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# pyproject.toml
pyproject.description = "Isaac Lab"
pyproject.keywords = ["nvidia", "omniverse", "isaacsim", "isaaclab"]
pyproject.dependencies.all = [
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/setup.py
# ================================================================================
# generic
"numpy>=2",
"torch>=2.10",
"onnx>=1.18.0", # 1.16.2 throws access violation on Windows
"prettytable==3.3.0",
"toml",
# devices
"hidapi==0.14.0.post2",
# reinforcement learning
"gymnasium==1.2.0",
# procedural-generation
"trimesh",
"pyglet>=2.1.6",
# image processing
"transformers==4.57.6",
"einops", # needed for transformers, doesn't always auto-install
"warp-lang==1.13.0",
"matplotlib>=3.10.3",
# pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
# downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
"pillow>=12.1.1",
"botocore",
# livestream
# range chosen to coexist with isaacsim 6.0 (isaacsim-kernel pulls fastapi==0.117.1 -> starlette<0.49.0)
"starlette>=0.46.0,<0.50",
"omniverseclient==2.71.1.7015",
# testing
"pytest",
"pytest-mock",
"junitparser",
"flatdict==4.0.0",
"flaky",
"packaging",
# visualizers
"imgui-bundle==1.92.601",
"rerun-sdk>=0.29.0",
"pyarrow==23.0.1",
# viser is intentionally not a base dep: viser>=1.0.16 pulls websockets>=13.1,
# but isaacsim-kernel==6.0.0.0 pins websockets==12.0. Users who want the viser
# visualizer install isaaclab[viser] explicitly (see the optional-dependencies
# block below).
"typing_extensions==4.12.2",
# pydantic>=2.12 needs typing_extensions>=4.14.1; cap for isaacsim/kit-less coexistence.
"pydantic>=2.7,<2.12",
"lazy_loader>=0.4",
"pin ; platform_system == 'Linux'",
"pin-pink==3.3.0 ; platform_system == 'Linux'",
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_rl/setup.py
# ================================================================================
# generic
"numpy>=2",
"torch>=2.10",
"torchvision>=0.25.0", # ensure compatibility with torch 2.10
"protobuf>=4.25.8,!=5.26.0",
# configuration management
"hydra-core",
# data collection
"h5py",
# basic logger
"tensorboard",
# video recording
# moviepy bound and pillow floor mirror isaaclab_rl/setup.py: keep moviepy 2.x
# (pillow<12 cap) from downgrading pillow below Isaac Sim's prebundled version
# (nvbugs 6410989), and keep prerelease-allowing resolvers off the broken 2.0.0.dev2.
"moviepy>=1.0.3,<2.0.0.dev0",
"pillow>=12.1.1",
"packaging",
"tqdm==4.67.1",
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/setup.py
# ================================================================================
# generic
"numpy>=2",
"torch>=2.10",
"torchvision>=0.25.0", # ensure compatibility with torch 2.10
"protobuf>=4.25.8,!=5.26.0",
# basic logger
"tensorboard",
"numba>=0.63.1",
]
pyproject.optional-dependencies.all = [
# Isaac Sim
{ "isaacsim" = ["isaacsim[all,extscache]==6.0.1.0"] },
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_newton/setup.py
# ================================================================================
{ "newton" = [
"warp-lang==1.13.0",
"newton[sim]==1.2.1",
"PyOpenGL-accelerate==3.1.10"
] },
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_rl/setup.py
# ================================================================================
# RL libraries
{ "sb3" = ["stable-baselines3>=2.6", "tqdm", "rich"] },
{ "skrl" = ["skrl>=2.1.0"] },
{ "rsl-rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
{ "rsl_rl" = ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"] },
# ================================================================================
# https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_visualizers/setup.py
# ================================================================================
# Viser visualizer (opt-in: viser pulls websockets>=13.1 which collides with
# isaacsim-kernel==6.0.0.0's websockets==12.0; do not include in [all]).
{ "viser" = ["viser>=1.0.16"] },
# RL libraries (all) — use with ``isaacsim`` for full installs; Newton comes from
# ``isaacsim-core``. Do not add git Newton here (conflicts with Isaac Sim pins).
{ "all" = [
"stable-baselines3>=2.6",
"tqdm",
"rich",
"skrl>=2.1.0",
"rsl-rl-lib==5.0.1",
"onnxscript>=0.5",
] },
]
# inventory (relative to the `source_folder` config)
inventory.includes.all = [
# Isaac Lab
"apps",
"source",
# python package/module
[ "../source/python_packages/isaaclab/__init__.py", "." ],
[ "../source/python_packages/isaaclab/__main__.py", "." ],
]
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