pyproject.toml

[build-system]
requires = ["setuptools>=61"]
build-backend = "setuptools.build_meta"

[project]
name = "isaaclab_arena"
version = "0.3.0"
description = "Isaac Lab - Arena. An Isaac Lab extension for robotic policy evaluation."
readme = "README.md"
requires-python = ">=3.12,<3.13"
license = { text = "Apache-2.0" }
dependencies = [
    "typing_extensions",
    "onnxruntime",
    "vuer[all]",
    "lightwheel-sdk",
    "pytest",
    "pydantic>=2.0",
    "openai>=2.0",
    # Sensitivity analysis (isaaclab_arena.analysis.sensitivity), imported at module level.
    "sbi",
    "scipy",
    "matplotlib",
    # MoviePy 1.x relies on decorator 4.x call semantics to propagate clip FPS.
    "decorator>=4.0.2,<5",
    # HDF5 -> LeRobot conversion (isaaclab_arena_gr00t.lerobot.convert_hdf5_to_lerobot), imported at module level.
    # Pinned to 2.2.3 to match the version used in GR00T.
    "pandas==2.2.3",
]

[project.optional-dependencies]
dev = [
    "jupyter",
    "debugpy",
    "tenacity",
    "streamlit>=1.56",
    "streamlit-ace>=0.1.1",
    # Asset search for agentic environment generation. Kept here rather than behind an extra of
    # its own: it adds one wheel, since Isaac Sim already brings everything it depends on, and an
    # extra only bought a way to install the review GUI with its asset search missing.
    "simready-search>=2026.4.2",
]

# PEP 735 dependency groups for the native uv install: the sim stack the
# Docker build does not want. pip (used by the Docker build) ignores PEP 735
# groups -- so Docker keeps getting Isaac Lab and Isaac Sim from its base
# image and submodule, undisturbed by these pins.
#
# isaaclab-from-wheel: Isaac Lab from its published wheel. Select it with:
#   uv sync --no-default-groups --group isaaclab-from-wheel
[dependency-groups]
isaaclab-from-wheel = [
    "isaaclab[isaacsim,all]==3.0.0b2",
    "rsl-rl-lib==5.0.1",
    # QP solver for the Pink IK stack (whole-body control). The isaaclab wheel
    # does not pull it; the Docker build installs it explicitly. Pinned to the
    # version isaaclab validates against (see pin-pink note in [tool.uv]).
    "daqp==0.8.5",
    # Pin the torch stack as direct deps so [tool.uv.sources] routes them to the
    # right CUDA index (cu128 on x86_64 / cu130 on aarch64). As transitive-only
    # deps the source mapping does not apply and torch resolves to PyPI's default
    # build. Versions are forced by isaacsim-core==6.0.0.1 (via the beta-2 wheel),
    # which hard-pins torchvision==0.26.0 -- uv's resolver enforces this, so a
    # mismatch fails `uv lock` outright.
    "torch==2.11.0",
    "torchvision==0.26.0",
    "torchaudio==2.11.0",
    # Each install flavor is self-sufficient: the remote OpenPI client comes
    # along without a separate --group openpi flag.
    { include-group = "openpi" },
]
# isaaclab-from-source: Isaac Lab installed editable from the
# submodules/IsaacLab source checkout instead of the published wheel. The
# published isaaclab wheel omits the RL / imitation-learning scripts.
# Installed by a bare `uv sync` (the default flavor, see default-groups
# below).
# The package set mirrors upstream's isaaclab-dev project
# (submodules/IsaacLab/pyproject.toml) plus isaaclab-mimic, isaaclab-teleop,
# and the visualizers extras, to match what the published wheel's `all` extra
# ships. One deliberate deviation from the source `all` extra: no visualizers
# `viser` extra, for parity with the wheel env, which does not ship viser.
# TODO(alexmillane, 2026.07.22): Remove these two flavors of installation once
# Isaac Lab's artifact distributes their scripts.
isaaclab-from-source = [
    "isaaclab[isaacsim]",
    "isaaclab-assets",
    "isaaclab-contrib",
    "isaaclab-experimental",
    "isaaclab-mimic",
    "isaaclab-newton[all]",
    "isaaclab-ov",
    "isaaclab-ovphysx",
    "isaaclab-physx[newton]",
    "isaaclab-ppisp",
    "isaaclab-rl[rsl-rl]",
    "isaaclab-tasks",
    "isaaclab-tasks-experimental",
    "isaaclab-teleop",
    "isaaclab-visualizers[newton,rerun]",
    # Direct torch deps so [tool.uv.sources] routes them to the cu128 index
    # (as in the `isaaclab-from-wheel` group above). Pinned to the versions
    # the source resolution forces via isaaclab's isaacsim extra.
    "torch==2.11.0",
    "torchvision==0.26.0",
    "torchaudio==2.11.0",
    # Each install flavor is self-sufficient: the remote OpenPI client comes
    # along without a separate --group openpi flag.
    { include-group = "openpi" },
]
openpi = [
    "openpi-client",
]
gr00t-client = [
    "gr00t==0.1.0",
]

