pyproject.toml

# 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

# The root is not a real distribution, but some tooling refuses to operate unless the
# directory looks like a buildable Python project. Declare an empty setuptools build so
# it treats the root as a (contents-free) dist without actually packaging anything.
# Remove this once downstream users have migrated to a uv workflow
[build-system]
requires = ["setuptools>=77"]
build-backend = "setuptools.build_meta"

[tool.setuptools]
packages = []
py-modules = []

[project]
name = "isaaclab-dev"
version = "0.1.0"
description = "Isaac Lab source checkout development environment."
requires-python = ">=3.12,<3.13"
# Single source of truth for all dependencies, also read by the wheel builder and
# ``./isaaclab.sh -i``. Workspace members resolve to ``source/`` via [tool.uv.sources].
dependencies = [
    # ----- workspace members (editable) -----
    "isaaclab",
    "isaaclab-assets",
    "isaaclab-contrib",
    "isaaclab-experimental",
    "isaaclab-newton",
    "isaaclab-ov",
    "isaaclab-physx",
    "isaaclab-ppisp",
    "isaaclab-rl",
    "isaaclab-tasks",
    "isaaclab-tasks-experimental",
    "isaaclab-visualizers",
    # ----- generic -----
    "numpy>=2",
    "torch>=2.11",
    "torchvision>=0.26.0",
    "torchaudio>=2.11",
    "onnx>=1.18.0",
    "prettytable>=3.3.0",
    "psutil",
    "protobuf>=4.25.8,!=5.26.0",
    "hidapi>=0.14.0",
    "gymnasium>=1.2.0",
    "trimesh>=4.6.8",  # lower bound inherited from newton[importers]
    "pyglet>=2.1.6,<3",
    "transformers==4.57.6",
    "einops",
    "warp-lang==1.17.0",
    "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",  # omni.replicator.core S3 backend
    "starlette>=0.46.0,<0.50",  # livestream; range coexists with isaacsim 6.0
    "omniverseclient==2.72.3",
    "filelock",
    "lazy_loader>=0.4",
    # Pink IK stack; the install CLI derives its force-install list from these entries.
    # pin-pink: Isaac Sim 6.x needs >=3.3, 3.4+ breaks pink_ik; daqp >0.8.5 changes behavior.
    "pin ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
    "pin-pink==3.3.0 ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
    "daqp==0.8.5 ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
    # OpenUSD (kit-less mode). Use the same provider required by the URDF and MJCF importer
    # packages so another complete ``pxr`` runtime cannot co-install with it. Two providers in
    # one environment overwrite each other's files, and removing either then breaks ``pxr``.
    # usd-exchange 2.3.0 vendors USD 25.5, matching the Isaac Sim 6.0 wheel stack.
    "usd-exchange==2.3.0",
    # avoid broken hf-xet pre-release cached on NVIDIA Artifactory
    "hf-xet>=1.4.1,<2.0.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64' or platform_machine == 'aarch64'",
    # ----- tasks -----
    "tensorboard",
    "numba>=0.63.1",
    # ----- rl utilities -----
    "hydra-core",
    "h5py>=3.15.0",
    "packaging",
    "rich",
    "tqdm>=4.67.1",
    "rsl-rl-lib==5.4.1",  # default RL framework
    "onnxscript>=0.5",
    # ----- newton (default physics engine) -----
    # Pin the Newton release used by both workspace and wheel installs until 1.6.0 final.
    # [tool.uv].override-dependencies only reaches uv sync, so a wheel built from this
    # metadata would otherwise resolve the newest stable (1.5.1) and miss newton#4017:
    # 1.6.0rc1 is a prerelease, which a default resolve skips.
    "newton[sim]==1.6.0rc1",
    # Import and mesh-processing packages used by Newton, including the ones that honoring
    # USD-authored ``physics:approximation`` requires. Keep these explicit instead of selecting
    # newton[importers], whose standalone USD dependency would overlap with usd-exchange.
    "requests>=2.25.0",
    "scipy>=1.11.0",
    "coacd>=1.0.7",
    "fast-simplification>=0.1.11",
    "alphashape>=1.3.1",
    "meshio>=5.3.5",
    "pycollada>=0.9",
    "resolve-robotics-uri-py>=0.4.0",
    "open3d>=0.19.0 ; python_version < '3.13' and (sys_platform != 'linux' or platform_machine != 'aarch64')",
    # Loose bound co-resolves with isaacsim's ==0.2.0; the override below forces >=0.4.1.
    "newton-usd-schemas>=0.2.0",
    "PyOpenGL-accelerate>=3.1.0",
    # ----- newton interactive viewer GUI (in base, no extra required) -----
    "imgui-bundle>=1.92.5",
    "typing-extensions>=4.15.0",
]

