657dd4ee"},
+    {file = "wandb-0.18.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fd4c97d69242efd604c1a2077c8b56341e236cfaca78c40f59dcef9b95464fdc"},
+    {file = "wandb-0.18.1-py3-none-win32.whl", hash = "sha256:33c5a0d74bc28879917b519f24d69b0e81530d72e99aba1c115189a2c9aac9cf"},
+    {file = "wandb-0.18.1-py3-none-win_amd64.whl", hash = "sha256:559cbd6e9ab752622f7d6dacdc334ede7f1bc34f42df3f48ed32bde55db42c6e"},
+    {file = "wandb-0.18.1.tar.gz", hash = "sha256:d625e94d53ff4ff961c58a9a17f0a1ea35720d98b9db710a458235924469fc6b"},
 ]
 
 [package.dependencies]
@@ -4265,7 +7021,7 @@ click = ">=7.1,<8.0.0 || >8.0.0"
 docker-pycreds = ">=0.4.0"
 gitpython = ">=1.0.0,<3.1.29 || >3.1.29"
 platformdirs = "*"
-protobuf = {version = ">=3.19.0,<4.21.0 || >4.21.0,<6", markers = "python_version > \"3.9\" or sys_platform != \"linux\""}
+protobuf = {version = ">=3.19.0,<4.21.0 || >4.21.0,<5.28.0 || >5.28.0,<6", markers = "python_version > \"3.9\" or sys_platform != \"linux\""}
 psutil = ">=5.0.0"
 pyyaml = "*"
 requests = ">=2.0.0,<3"
@@ -4277,9 +7033,9 @@ setuptools = "*"
 aws = ["boto3"]
 azure = ["azure-identity", "azure-storage-blob"]
 gcp = ["google-cloud-storage"]
-importers = ["filelock", "mlflow", "polars", "rich", "tenacity"]
+importers = ["filelock", "mlflow", "polars (<=1.2.1)", "rich", "tenacity"]
 kubeflow = ["google-cloud-storage", "kubernetes", "minio", "sh"]
-launch = ["awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "pyyaml (>=6.0.0)", "tomli", "typing-extensions"]
+launch = ["awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "jsonschema", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "pyyaml (>=6.0.0)", "tomli", "typing-extensions"]
 media = ["bokeh", "moviepy", "numpy", "pillow", "plotly (>=5.18.0)", "rdkit-pypi", "soundfile"]
 models = ["cloudpickle"]
 perf = ["orjson"]
@@ -4297,15 +7053,57 @@ files = [
     {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
 ]
 
+[[package]]
+name = "webcolors"
+version = "24.8.0"
+description = "A library for working with the color formats defined by HTML and CSS."
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "webcolors-24.8.0-py3-none-any.whl", hash = "sha256:fc4c3b59358ada164552084a8ebee637c221e4059267d0f8325b3b560f6c7f0a"},
+    {file = "webcolors-24.8.0.tar.gz", hash = "sha256:08b07af286a01bcd30d583a7acadf629583d1f79bfef27dd2c2c5c263817277d"},
+]
+
+[package.extras]
+docs = ["furo", "sphinx", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-notfound-page", "sphinxext-opengraph"]
+tests = ["coverage[toml]"]
+
+[[package]]
+name = "webencodings"
+version = "0.5.1"
+description = "Character encoding aliases for legacy web content"
+optional = true
+python-versions = "*"
+files = [
+    {file = "webencodings-0.5.1-py2.py3-none-any.whl", hash = "sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78"},
+    {file = "webencodings-0.5.1.tar.gz", hash = "sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923"},
+]
+
+[[package]]
+name = "websocket-client"
+version = "1.8.0"
+description = "WebSocket client for Python with low level API options"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "websocket_client-1.8.0-py3-none-any.whl", hash = "sha256:17b44cc997f5c498e809b22cdf2d9c7a9e71c02c8cc2b6c56e7c2d1239bfa526"},
+    {file = "websocket_client-1.8.0.tar.gz", hash = "sha256:3239df9f44da632f96012472805d40a23281a991027ce11d2f45a6f24ac4c3da"},
+]
+
+[package.extras]
+docs = ["Sphinx (>=6.0)", "myst-parser (>=2.0.0)", "sphinx-rtd-theme (>=1.1.0)"]
+optional = ["python-socks", "wsaccel"]
+test = ["websockets"]
+
 [[package]]
 name = "werkzeug"
-version = "3.0.3"
+version = "3.0.4"
 description = "The comprehensive WSGI web application library."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "werkzeug-3.0.3-py3-none-any.whl", hash = "sha256:fc9645dc43e03e4d630d23143a04a7f947a9a3b5727cd535fdfe155a17cc48c8"},
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+    {file = "werkzeug-3.0.4-py3-none-any.whl", hash = "sha256:02c9eb92b7d6c06f31a782811505d2157837cea66aaede3e217c7c27c039476c"},
+    {file = "werkzeug-3.0.4.tar.gz", hash = "sha256:34f2371506b250df4d4f84bfe7b0921e4762525762bbd936614909fe25cd7306"},
 ]
 