[tool.uv]
# Arena supports Linux x86_64 only; resolve and lock for exactly that platform.
environments = ["sys_platform == 'linux' and platform_machine == 'x86_64'"]
# Install the source-based sim stack (Isaac Lab editable from the submodule)
# and the remote OpenPI client on a bare `uv sync`.
default-groups = ["isaaclab-from-source", "openpi"]
# The two sim-stack flavors resolve isaaclab (and possibly torch/isaacsim) to
# different versions and sources; uv forks the resolution per flavor and
# refuses to activate both groups at once.
conflicts = [
    [
        { group = "isaaclab-from-wheel" },
        { group = "isaaclab-from-source" },
    ],
]
# Isaac Lab is explicitly pinned to a beta, while Isaac Sim requires a
# transitive tinyobjloader release candidate. The exact constraint below makes
# that RC explicit without allowing unrelated packages to float to prereleases.
prerelease = "if-necessary-or-explicit"
# Prefer the first index containing a compatible package. The explicit PyPI
# route below handles the one known NVIDIA/PyPI name collision without merging
# candidates from multiple indexes.
index-strategy = "first-index"
# Pin numpy to the exact version Isaac Sim requires: isaacsim-kernel needs
# ==2.3.1 and numba needs <2.5. An override (not a plain dep) is needed to also
# beat a transitive constraint that would otherwise pull numpy<2.
# Pin coverage and packaging to the versions isaacsim hard-pins: the isaaclab
# source checkout pins coverage==7.6.1 and packaging<24, which are
# unresolvable against isaacsim in the isaaclab-from-source flavor; the wheel
# flavor already locks 7.4.4 / 26.0 (the published isaaclab wheels do not
# carry these pins).
# Pin websockets to the version the Docker environment validates:
# isaacsim-kernel's ==12.0 pin is over-strict (the Docker build runs Isaac
# Sim 6.0 with websockets 16.1.1, installed by pip alongside isaacteleop),
# and isaacteleop[cloudxr] -- needed for teleop sessions in the
# isaaclab-from-source flavor -- requires websockets>=14.
# Pin the AWS/HTTP stack to the versions Isaac Sim requires: simready-search
# asks for boto3==1.42.58, requests>=2.32.5 and s3transfer 0.16.x, all of which
# are over-strict. The Docker image runs its S3 asset searches against the
# boto3 1.40.61 / requests 2.32.3 / s3transfer 0.14.0 that isaacsim-kernel
# pins. Without these overrides simready-search cannot resolve alongside either
# sim-stack flavor at all, leaving the asset search with no installable runtime.
override-dependencies = [
    "numpy==2.3.1",
    "coverage==7.4.4",
    "packaging==26.0",
    "websockets==16.1.1",
    "boto3==1.40.61",
    "botocore==1.40.61",
    "requests==2.32.3",
    "s3transfer==0.14.0",
]
# Isaac Lab 3.0 Beta 2 does not correctly pin its dependencies: the published
# wheel declares these transitive deps too broadly, so we constrain them to
# working versions here.
# TODO(alexmillane, 2026-07-16): Remove these pins after we upgrade to Isaac Lab
# 3.0 GA, which will correctly pin its dependencies. See:
# https://github.com/isaac-sim/IsaacLab/blob/develop/pyproject.toml
constraint-dependencies = [
    "pin-pink==3.3.0",
    "pyglet<3",
    "tinyobjloader==2.0.0rc13",
    "mujoco-usd-converter==0.2.0",
]
# Use a uv-managed CPython 3.12 rather than whatever happens to be on PATH.
python-preference = "only-managed"