[project.optional-dependencies]

tetrahedralization = ["pytetwild[all]>=0.3.0,<0.4"]

video = ["moviepy>=1.0.3,<2.0.0.dev0"]

importers = [
    "isaacsim-asset-isolated>=6.0,<6.1",
    "tinyobjloader==2.0.0rc13",
]

# The test suite only. Kept free of the docs stack: Sphinx pulls docutils, which is
# GPL-3.0-or-later and not allowed in the distributed images.
test = [
    "pytest",
    "pytest-mock",
    "junitparser",
    "flaky",
    # numba subclasses coverage.types.Tracer at import; >=7.6.1 restores that shim
    "coverage>=7.6.1",
]

# Everything a contributor needs: the test suite plus the documentation toolchain.
dev = [
    "isaaclab-dev[test]",
    "sphinx>=7.0,<9",
    "sphinx-book-theme>=1.1",
    "myst-parser",
    "sphinxcontrib-bibtex==2.5.0",
    "autodocsumm",
    "sphinx-copybutton",
    "sphinx-icon",
    "sphinx_design",
    "sphinx-paramlinks",
    "sphinxemoji",
    "sphinx-tabs",
    "sphinx-multiversion==0.2.4",
]

sb3 = ["stable-baselines3>=2.6", "tqdm", "rich"]

skrl = ["skrl>=2.1.0"]

rl-games = [
    "aiohttp>=3.12.14",
    "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
    "gym",
    "standard-distutils",
]

rsl-rl = ["rsl-rl-lib==5.4.1", "onnxscript>=0.5"]

viser = ["viser>=1.0.16"]

rerun = [
    "rerun-sdk>=0.29.0",
    "pyarrow==22.0.0",  # match rerun-sdk's Arrow stack
]

isaacsim = ["isaacsim[all,extscache]==6.0.1.0"]

ov = ["ovphysx==0.5.11", "ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]
ovphysx = ["ovphysx==0.5.11", "ovstage==0.1.1.355824"]
ovrtx = ["ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]

mimic = [
    "isaaclab-mimic",
    "isaaclab-teleop",
    "ipywidgets>=8.1.5",
    "robomimic @ git+https://github.com/ARISE-Initiative/robomimic.git@v0.4.0 ; sys_platform == 'linux'",
]

# XR teleop needs the Kit XR runtime, but Isaac Sim is a separate extra so environments that
# already provide Kit (the containers) can take this stack without a second copy of it.
# Users who need the wheel install ``--extra teleop,isaacsim``.
teleop = [
    "isaaclab-teleop",
    "isaaclab-mimic",
    "isaacteleop[retargeters,ui,cloudxr]~=1.4.0 ; platform_system == 'Linux' and platform_machine == 'x86_64'",
    "dex-retargeting==0.5.0 ; platform_system == 'Linux' and platform_machine == 'x86_64'",
]
rlinf = [
    "ray[default]>=2.47.0",
    "av>=12.3.0",
    "numpydantic>=1.7.0",
    "albumentations>=1.4.18",
    "decord2",
    "dm_tree>=0.1.8",
    "diffusers>=0.35.0",
    "timm>=1.0.14",
    "peft>=0.17.0",
    "pandas",
]
leapp = [
    "leapp>=0.5.2",
]
all = [
    "isaaclab-dev[sb3,skrl,rl-games,rsl-rl,viser,rerun,ov]",
]

# Single source of truth for externally-pinned versions, read by docs/conf.py, the
# install CLI, and CI. TOML cannot interpolate, so the pins in [project.dependencies],
# the extras above, and [tool.uv].override-dependencies mirror these values;
# ``test_version_single_source`` fails CI if they drift.
[tool.isaaclab.versions]
isaacsim = "6.0.1.0"
usd_exchange = "2.3.0"
torch = "2.11.0"
torchvision = "0.26.0"
torchaudio = "2.11.0"
ovphysx = "0.5.11"
ovrtx = "0.4.1.364340"
ovstage = "0.1.1.355824"
warp = "1.17.0"

