267 lines
8.3 KiB
TOML
267 lines
8.3 KiB
TOML
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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[project]
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name = "isaaclab-dev"
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version = "0.1.0"
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description = "Isaac Lab source checkout development environment."
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requires-python = ">=3.12,<3.13"
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dependencies = [
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"isaaclab",
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"isaaclab-assets",
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"isaaclab-contrib",
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"isaaclab-experimental",
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"isaaclab-newton[all]",
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"isaaclab-ov",
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"isaaclab-ovphysx",
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"isaaclab-physx[newton]",
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"isaaclab-ppisp",
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"isaaclab-rl[rsl-rl]",
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"isaaclab-tasks",
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"isaaclab-tasks-experimental",
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"isaaclab-visualizers",
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"torch==2.10.0",
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"torchaudio==2.10.0",
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"torchvision==0.25.0",
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]
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[project.optional-dependencies]
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contrib = [
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"isaaclab-contrib",
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]
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mimic = [
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"isaaclab-mimic",
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]
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newton = [
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"isaaclab-newton[all]",
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"isaaclab-physx[newton]",
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"isaaclab-visualizers[newton]",
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]
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ov = [
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"isaaclab-ovphysx[ovphysx]",
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]
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rl = [
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"isaaclab-rl[rsl-rl]",
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]
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rl-all = [
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"isaaclab-rl[all]",
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]
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rtx = [
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"isaaclab-ov[ovrtx]",
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]
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all = [
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"isaaclab-mimic",
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"isaaclab-newton[all]",
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"isaaclab-physx[newton]",
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"isaaclab-rl[all]",
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"isaaclab-visualizers[all]",
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]
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[tool.ruff]
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line-length = 120
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target-version = "py310"
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# Exclude directories
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extend-exclude = [
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"logs",
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"_isaac_sim",
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".vscode",
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"_*",
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".git",
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]
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[tool.ruff.lint]
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# Enable flake8 rules and other useful ones
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select = [
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"E", # pycodestyle errors
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"W", # pycodestyle warnings
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"F", # pyflakes
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"I", # isort
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"UP", # pyupgrade
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"C90", # mccabe complexity
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# "D", # pydocstyle
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"SIM", # flake8-simplify
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"RET", # flake8-return
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]
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# Ignore specific rules (matching your flake8 config)
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ignore = [
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"E402", # Module level import not at top of file
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"D401", # First line should be in imperative mood
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"RET504", # Unnecessary variable assignment before return statement
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"RET505", # Unnecessary elif after return statement
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"SIM102", # Use a single if-statement instead of nested if-statements
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"SIM103", # Return the negated condition directly
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"SIM108", # Use ternary operator instead of if-else statement
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"SIM117", # Merge with statements for context managers
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"SIM118", # Use {key} in {dict} instead of {key} in {dict}.keys()
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"UP006", # Use 'dict' instead of 'Dict' type annotation
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"UP018", # Unnecessary `float` call (rewrite as a literal)
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]
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[tool.ruff.lint.per-file-ignores]
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"__init__.py" = ["F401"] # Allow unused imports in __init__.py files
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[tool.ruff.lint.mccabe]
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max-complexity = 30
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[tool.ruff.lint.pydocstyle]
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convention = "google"
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[tool.ruff.lint.isort]
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# Custom import sections with separate sections for each Isaac Lab extension
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section-order = [
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"future",
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"standard-library",
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"third-party",
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# Group omniverse extensions separately since they are run-time dependencies
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# which are pulled in by Isaac Lab extensions
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"omniverse-extensions",
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# Group Isaac Lab extensions together since they are all part of the Isaac Lab project
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"isaaclab",
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"isaaclab-contrib",
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"isaaclab-rl",
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"isaaclab-mimic",
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"isaaclab-tasks",
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"isaaclab-assets",
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# First-party is reserved for project templates
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"first-party",
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"local-folder",
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]
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[tool.ruff.lint.isort.sections]
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# Define what belongs in each custom section
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"omniverse-extensions" = [
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"isaacsim",
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"omni",
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"pxr",
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"carb",
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"usdrt",
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"Semantics",
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"curobo",
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]
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"isaaclab" = ["isaaclab"]
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"isaaclab-assets" = ["isaaclab_assets"]
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"isaaclab-contrib" = ["isaaclab_contrib"]
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"isaaclab-rl" = ["isaaclab_rl"]
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"isaaclab-mimic" = ["isaaclab_mimic"]
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"isaaclab-tasks" = ["isaaclab_tasks"]
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[tool.ruff.format]
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docstring-code-format = true
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[tool.pyright]
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include = ["source", "scripts"]
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exclude = [
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"**/__pycache__",
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"**/_isaac_sim",
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"**/docs",
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"**/logs",
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".git",
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".vscode",
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]
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typeCheckingMode = "basic"
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pythonVersion = "3.12"
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pythonPlatform = "Linux"
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enableTypeIgnoreComments = true
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# This is required as the CI pre-commit does not download the module (i.e. numpy, torch, prettytable)
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# Therefore, we have to ignore missing imports
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reportMissingImports = "none"
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# This is required to ignore for type checks of modules with stubs missing.
