File size: 2,816 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | # 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' python package."""
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<2",
"torch>=2.7",
"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==1.2.1",
# procedural-generation
"trimesh",
"pyglet<2",
# image processing
"transformers",
"einops", # needed for transformers, doesn't always auto-install
"warp-lang",
# make sure this is consistent with isaac sim version
"pillow==11.3.0",
# livestream
"starlette==0.49.1",
# testing
"pytest",
"pytest-mock",
"junitparser",
"flatdict==4.0.1",
"flaky",
"packaging",
]
# Append Linux x86_64 and ARM64 deps via PEP 508 markers
SUPPORTED_ARCHS_ARM = "platform_machine in 'x86_64,AMD64,aarch64,arm64'"
SUPPORTED_ARCHS = "platform_machine in 'x86_64,AMD64'"
INSTALL_REQUIRES += [
# required by isaaclab.isaaclab.controllers.pink_ik
f"pin-pink==3.1.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
f"daqp==0.7.2 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
# required by isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1_t2_dex_retargeting_utils
f"dex-retargeting==0.4.6 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS})",
]
PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu128"]
# Installation operation
setup(
name="isaaclab",
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"],
license="BSD-3-Clause",
include_package_data=True,
python_requires=">=3.10",
install_requires=INSTALL_REQUIRES,
dependency_links=PYTORCH_INDEX_URL,
packages=["isaaclab"],
classifiers=[
"Natural Language :: English",
"Programming Language :: Python :: 3.10",
"Programming Language :: Python :: 3.11",
"Isaac Sim :: 4.5.0",
"Isaac Sim :: 5.0.0",
"Isaac Sim :: 5.1.0",
],
zip_safe=False,
)
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