Packages

Package	Contains
rosetta	Contract loader, frame pipeline, the four nodes, rosetta_port, example contracts.
rosetta_interfaces	RecordEpisode, RunPolicy, ManageEpisode actions. StartRecording, StartPolicy, StartHILEpisode services.
lerobot_rosetta	The LeRobot adapter. Registers lerobot under rosetta.dataset_writers and rosetta.policy_runners. Executables rosetta_policy_server, rosetta_classifier_server.
lerobot_robot_rosetta	A LeRobot Robot plugin. --robot.type=rosetta in LeRobot’s own CLIs.
lerobot_teleoperator_rosetta	A LeRobot Teleoperator plugin. Experimental.

All five are at version 0.2.0.

Entry-point groups

Group	Registers	Read by
rosetta.codecs	A module that calls register_decoder and register_encoder.	Contract load.
rosetta.operators	A module that calls register_operator.	Contract load.
rosetta.dataset_writers	A class implementing DatasetWriter.	rosetta_port --framework.
rosetta.policy_runners	A class implementing PolicyRunner.	policy_runner_node parameter framework.

Dependencies

rosetta depends on ROS 2 packages resolvable by rosdep, plus numpy, pyyaml and rosbag2_storage_mcap. It doesn’t import a learning framework.

lerobot_rosetta needs lerobot, torch, grpcio and lerobot_robot_rosetta. lerobot_robot_rosetta needs lerobot. rosdep has a key for grpcio but none for lerobot or torch, so install those with pip. rosetta_ws installs LeRobot 0.6.0 from a source checkout with the dataset, async, training, peft and smolvla extras.