# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Installation script for the 'isaaclab_rl' python package."""

import itertools
import os

import toml
from setuptools import setup

# Obtain the extension data from the extension.toml file
EXTENSION_PATH = os.path.dirname(os.path.realpath(__file__))
# Read the extension.toml file
EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extension.toml"))

# Minimum dependencies required prior to installation
INSTALL_REQUIRES = [
    # generic
    "numpy",
    "torch>=2.10",
    "torchvision>=0.25.0",  # ensure compatibility with torch 2.10.0
    "protobuf>=4.25.8,!=5.26.0",
    # configuration management
    "hydra-core",
    # data collection
    "h5py>=3.16.0",
    # basic logger
    "tensorboard",
    # video recording
    # moviepy bounded to the 1.x line: stable 2.x caps pillow<12 (conflicts with the floor
    # below), and prerelease-allowing resolvers otherwise fall through to the broken
    # 2.0.0.dev2 build whose write_videofile crashes video recording.
    "moviepy>=1.0.3,<2.0.0.dev0",
    # pillow floor: without it, standalone isaaclab_rl installs let moviepy 2.x (pillow<12 cap)
    # downgrade pillow and delete Isaac Sim's prebundled copy (nvbugs 6410989).
    "pillow>=12.1.1",
    "packaging",
    "tqdm==4.67.1",  # previous version was causing sys errors
]

PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu128"]

# Extra dependencies for RL agents
EXTRAS_REQUIRE = {
    "sb3": ["stable-baselines3>=2.6", "tqdm", "rich"],  # tqdm/rich for progress bar
    "skrl": ["skrl>=2.1.0"],
    "rl-games": [
        "aiohttp==3.13.3",
        "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
        "gym",
        "standard-distutils",
    ],  # rl-games still needs gym :(
    "rsl-rl": ["rsl-rl-lib==5.0.1", "onnxscript>=0.5"],  # linux aarch 64 requires manual onnxscript installation
}
# Add the names with hyphens as aliases for convenience
EXTRAS_REQUIRE["rl_games"] = EXTRAS_REQUIRE["rl-games"]
EXTRAS_REQUIRE["rsl_rl"] = EXTRAS_REQUIRE["rsl-rl"]

# Cumulation of all extra-requires
EXTRAS_REQUIRE["all"] = list(itertools.chain.from_iterable(EXTRAS_REQUIRE.values()))
# Remove duplicates in the all list to avoid double installations
EXTRAS_REQUIRE["all"] = list(set(EXTRAS_REQUIRE["all"]))

# Installation operation
setup(
    name="isaaclab_rl",
    author="Isaac Lab Project Developers",
    maintainer="Isaac Lab Project Developers",
    url=EXTENSION_TOML_DATA["package"]["repository"],
    version=EXTENSION_TOML_DATA["package"]["version"],
    description=EXTENSION_TOML_DATA["package"]["description"],
    keywords=EXTENSION_TOML_DATA["package"]["keywords"],
    include_package_data=True,
    package_data={"": ["*.pyi"]},
    python_requires=">=3.12",
    install_requires=INSTALL_REQUIRES,
    dependency_links=PYTORCH_INDEX_URL,
    extras_require=EXTRAS_REQUIRE,
    packages=["isaaclab_rl"],
    classifiers=[
        "Natural Language :: English",
        "Programming Language :: Python :: 3.12",
        "Isaac Sim :: 6.0.0",
    ],
    zip_safe=False,
)