 [package.dependencies]
@@ -4314,220 +7112,259 @@ MarkupSafe = ">=2.1.1"
 [package.extras]
 watchdog = ["watchdog (>=2.3)"]
 
+[[package]]
+name = "widgetsnbextension"
+version = "4.0.13"
+description = "Jupyter interactive widgets for Jupyter Notebook"
+optional = true
+python-versions = ">=3.7"
+files = [
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+    {file = "widgetsnbextension-4.0.13.tar.gz", hash = "sha256:ffcb67bc9febd10234a362795f643927f4e0c05d9342c727b65d2384f8feacb6"},
+]
+
+[[package]]
+name = "xmltodict"
+version = "0.13.0"
+description = "Makes working with XML feel like you are working with JSON"
+optional = true
+python-versions = ">=3.4"
+files = [
+    {file = "xmltodict-0.13.0-py2.py3-none-any.whl", hash = "sha256:aa89e8fd76320154a40d19a0df04a4695fb9dc5ba977cbb68ab3e4eb225e7852"},
+    {file = "xmltodict-0.13.0.tar.gz", hash = "sha256:341595a488e3e01a85a9d8911d8912fd922ede5fecc4dce437eb4b6c8d037e56"},
+]
+
 [[package]]
 name = "xxhash"
-version = "3.4.1"
+version = "3.5.0"
 description = "Python binding for xxHash"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "xxhash-3.4.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:91dbfa55346ad3e18e738742236554531a621042e419b70ad8f3c1d9c7a16e7f"},
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+    {file = "yarl-1.12.1-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:838dde2cb570cfbb4cab8a876a0974e8b90973ea40b3ac27a79b8a74c8a2db15"},
+    {file = "yarl-1.12.1-cp39-cp39-win32.whl", hash = "sha256:eacbcf30efaca7dc5cb264228ffecdb95fdb1e715b1ec937c0ce6b734161e0c8"},
+    {file = "yarl-1.12.1-cp39-cp39-win_amd64.whl", hash = "sha256:76a59d1b63de859398bc7764c860a769499511463c1232155061fe0147f13e01"},
+    {file = "yarl-1.12.1-py3-none-any.whl", hash = "sha256:dc3192a81ecd5ff954cecd690327badd5a84d00b877e1573f7c9097ce13e5bfb"},
+    {file = "yarl-1.12.1.tar.gz", hash = "sha256:5b860055199aec8d6fe4dcee3c5196ce506ca198a50aab0059ffd26e8e815828"},
 ]
 
 [package.dependencies]
@@ -4536,20 +7373,20 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zarr"
-version = "2.18.2"
+version = "2.18.3"
 description = "An implementation of chunked, compressed, N-dimensional arrays for Python"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 files = [
-    {file = "zarr-2.18.2-py3-none-any.whl", hash = "sha256:a638754902f97efa99b406083fdc807a0e2ccf12a949117389d2a4ba9b05df38"},
-    {file = "zarr-2.18.2.tar.gz", hash = "sha256:9bb393b8a0a38fb121dbb913b047d75db28de9890f6d644a217a73cf4ae74f47"},
+    {file = "zarr-2.18.3-py3-none-any.whl", hash = "sha256:b1f7dfd2496f436745cdd4c7bcf8d3b4bc1dceef5fdd0d589c87130d842496dd"},
+    {file = "zarr-2.18.3.tar.gz", hash = "sha256:2580d8cb6dd84621771a10d31c4d777dca8a27706a1a89b29f42d2d37e2df5ce"},
 ]
 
 [package.dependencies]
 asciitree = "*"
 fasteners = {version = "*", markers = "sys_platform != \"emscripten\""}
 numcodecs = ">=0.10.0"
-numpy = ">=1.23"
+numpy = ">=1.24"
 
