diff --git a/.github/workflows/install.yml b/.github/workflows/install.yml new file mode 100644 index 0000000000..f96e583cde --- /dev/null +++ b/.github/workflows/install.yml @@ -0,0 +1,72 @@ +name: Test installation script + +on: + pull_request: + paths: + - 'scripts/install.sh' + - 'scripts/test-install.sh' + - 'pyproject.toml' + - 'uv.lock' + - 'setup.py' + - 'MANIFEST.in' + - '.github/workflows/install.yml' + workflow_dispatch: + +permissions: + contents: read + +concurrency: + group: install-${{ github.ref }} + cancel-in-progress: true + +# macOS installation jobs are deferred until runner capacity is available. +jobs: + lint: + runs-on: ubuntu-24.04 + timeout-minutes: 10 + steps: + - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7 + with: + persist-credentials: false + - uses: astral-sh/setup-uv@20cfd1bf945f4377ade1205e4dbc17946fc9a30d # v10.0.1 + - name: Shell syntax and lint + run: | + /bin/bash -n scripts/install.sh + /bin/bash -n scripts/test-install.sh + uvx --from shellcheck-py shellcheck -e SC1091 scripts/install.sh scripts/test-install.sh + + ubuntu: + needs: lint + strategy: + fail-fast: false + matrix: + os: [ubuntu-24.04, ubuntu-24.04-arm] + version: ['22.04', '24.04'] + mode: [library, dev] + runs-on: ${{ matrix.os }} + container: ubuntu:${{ matrix.version }} + timeout-minutes: 60 + env: + INSTALL_TEST_ROOT: /tmp/dimos-install-test + steps: + # curl and Git are prerequisites for fetching and testing the installer. + # All DimOS runtime/build prerequisites must be installed by install.sh. + - name: Bootstrap checkout tools + run: | + apt-get update + apt-get install -y ca-certificates curl git + - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7 + with: + persist-credentials: false + - name: Install and verify + run: | + # checkout's safe.directory setting uses a temporary HOME. The + # container's later steps need to trust this mounted checkout too. + git config --global --add safe.directory "$GITHUB_WORKSPACE" + git config --global --add safe.directory "$GITHUB_WORKSPACE/.git" + bash scripts/test-install.sh '${{ matrix.mode }}' + - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7 + if: always() + with: + name: install-${{ matrix.os }}-${{ matrix.version }}-${{ matrix.mode }} + path: /tmp/dimos-install-test/logs diff --git a/AGENTS.md b/AGENTS.md index 15501a8281..93b6384c10 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -9,8 +9,8 @@ The agentic operating system for generalist robotics. `Modules` communicate via ## Quick Start ```bash -# Install (requires uv >=0.9.25) -uv sync --extra all +# Set up the current checkout, including test and lint dependencies +bash scripts/install.sh --mode dev --project-dir . # List all runnable blueprints dimos list diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 197bffc63a..db902d36da 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -51,7 +51,7 @@ We want people to use Dimensional, learn it, and help us build it. You do not ne Browse [open issues labeled](https://github.com/dimensionalOS/dimos/issues?q=is%3Aopen+is%3Aissue+label%3A%22good+first+issue%22) `good first issue`. These are scoped tasks that maintainers have marked as approachable for newcomers. Pick one, read the description, and comment if you want to work on it or need clarification. Maintainers are happy to point you in the right direction. **Get set up.** -Follow [AGENTS.md](AGENTS.md) for install (`uv sync --extra all`), running blueprints in simulation or replay, and the test workflow (`uv run pytest`). Most changes can be developed and validated without a physical robot. +Use the [official installer](docs/installation/index.md) in developer mode. Follow [AGENTS.md](AGENTS.md) for running blueprints in simulation or replay and the test workflow (`uv run pytest`). Most changes can be developed and validated without a physical robot. **This still applies to you.** The [critical rule](#the-critical-rule) and [AI policy](AI_POLICY.md) apply to every outside contribution, including yours. Use AI tools if they help you learn the codebase, but understand what you submit. Link your PR to the issue you are working on. diff --git a/README.md b/README.md index 1ad1aed780..c0b7bb06cf 100644 --- a/README.md +++ b/README.md @@ -137,7 +137,9 @@ Dimensional is agent native -- "vibecode" your robots in natural language and bu # Installation -## Interactive Install +## Guided installation (recommended) + +Use the official installer to set up system dependencies, Python 3.12, and dimOS: ```sh skip curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash @@ -145,34 +147,30 @@ curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/in > See [`scripts/install.sh --help`](scripts/install.sh) for non-interactive and advanced options. -## Manual System Install - -To set up your system dependencies, follow one of these guides: +See [installer options](docs/installation/index.md), or platform notes: - šŸŸ© [Ubuntu 22.04 / 24.04](docs/installation/ubuntu.md) -- šŸŸ© [NixOS / General Linux](docs/installation/nix.md) +- [NixOS / General Linux (not CI-tested)](docs/installation/nix.md) - šŸŸ§ [macOS](docs/installation/osx.md) > Full system requirements, tested configs, and dependency tiers: [docs/requirements.md](docs/requirements.md) -## Python Install +## Manual installation -### Quickstart +If you need to install without the script, follow the system-package and Python steps for [Ubuntu](docs/installation/ubuntu.md#manual-installation), [macOS](docs/installation/osx.md#manual-installation), or [Nix](docs/installation/nix.md#manual-installation). -```bash -uv venv --python "3.12" -source .venv/bin/activate -uv pip install 'dimos[base,unitree]' +## Quickstart +Activate the environment using the command printed by the installer, then run: + +```bash # Replay a recorded quadruped session (no hardware needed) # NOTE: First run will show a black rerun window while ~75 MB downloads from LFS dimos --replay run unitree-go2 ``` ```bash -# Install with simulation support -uv pip install 'dimos[base,unitree,sim]' - +# The installer's default extras include simulation support. # Run quadruped in MuJoCo simulation dimos --simulation run unitree-go2 diff --git a/bin/run-doc-codeblocks b/bin/run-doc-codeblocks index 0f510a9c59..e449cb3fc9 100755 --- a/bin/run-doc-codeblocks +++ b/bin/run-doc-codeblocks @@ -85,7 +85,7 @@ resolve_md_babel() { elif command -v md-babel-py &>/dev/null; then MB=(md-babel-py) else - echo "Error: md-babel-py not found. Install project deps (e.g. uv sync --extra dev or uv sync --all-extras)." >&2 + echo "Error: md-babel-py not found. Install project deps (e.g. uv sync --group tests)." >&2 exit 1 fi } diff --git a/dimos/web/relay_bridge/test_relay_process.py b/dimos/web/relay_bridge/test_relay_process.py index 2f9019bce4..4d7803c172 100644 --- a/dimos/web/relay_bridge/test_relay_process.py +++ b/dimos/web/relay_bridge/test_relay_process.py @@ -106,7 +106,7 @@ def test_relay_run_cmd_resolves_symlinked_dirs(tmp_path: Path) -> None: def test_relay_process_reports_unpaired_tls_flag_before_reading_pem(tmp_path: Path) -> None: - process = RelayProcess(cert=tmp_path / "missing.pem", timeout=2.0) + process = RelayProcess(cert=tmp_path / "missing.pem") try: with pytest.raises(RuntimeError, match="--cert and --key must be given together"): diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile index 32b1154ce4..b94d9f6019 100644 --- a/docker/python/Dockerfile +++ b/docker/python/Dockerfile @@ -5,6 +5,8 @@ FROM ${FROM_IMAGE} RUN apt-get update && apt-get install -y \ python-is-python3 \ curl \ + libsndfile1 \ + ffmpeg \ gnupg2 \ lsb-release \ python3-pip \ diff --git a/docs/capabilities/manipulation/a1z.md b/docs/capabilities/manipulation/a1z.md index 263722e898..2be3588f99 100644 --- a/docs/capabilities/manipulation/a1z.md +++ b/docs/capabilities/manipulation/a1z.md @@ -6,6 +6,8 @@ the pinned Git revision until the vendor publishes a compatible release. ## Install from a source checkout +Create a developer environment with the [official installer](/docs/installation/index.md) first. Then install the A1Z-specific SDK and tools below. + The repository setup script shows its complete plan and asks for confirmation before it changes the checkout environment or installs system packages: @@ -18,12 +20,11 @@ checkout. It installs `can-utils` on Ubuntu and `libusb` through Homebrew on macOS when needed. On other Linux distributions, it prints the missing system package instead of selecting a package manager for you. -## Install into an existing environment +## Add the vendor SDK to a library environment -Install these requirements with the package manager that owns the environment: +Follow the [official installation guide](/docs/installation/index.md) and select the `manipulation` extra. In that environment, add the A1Z vendor SDK with the package manager that owns it: ```bash -python -m pip install 'dimos[manipulation]' python -m pip install 'a1z @ git+https://github.com/userguide-galaxea/GALAXEA-A1Z.git@e931ecd0e25ad35df251097ba42921b3d2fa7224' ``` diff --git a/docs/capabilities/manipulation/agentic.md b/docs/capabilities/manipulation/agentic.md index 1bbd73e83b..2708e72921 100644 --- a/docs/capabilities/manipulation/agentic.md +++ b/docs/capabilities/manipulation/agentic.md @@ -8,7 +8,7 @@ the