[tool.ruff]
line-length = 120
target-version = "py310"

extend-exclude = [
    "logs",
    "_isaac_sim",
    ".vscode",
    "_*",
    ".git",
]

[tool.ruff.lint]
select = [
    "E",      # pycodestyle errors
    "W",      # pycodestyle warnings
    "F",      # pyflakes
    "I",      # isort
    "UP",     # pyupgrade
    "C90",    # mccabe complexity
    # "D",      # pydocstyle
    "SIM",    # flake8-simplify
    "RET",    # flake8-return
]

ignore = [
    "E402",   # Module level import not at top of file
    "D401",   # First line should be in imperative mood
    "RET504", # Unnecessary variable assignment before return statement
    "RET505", # Unnecessary elif after return statement
    "SIM102", # Use a single if-statement instead of nested if-statements
    "SIM103", # Return the negated condition directly
    "SIM108", # Use ternary operator instead of if-else statement
    "SIM117", # Merge with statements for context managers
    "SIM118", # Use {key} in {dict} instead of {key} in {dict}.keys()
    "UP006",  # Use 'dict' instead of 'Dict' type annotation
    "UP018",  # Unnecessary `float` call (rewrite as a literal)
]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401"]  # Allow unused imports in __init__.py files

[tool.ruff.lint.mccabe]
max-complexity = 30

[tool.ruff.lint.pydocstyle]
convention = "google"

[tool.ruff.lint.isort]

section-order = [
    "future",
    "standard-library",
    "third-party",
    # omniverse extensions are run-time deps pulled in by Isaac Lab extensions
    "omniverse-extensions",
    "isaaclab",
    "isaaclab-contrib",
    "isaaclab-rl",
    "isaaclab-mimic",
    "isaaclab-tasks",
    "isaaclab-assets",
    "first-party",  # reserved for project templates
    "local-folder",
]

[tool.ruff.lint.isort.sections]

"omniverse-extensions" = [
    "isaacsim",
    "omni",
    "pxr",
    "carb",
    "usdrt",
    "Semantics",
    "curobo",
]

"isaaclab" = ["isaaclab"]
"isaaclab-assets" = ["isaaclab_assets"]
"isaaclab-contrib" = ["isaaclab_contrib"]
"isaaclab-rl" = ["isaaclab_rl"]
"isaaclab-mimic" = ["isaaclab_mimic"]
"isaaclab-tasks" = ["isaaclab_tasks"]

[tool.ruff.format]

docstring-code-format = true

[tool.pyright]

include = ["source", "scripts"]
exclude = [
    "**/__pycache__",
    "**/_isaac_sim",
    "**/docs",
    "**/logs",
    ".git",
    ".vscode",
]

typeCheckingMode = "basic"
pythonVersion = "3.12"
pythonPlatform = "Linux"
enableTypeIgnoreComments = true

# CI pre-commit does not install modules (numpy, torch, ...), so ignore missing imports
reportMissingImports = "none"
reportMissingModuleSource = "none" # -> most common: prettytable in mdp managers

reportGeneralTypeIssues = "none"       # -> raises 218 errors (usage of literal MISSING in dataclasses)
reportOptionalMemberAccess = "warning" # -> raises 8 errors
reportPrivateUsage = "warning"


[tool.codespell]
skip = '*.usd,*.usda,*.usdz,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
quiet-level = 0
# the world list should always have words in lower case
ignore-words-list = "aheared,collet,followng,haa,publically,rouines,slq,collapsable,buss,reacher,thirdparty,segway,wel"


[tool.pytest.ini_options]

markers = [
    "isaacsim_ci: mark test to run in isaacsim ci",
    "device_split: re-invoke this file once per device (CPU and GPU) in CI due to process-global device locks (e.g., ovphysx<=0.3.7 gap G5)",
    "windows_ci: mark test to run on Windows platforms in CI",
    "arm_ci: mark test to run on ARM platforms in CI (e.g. NVIDIA DGX Spark)",
    "unit: test exercises isolated logic and does not launch the simulator",
    "integration: test drives the simulator/scene/environment end-to-end",
    "benchmark: test covers the Isaac Lab benchmark framework and infrastructure",
    "rendering: test exercises the rendering / camera / visualizer pipeline",
    "smoke: tests for core installation, task, and RL functionality",
    "kitless: test must pass inside the Kit-less container, which has no Isaac Sim runtime",
]

# Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.
# Pip still needs "--extra-index-url https://pypi.nvidia.com".
[[tool.uv.index]]
url = "https://pypi.nvidia.com"
explicit = false

[[tool.uv.index]]
name = "pypi-public"
url = "https://pypi.org/simple"
explicit = true

[[tool.uv.index]]
name = "pytorch-cu128"
url = "https://download.pytorch.org/whl/cu128"
explicit = true

[[tool.uv.index]]
name = "pytorch-cu130"
url = "https://download.pytorch.org/whl/cu130"
explicit = true

# unsafe-best-match resolves NVIDIA deps with versions mismatched across
# pypi.nvidia.com and PyPI; prerelease=allow covers prerelease-only packages.
[tool.uv]
index-strategy = "unsafe-best-match"
prerelease = "allow"
# Platforms Isaac Lab supports (docs/source/setup/installation/index.rst and the
# install CI matrix): Ubuntu 22.04 x86_64, Linux aarch64 (DGX Spark / Jetson), and
# Windows 11 x86_64. Restricting the resolution universe keeps macOS and other
# unsupported wheels out of uv.lock.
environments = [
    "sys_platform == 'linux' and platform_machine == 'x86_64'",
    "sys_platform == 'linux' and platform_machine == 'aarch64'",
    "sys_platform == 'win32' and platform_machine == 'AMD64'",
]
# Isaac Lab owns the Newton, MuJoCo, and torch versions. Overrides replace requirements
# for every requester, unlike constraints, which only intersect. The ``isaacsim`` and
# ``importers`` extras pin older versions of these packages, so the overrides prevent downgrades.
# Torch routes through [tool.uv.sources]. Values mirror [tool.isaaclab.versions] where applicable.
override-dependencies = [
    "numpy>=2",
    "mujoco~=3.12.0",
    "mujoco-warp~=3.12.0",
    "newton[sim]==1.6.0rc1",
    # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
    "newton-usd-schemas>=0.4.1",
    "torch==2.11.0",
    "torchvision==0.26.0",
    "torchaudio==2.11.0",
    # Isaac Sim 6.0 pins these exactly; drop all three once Isaac Sim 6.1 is published.
    "typing-extensions>=4.15.0",
    "websockets>=14.0,<17.0.0",
    "coverage>=7.6.1",
    # ovphysx caps packaging at <24 and isaacsim-core pins ==26.0; both caps are
    # stricter than the code needs, so widening lets them resolve together at 26.0.
    "packaging>=20,<27",
]
python-preference = "only-managed"
package = false

[tool.uv.sources]
omniverseclient = { index = "pypi-public" }
ovphysx = { index = "pypi-public" }
ovrtx = { index = "pypi-public" }
ovstage = { index = "pypi-public" }
isaaclab = { path = "source/isaaclab", editable = true }
"isaaclab-assets" = { path = "source/isaaclab_assets", editable = true }
"isaaclab-contrib" = { path = "source/isaaclab_contrib", editable = true }
"isaaclab-experimental" = { path = "source/isaaclab_experimental", editable = true }
"isaaclab-mimic" = { path = "source/isaaclab_mimic", editable = true }
"isaaclab-newton" = { path = "source/isaaclab_newton", editable = true }
"isaaclab-ov" = { path = "source/isaaclab_ov", editable = true }
"isaaclab-physx" = { path = "source/isaaclab_physx", editable = true }
"isaaclab-ppisp" = { path = "source/isaaclab_ppisp", editable = true }
"isaaclab-rl" = { path = "source/isaaclab_rl", editable = true }
"isaaclab-tasks" = { path = "source/isaaclab_tasks", editable = true }
"isaaclab-tasks-experimental" = { path = "source/isaaclab_tasks_experimental", editable = true }
"isaaclab-teleop" = { path = "source/isaaclab_teleop", editable = true }
"isaaclab-visualizers" = { path = "source/isaaclab_visualizers", editable = true }
torch = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
    { index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
    { index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
]
torchaudio = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
    { index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
    { index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
]
torchvision = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
    { index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
    { index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
]

[tool.uv.pip]
index-strategy = "unsafe-best-match"
prerelease = "allow"