 [package.extras]
 docs = ["numcodecs[msgpack]", "numpydoc", "pydata-sphinx-theme", "sphinx", "sphinx-automodapi", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
@@ -4557,18 +7394,22 @@ jupyter = ["ipytree (>=0.2.2)", "ipywidgets (>=8.0.0)", "notebook"]
 
 [[package]]
 name = "zipp"
-version = "3.19.2"
+version = "3.20.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
-    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
+    {file = "zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350"},
+    {file = "zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"},
 ]
 
 [package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
+type = ["pytest-mypy"]
 
 [extras]
 aloha = ["gym-aloha"]
@@ -4577,6 +7418,7 @@ dora = ["gym-dora"]
 dynamixel = ["dynamixel-sdk", "pynput"]
 intelrealsense = ["pyrealsense2"]
 pusht = ["gym-pusht"]
+stretch = ["hello-robot-stretch-body", "pynput", "pyrealsense2", "pyrender"]
 test = ["pyserial", "pytest", "pytest-cov"]
 umi = ["imagecodecs"]
 video-benchmark = ["pandas", "scikit-image"]
@@ -4585,4 +7427,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "5e4f6b9727d67a37d1c6d94af7661bb688a0866afd30878c5e523b8e768deac6"
+content-hash = "78f31561a7e4b6f0a97e27a65ec00c2c1826f420d2587396762bb5485d12f676"
diff --git a/pyproject.toml b/pyproject.toml
index 119244419..47e982d1b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -64,9 +64,10 @@ pandas = {version = ">=2.2.2", optional = true}
 scikit-image = {version = ">=0.23.2", optional = true}
 dynamixel-sdk = {version = ">=3.7.31", optional = true}
 pynput = {version = ">=1.7.7", optional = true}
-# TODO(rcadene, salibert): 71.0.1 has a bug
-setuptools = {version = "!=71.0.1", optional = true}
-pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true}
+setuptools = {version = "!=71.0.1", optional = true}  # TODO(rcadene, aliberts): 71.0.1 has a bug
+pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true}  # TODO(rcadene, aliberts): Fix on Mac
+pyrender = {git = "https://github.com/mmatl/pyrender.git", markers = "sys_platform == 'linux'", optional = true}
+hello-robot-stretch-body = {version = ">=0.7.27", markers = "sys_platform == 'linux'", optional = true}
 pyserial = {version = ">=3.5", optional = true}
 
 
@@ -81,6 +82,7 @@ umi = ["imagecodecs"]
 video_benchmark = ["scikit-image", "pandas"]
 dynamixel = ["dynamixel-sdk", "pynput"]
 intelrealsense = ["pyrealsense2"]
+stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
 
 [tool.ruff]
 line-length = 110
diff --git a/tests/mock_cv2.py b/tests/mock_cv2.py
index a3e19e550..3f3f9e343 100644
--- a/tests/mock_cv2.py
+++ b/tests/mock_cv2.py
@@ -8,6 +8,10 @@
 COLOR_RGB2BGR = 4
 COLOR_BGR2RGB = 4
 
+ROTATE_90_COUNTERCLOCKWISE = 2
+ROTATE_90_CLOCKWISE = 0
+ROTATE_180 = 1
+
 
 @cache
 def _generate_image(width: int, height: int):
@@ -21,6 +25,19 @@ def cvtColor(color_image, color_convertion):  # noqa: N802
         raise NotImplementedError(color_convertion)
 
 
+def rotate(color_image, rotation):
+    if rotation is None:
+        return color_image
+    elif rotation == ROTATE_90_CLOCKWISE:
+        return np.rot90(color_image, k=1)
+    elif rotation == ROTATE_180:
+        return np.rot90(color_image, k=2)
+    elif rotation == ROTATE_90_COUNTERCLOCKWISE:
+        return np.rot90(color_image, k=3)
+    else:
+        raise NotImplementedError(rotation)
+
+
 class VideoCapture:
     def __init__(self, *args, **kwargs):
         self._mock_dict = {
diff --git a/tests/mock_pyrealsense2.py b/tests/mock_pyrealsense2.py
index b9c6ccf96..5a39fc2bf 100644
--- a/tests/mock_pyrealsense2.py
+++ b/tests/mock_pyrealsense2.py
@@ -3,33 +3,31 @@
 import numpy as np
 
