diff --git a/poetry.lock b/poetry.lock
index 37f89e5c..234439d9 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -877,6 +877,19 @@ files = [
     {file = "fasteners-0.19.tar.gz", hash = "sha256:b4f37c3ac52d8a445af3a66bce57b33b5e90b97c696b7b984f530cf8f0ded09c"},
 ]
 
+[[package]]
+name = "feetech-servo-sdk"
+version = "1.0.0"
+description = "This is source code from official feetech repository"
+optional = true
+python-versions = "*"
+files = [
+    {file = "feetech-servo-sdk-1.0.0.tar.gz", hash = "sha256:d4d3832e4b1b22a8222133a414db9f868224c2fb639426a1b11d96ddfe84e69c"},
+]
+
+[package.dependencies]
+pyserial = "*"
+
 [[package]]
 name = "filelock"
 version = "3.15.4"
@@ -2406,7 +2419,6 @@ description = "Nvidia JIT LTO Library"
 optional = false
 python-versions = ">=3"
 files = [
-    {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_aarch64.whl", hash = "sha256:98103729cc5226e13ca319a10bbf9433bbbd44ef64fe72f45f067cacc14b8d27"},
     {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"},
 ]
@@ -4576,6 +4588,7 @@ aloha = ["gym-aloha"]
 dev = ["debugpy", "pre-commit"]
 dora = ["gym-dora"]
 dynamixel = ["dynamixel-sdk", "pynput"]
+feetech = ["feetech-servo-sdk", "pynput"]
 intelrealsense = ["pyrealsense2"]
 pusht = ["gym-pusht"]
 test = ["pytest", "pytest-cov"]
@@ -4586,4 +4599,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "06a8a1941b75c3ec78ade6f8b2c3ad7b5d2f1516b590fa3d5a773add73f6dbec"
+content-hash = "d5ab8550eb9ac1f94cc9b1222e1c9f3ba5dc80a6f702f597e82e26660b3fa062"
diff --git a/pyproject.toml b/pyproject.toml
index 5aa50052..a499d402 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -67,6 +67,8 @@ 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}
+feetech-servo-sdk = {version = ">=1.0.0", optional = true}
+
 
 
 [tool.poetry.extras]
@@ -79,6 +81,7 @@ test = ["pytest", "pytest-cov"]
 umi = ["imagecodecs"]
 video_benchmark = ["scikit-image", "pandas"]
 dynamixel = ["dynamixel-sdk", "pynput"]
+feetech = ["feetech-servo-sdk", "pynput"]
 intelrealsense = ["pyrealsense2"]
 
 [tool.ruff]