[[tool.uv.index]]
url = "https://pypi.nvidia.com"
explicit = false

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

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

[tool.uv.sources]
# torch / torchvision / torchaudio are pulled transitively by the isaaclab
# wheel; steer them to the CUDA 12.8 index (Linux x86_64 is the only supported
# platform, see `environments` above).
# mujoco-usd-converter: the NVIDIA index carries only incompatible 0.1.0
# prereleases, so route it to PyPI.
# isaacteleop (pulled by isaaclab-teleop in the isaaclab-from-source flavor): the
# NVIDIA index carries only an incompatible 1.4 prerelease, so route it to
# PyPI, which has the required stable 1.3.x (the same version the Docker
# build installs).
mujoco-usd-converter = { index = "pypi" }
isaacteleop = { index = "pypi" }
torch = { index = "pytorch-cu128" }
torchvision = { index = "pytorch-cu128" }
torchaudio = { index = "pytorch-cu128" }
gr00t = { path = "submodules/Isaac-GR00T", editable = true, group = "gr00t-client" }
# In the isaaclab-from-source flavor the Isaac Lab packages come editable from the
# submodule checkout (one entry per source/isaaclab* package, mirroring
# submodules/IsaacLab/pyproject.toml). When the group is inactive these
# entries do not apply and isaaclab falls back to the wheel on the NVIDIA
# index (the `isaaclab-from-wheel` group's pin).
isaaclab = [{ path = "submodules/IsaacLab/source/isaaclab", editable = true, group = "isaaclab-from-source" }]
isaaclab-assets = [{ path = "submodules/IsaacLab/source/isaaclab_assets", editable = true, group = "isaaclab-from-source" }]
isaaclab-contrib = [{ path = "submodules/IsaacLab/source/isaaclab_contrib", editable = true, group = "isaaclab-from-source" }]
isaaclab-experimental = [{ path = "submodules/IsaacLab/source/isaaclab_experimental", editable = true, group = "isaaclab-from-source" }]
isaaclab-mimic = [{ path = "submodules/IsaacLab/source/isaaclab_mimic", editable = true, group = "isaaclab-from-source" }]
isaaclab-newton = [{ path = "submodules/IsaacLab/source/isaaclab_newton", editable = true, group = "isaaclab-from-source" }]
isaaclab-ov = [{ path = "submodules/IsaacLab/source/isaaclab_ov", editable = true, group = "isaaclab-from-source" }]
isaaclab-ovphysx = [{ path = "submodules/IsaacLab/source/isaaclab_ovphysx", editable = true, group = "isaaclab-from-source" }]
isaaclab-physx = [{ path = "submodules/IsaacLab/source/isaaclab_physx", editable = true, group = "isaaclab-from-source" }]
isaaclab-ppisp = [{ path = "submodules/IsaacLab/source/isaaclab_ppisp", editable = true, group = "isaaclab-from-source" }]
isaaclab-rl = [{ path = "submodules/IsaacLab/source/isaaclab_rl", editable = true, group = "isaaclab-from-source" }]
isaaclab-tasks = [{ path = "submodules/IsaacLab/source/isaaclab_tasks", editable = true, group = "isaaclab-from-source" }]
isaaclab-tasks-experimental = [{ path = "submodules/IsaacLab/source/isaaclab_tasks_experimental", editable = true, group = "isaaclab-from-source" }]
isaaclab-teleop = [{ path = "submodules/IsaacLab/source/isaaclab_teleop", editable = true, group = "isaaclab-from-source" }]
isaaclab-visualizers = [{ path = "submodules/IsaacLab/source/isaaclab_visualizers", editable = true, group = "isaaclab-from-source" }]

[tool.uv.sources.openpi-client]
git = "https://github.com/Physical-Intelligence/openpi"
rev = "c23745b5ad24e98f66967ea795a07b2588ed6c79"
subdirectory = "packages/openpi-client"

[[tool.uv.dependency-metadata]]
name = "gr00t"
version = "0.1.0"
requires-dist = [
    "msgpack==1.1.0",
    "numpy==2.3.1",
    "pyzmq==27.0.1",
]

[tool.setuptools.packages.find]
where = ["."]
include = [
    "isaaclab_arena*",
    "isaaclab_arena_cosmos*",
    "isaaclab_arena_curobo*",
    "isaaclab_arena_dreamzero*",
    "isaaclab_arena_environments*",
    "isaaclab_arena_examples*",
    "isaaclab_arena_g1*",
    "isaaclab_arena_gr00t*",
    "isaaclab_arena_openpi*",
]
namespaces = false

# ----------------------------------------------------------------------------
# Existing tool configuration (migrated unchanged from the previous pyproject)
# ----------------------------------------------------------------------------

[tool.isort]

py_version = 312
line_length = 120
group_by_package = true

# Files to skip
skip_glob = ["docs/*", "logs/*", "_isaac_sim/*", ".vscode/*"]

# Order of imports
sections = [
    "FUTURE",
    "STDLIB",
    "THIRDPARTY",
    "FIRSTPARTY",
    "LOCALFOLDER",
]

# Extra standard libraries considered as part of python (permissive licenses
extra_standard_library = [
    "numpy",
    "h5py",
    "open3d",
    "torch",
    "tensordict",
    "bpy",
    "matplotlib",
    "gymnasium",
    "gym",
    "scipy",
    "hid",
    "yaml",
    "prettytable",
    "toml",
    "trimesh",
    "tqdm",
    "torchvision",
    "transformers",
]
# Imports from Isaac Sim and Omniverse
known_third_party = [
    "isaacsim.core.api",
    "isaacsim.replicator.common",
    "omni.replicator.core",
    "pxr",
    "omni.kit.*",
    "warp",
    "carb",
    "Semantics",
    "isaaclab",
    "isaaclab_assets",
    "isaaclab_rl",
    "isaaclab_mimic",
    "isaaclab_tasks",
]
# Imports from this repository
known_first_party = "isaaclab_arena"

[tool.pyright]

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

typeCheckingMode = "basic"
pythonVersion = "3.10"
pythonPlatform = "Linux"
enableTypeIgnoreComments = true

# This is required as the CI pre-commit does not download the module (i.e. numpy, torch, prettytable)
# Therefore, we have to ignore missing imports
reportMissingImports = "none"
# This is required to ignore for type checks of modules with stubs missing.
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,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
quiet-level = 0
# the world list should always have words in lower case
ignore-words-list = "haa,slq,collapsable,buss,crate,reacher"