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reportMissingModuleSource = "none" # -> most common: prettytable in mdp managers
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reportGeneralTypeIssues = "none" # -> raises 218 errors (usage of literal MISSING in dataclasses)
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reportOptionalMemberAccess = "warning" # -> raises 8 errors
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reportPrivateUsage = "warning"
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[tool.codespell]
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skip = '*.usd,*.usda,*.usdz,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
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quiet-level = 0
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# the world list should always have words in lower case
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ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty,segway"
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[tool.pytest.ini_options]
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markers = [
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"isaacsim_ci: mark test to run in isaacsim ci",
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]
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# Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.
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# Pip still needs "--extra-index-url https://pypi.nvidia.com".
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[[tool.uv.index]]
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url = "https://pypi.nvidia.com"
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explicit = false
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[[tool.uv.index]]
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name = "pytorch-cu128"
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url = "https://download.pytorch.org/whl/cu128"
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explicit = true
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[[tool.uv.index]]
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name = "pytorch-cu130"
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url = "https://download.pytorch.org/whl/cu130"
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explicit = true
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# Some NVIDIA-hosted dependencies have mismatched versions across pypi.nvidia.com
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# and PyPI. unsafe-best-match lets uv resolve the correct version from any index,
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# and prerelease=allow covers packages that only publish pre-release wheels.
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[tool.uv]
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index-strategy = "unsafe-best-match"
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prerelease = "allow"
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override-dependencies = ["numpy>=2"]
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python-preference = "only-managed"
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package = false
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[tool.uv.sources]
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isaaclab = { path = "source/isaaclab", editable = true }
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"isaaclab-assets" = { path = "source/isaaclab_assets", editable = true }
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"isaaclab-contrib" = { path = "source/isaaclab_contrib", editable = true }
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"isaaclab-experimental" = { path = "source/isaaclab_experimental", editable = true }
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"isaaclab-mimic" = { path = "source/isaaclab_mimic", editable = true }
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"isaaclab-newton" = { path = "source/isaaclab_newton", editable = true }
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"isaaclab-ov" = { path = "source/isaaclab_ov", editable = true }
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"isaaclab-ovphysx" = { path = "source/isaaclab_ovphysx", editable = true }
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"isaaclab-physx" = { path = "source/isaaclab_physx", editable = true }
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"isaaclab-ppisp" = { path = "source/isaaclab_ppisp", editable = true }
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"isaaclab-rl" = { path = "source/isaaclab_rl", editable = true }
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"isaaclab-tasks" = { path = "source/isaaclab_tasks", editable = true }
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"isaaclab-tasks-experimental" = { path = "source/isaaclab_tasks_experimental", editable = true }
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"isaaclab-teleop" = { path = "source/isaaclab_teleop", editable = true }
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"isaaclab-visualizers" = { path = "source/isaaclab_visualizers", editable = true }
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torch = [
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'AMD64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'arm64'" },
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]
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torchaudio = [
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'AMD64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'arm64'" },
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]
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torchvision = [
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'linux' and platform_machine == 'AMD64'" },
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{ index = "pytorch-cu128", marker = "sys_platform == 'win32'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'aarch64'" },
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{ index = "pytorch-cu130", marker = "sys_platform == 'linux' and platform_machine == 'arm64'" },
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]
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[tool.uv.pip]
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index-strategy = "unsafe-best-match"
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prerelease = "allow"
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