 
-class RSStream(enum.Enum):
+class stream(enum.Enum):  # noqa: N801
     color = 0
     depth = 1
 
 
-class RSFormat(enum.Enum):
+class format(enum.Enum):  # noqa: N801
     rgb8 = 0
     z16 = 1
 
 
-class RSConfig:
+class config:  # noqa: N801
     def enable_device(self, device_id: str):
         self.device_enabled = device_id
 
-    def enable_stream(
-        self, stream_type: RSStream, width=None, height=None, color_format: RSFormat = None, fps=None
-    ):
+    def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None):
         self.stream_type = stream_type
         # Overwrite default values when possible
         self.width = 848 if width is None else width
         self.height = 480 if height is None else height
-        self.color_format = RSFormat.rgb8 if color_format is None else color_format
+        self.color_format = format.rgb8 if color_format is None else color_format
         self.fps = 30 if fps is None else fps
 
 
 class RSColorProfile:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def fps(self):
@@ -43,7 +41,7 @@ def height(self):
 
 
 class RSColorStream:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def as_video_stream_profile(self):
@@ -51,20 +49,20 @@ def as_video_stream_profile(self):
 
 
 class RSProfile:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
-    def get_stream(self, color_format: RSFormat):
+    def get_stream(self, color_format):
         del color_format  # unused
         return RSColorStream(self.config)
 
 
-class RSPipeline:
+class pipeline:  # noqa: N801
     def __init__(self):
         self.started = False
         self.config = None
 
-    def start(self, config: RSConfig):
+    def start(self, config):
         self.started = True
         self.config = config
         return RSProfile(self.config)
@@ -81,7 +79,7 @@ def wait_for_frames(self, timeout_ms=50000):
 
 
 class RSFrames:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_color_frame(self):
@@ -92,7 +90,7 @@ def get_depth_frame(self):
 
 
 class RSColorFrame:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_data(self):
@@ -103,7 +101,7 @@ def get_data(self):
 
 
 class RSDepthFrame:
-    def __init__(self, config: RSConfig):
+    def __init__(self, config):
         self.config = config
 
     def get_data(self):
@@ -120,7 +118,7 @@ def get_info(self, camera_info) -> str:
         return "123456789"
 
 
-class RSContext:
+class context:  # noqa: N801
     def __init__(self):
         pass
 
@@ -128,7 +126,10 @@ def query_devices(self):
         return [RSDevice()]
 
 
-class RSCameraInfo:
+class camera_info:  # noqa: N801
+    # fake name
+    name = "Intel RealSense D435I"
+
     def __init__(self, serial_number):
         del serial_number
         pass
diff --git a/tests/test_cameras.py b/tests/test_cameras.py
index 72da248d6..67512779a 100644
--- a/tests/test_cameras.py
+++ b/tests/test_cameras.py
@@ -120,6 +120,41 @@ def test_camera(request, camera_type, mock):
     )
     del camera
 
+    # Test acquiring a rotated image
+    camera = make_camera(camera_type, mock=mock)
+    camera.connect()
+    ori_color_image = camera.read()
+    del camera
+
+    for rotation in [None, 90, 180, -90]:
+        camera = make_camera(camera_type, rotation=rotation, mock=mock)
+        camera.connect()
+
+        if mock:
+            import tests.mock_cv2 as cv2
+        else:
+            import cv2
+
+        if rotation is None:
+            manual_rot_img = ori_color_image
+            assert camera.rotation is None
+        elif rotation == 90:
+            manual_rot_img = np.rot90(color_image, k=1)
+            assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
+        elif rotation == 180:
+            manual_rot_img = np.rot90(color_image, k=2)
+            assert camera.rotation == cv2.ROTATE_180
+        elif rotation == -90:
+            manual_rot_img = np.rot90(color_image, k=3)
+            assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
+
+        rot_color_image = camera.read()
+
+        np.testing.assert_allclose(
+            rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
+        )
+        del camera
+
     # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
     # TODO(rcadene): Add a test for a camera that supports fps=60
 
@@ -152,4 +187,5 @@ def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
     elif camera_type == "intelrealsense":
         from lerobot.common.robot_devices.cameras.intelrealsense import save_images_from_cameras
 
-    save_images_from_cameras(tmpdir, record_time_s=1, mock=mock)
+    # Small `record_time_s` to speedup unit tests
+    save_images_from_cameras(tmpdir, record_time_s=0.02, mock=mock)