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# Isaac Lab Training Environment Dependencies
# This file contains all packages needed for running Isaac Lab training workflows
# These dependencies are typically pre-installed in the Isaac Sim container environment
# Python Version: 3.11 (for Isaac Sim 5.0) or 3.10 (for Isaac Sim 4.5)
# NOTE: This requirements.txt is intended for the Isaac Lab container environment (Linux)
# For local development on macOS, most of these packages are not needed or not available
# The setup-dev.sh script handles platform-specific installation
# Core PyTorch with CUDA support (Linux only)
# Note: Removed for local aarch64 dev - Isaac Sim containers have these pre-installed
# --index-url https://download.pytorch.org/whl/cu128
# torch==2.7.0; sys_platform == 'linux'
# torchvision==0.22.0; sys_platform == 'linux'
# Isaac Sim (when installing via pip - Linux only)
# --extra-index-url https://pypi.nvidia.com
# isaacsim[all,extscache]==5.0.0; # sys_platform == 'linux'
# Isaac Lab Extensions
# Note: Removed for local aarch64 dev - not available on aarch64
# For local dev, we clone IsaacLab to external/ for intellisense only
# Isaac Sim containers have these pre-installed for training
# isaaclab[all]==2.2.0
# Core Dependencies (from isaaclab/setup.py)
numpy<3
onnx>=1.18.0
prettytable==3.17.0
toml
hidapi==0.15.0
gymnasium==1.2.3
trimesh
pyglet<3
transformers
einops
warp-lang
pillow==12.1.0
starlette==0.52.1
# Testing
pytest
pytest-mock
junitparser
flatdict==4.0.1
flaky
# Reinforcement Learning Framework Dependencies (from isaaclab_rl/setup.py)
protobuf>=4.25.8,!=5.26.0
hydra-core
h5py
tensorboard
moviepy
packaging<27
# SKRL (Deep RL library)
skrl>=1.4.3
# Other RL Frameworks (optional)
# stable-baselines3>=2.6
# tqdm
# rich
# rsl-rl-lib==3.0.1
# rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11
# gym
# Isaac Lab Tasks Dependencies (from isaaclab_tasks/setup.py)
scikit-learn
numba
# Azure ML Integration (from src/training/requirements.txt)
azure-identity>=1.13.0
azure-ai-ml
azureml-mlflow
mlflow
psutil>=5.9.0 # CPU, memory, disk metrics
pynvml>=11.5.0 # NVIDIA GPU metrics (optional)
# Linux-only dependencies (x86_64)
# These are installed conditionally based on platform
# pin-pink==3.1.0 # for Pink IK controllers
# dex-retargeting==0.4.6 # for Fourier GR1T2 retargeting
# Imitation Learning (optional - from isaaclab_mimic/setup.py)
# tomli
# ipywidgets==8.1.5
# robomimic @ git+https://github.com/ARISE-Initiative/robomimic.git@v0.4.0
# JAX Support (optional - for SKRL with JAX backend)
# Install manually if needed:
# pip install "jax[cuda12]<0.6.0"
# Note: JAX 0.6.0+ is incompatible with PyTorch 2.7