simulation/modules/IsaacLab/tools/wheel_builder/res/python_packages.toml

[isaaclab]
# 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", "." ],
]