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Merged
jeff-hykin merged 15 commits into from
Feb 18, 2026
Merged

Add ARM Support #1229

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98725c5
add arm support
jeff-hykin Feb 10, 2026
8696799
-
jeff-hykin Feb 10, 2026
5913387
Update dependency specifications for open3d to support ARM and non AR…
Kaweees Feb 10, 2026
3470deb
Merge branch 'dev' into jeff/arm_support
jeff-hykin Feb 11, 2026
cf097a2
patch for CI
jeff-hykin Feb 11, 2026
17fabf8
fix mypy errors
jeff-hykin Feb 12, 2026
87702f4
Fix: conditionally include xcbuild for Darwin platforms only
Kaweees Feb 12, 2026
f6e6794
Fix: conditionally exclude packages without ARM wheels
Kaweees Feb 12, 2026
3318e91
format
jeff-hykin Feb 12, 2026
9c4ef0f
try to make mypy CI happy
jeff-hykin Feb 12, 2026
37f05dc
remove unused
jeff-hykin Feb 12, 2026
d4f53ca
Merge branch 'dev' into jeff/arm_support
jeff-hykin Feb 12, 2026
bf457f1
Merge branch 'dev' into jeff/arm_support
jeff-hykin Feb 12, 2026
ba7be91
Merge branch 'dev' into jeff/arm_support
jeff-hykin Feb 18, 2026
45dfc78
revert mypy stuff
jeff-hykin Feb 18, 2026
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2 changes: 1 addition & 1 deletion flake.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
{ vals.pkg=pkgs.cctools; flags={}; onlyIf=pkgs.stdenv.isDarwin; } # for pip install opencv-python
{ vals.pkg=pkgs.pcre2; flags={ ldLibraryGroup=pkgs.stdenv.isDarwin; packageConfGroup=pkgs.stdenv.isDarwin; }; }
{ vals.pkg=pkgs.libsysprof-capture; flags.packageConfGroup=true; onlyIf=pkgs.stdenv.isDarwin; }
{ vals.pkg=pkgs.xcbuild; flags={}; }
{ vals.pkg=pkgs.xcbuild; flags={}; onlyIf=pkgs.stdenv.isDarwin; }
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@jeff-hykin jeff-hykin Feb 12, 2026 •
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this change was on dev at some point idk how it got removed but not having it causes problems because xcbuild is a macos tool

{ vals.pkg=pkgs.git-lfs; flags={}; }
{ vals.pkg=pkgs.gnugrep; flags={}; }
{ vals.pkg=pkgs.gnused; flags={}; }
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16 changes: 9 additions & 7 deletions pyproject.toml
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Expand Up @@ -52,7 +52,8 @@ dependencies = [
"colorlog==6.9.0",
# Core Msgs
"opencv-python",
"open3d",
"open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
"open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
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@jeff-hykin jeff-hykin Feb 12, 2026

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This is the ONLY change that should be in this PR, everything else is to pass CI

# CLI
"pydantic-settings>=2.11.0,<3",
"textual==3.7.1",
Expand Down Expand Up @@ -171,7 +172,7 @@ unitree = [

manipulation = [
# Planning (Drake)
"drake>=1.40.0",
"drake>=1.40.0; platform_machine != 'aarch64'",

# Hardware SDKs
"piper-sdk",
Expand All @@ -195,13 +196,13 @@ cpu = [
]

cuda = [
"cupy-cuda12x==13.6.0",
"nvidia-nvimgcodec-cu12[all]",
"onnxruntime-gpu>=1.17.1", # Only versions supporting both cuda11 and cuda12
"cupy-cuda12x==13.6.0; platform_machine == 'x86_64'",
"nvidia-nvimgcodec-cu12[all]; platform_machine == 'x86_64'",
"onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12
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@Kaweees Kaweees Feb 18, 2026 •
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Some features may not work given we have to "mute" a lot of packages given they lack ARM support. We might have to build ARM wheels for all of these

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@jeff-hykin jeff-hykin Feb 18, 2026 •
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yeah I was debating these. Right now cuda on arm doesn't work because of the jetpack issues anyways (like on the G1). Its a medium/low-priority to get cuda on Arm rn compared to just getting arm support. So I think its fine as-is

"ctransformers[cuda]==0.2.27",
"mmengine>=0.10.3",
"mmcv>=2.1.0",
"xformers>=0.0.20",
"xformers>=0.0.20; platform_machine == 'x86_64'",
]

dev = [
Expand Down Expand Up @@ -297,7 +298,8 @@ docker = [
"sortedcontainers",
"PyTurboJPEG",
"rerun-sdk",
"open3d"
"open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
"open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
]

base = [
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