underlying planning and perception stack. ## Prerequisites -Install the manipulation dependencies: +Use the [official installer](/docs/installation/index.md) first; its default extras include manipulation. To add the dependencies to an existing developer environment: ```bash uv sync --extra manipulation --inexact diff --git a/docs/capabilities/manipulation/index.md b/docs/capabilities/manipulation/index.md index 4512025805..320f8417c1 100644 --- a/docs/capabilities/manipulation/index.md +++ b/docs/capabilities/manipulation/index.md @@ -288,7 +288,7 @@ after clear. Validate Cartesian, twist, and teleop behavior in simulation or replay before hardware use. -Install the manipulation dependencies: +Start with the [official installer](/docs/installation/index.md); its default extras include manipulation. To add manipulation to an existing developer environment: ```bash uv sync --extra manipulation --inexact @@ -307,7 +307,7 @@ are needed. For a smaller installation, use `uv sync --extra planning --inexact` or `uv sync --extra control --inexact`. Add `--no-default-groups` to omit contributor test -dependencies. Library installations use `pip install 'dimos[manipulation]'`. +dependencies. For a new library installation, pass `--mode library --extras manipulation` to the official installer. The `--inexact` flag preserves additional packages already installed in your environment. The bundle supplies its own dependencies without requiring `misc`. Embedding models and unrelated utilities remain available through `misc`. diff --git a/docs/development/testing.md b/docs/development/testing.md index e37b8cbf35..3e7b483271 100644 --- a/docs/development/testing.md +++ b/docs/development/testing.md @@ -1,5 +1,7 @@ # Testing +Start with the [official installer](/docs/installation/index.md) in developer mode to provision system, Python, test, and lint dependencies. + `uv run` syncs the project deps + `tests` group on demand, so the default test suite needs no upfront install: `uv run pytest --numprocesses=auto dimos` (xdist parallelizes across cores). Self-hosted tests need the heavy optional extras (LFS data, perception models, simulation, hardware SDKs, ā€¦). Sync them explicitly before running: @@ -69,13 +71,10 @@ pytest -m self_hosted dimos/path/to/test_something.py ## Testing on a fresh Ubuntu install -CI tests dimos with pre-built images and cached deps, so it can't catch gaps -between what [`installation/ubuntu.md`](/docs/installation/ubuntu.md) tells a new user to -do and what a clean machine actually needs (e.g. a system package we require but -forgot to document). +Installation CI runs `scripts/test-install.sh` in fresh Ubuntu 22.04/24.04 containers on x86_64 and ARM64. It verifies one library or developer installation per job without starting blueprints. See [local installation checks](#test-a-checkout-locally). -The [misc/fresh-ubuntu-tests/](/misc/fresh-ubuntu-tests/) harness closes that -gap. It replays the documented install + test flow inside a fresh, official, +The application test suite uses pre-built images and cached dependencies. For additional application tests, the +[misc/fresh-ubuntu-tests/](/misc/fresh-ubuntu-tests/) harness runs its install and test flow inside a fresh, official, **unmodified** Ubuntu Desktop 24.04 VM (VirtualBox). It's intended to be executed locally. @@ -191,3 +190,16 @@ If a test needs to be skipped for some reason, please use on of these markers, o * `skipif_in_ci`: tests which cannot run in GitHub Actions * `skipif_no_openai`: tests which require an `OPENAI_API_KEY` key in the env * `skipif_no_alibaba`: tests which require an `ALIBABA_API_KEY` key in the env + +## Test a checkout locally + +From the repository, run either mode in a fresh temporary directory: + +```sh skip +INSTALL_TEST_ROOT="$(mktemp -d)" bash scripts/test-install.sh library +INSTALL_TEST_ROOT="$(mktemp -d)" bash scripts/test-install.sh dev +``` + +Library mode tests this checkout's installer against the published package. Developer mode clones the current commit (commit local changes first to include them). Logs are saved in `logs/install.log` under each temporary directory. + +These checks disable GPU access and skip replay and sysctl changes. The temporary directory isolates the project and Python environment; apt or Homebrew packages are installed on the host. Use a disposable Ubuntu container for isolation. On macOS, these commands test Homebrew setup. On Arch, they require manually installed system dependencies because the test helper disables Nix. diff --git a/docs/installation/index.md b/docs/installation/index.md new file mode 100644 index 0000000000..ead6f47ae2 --- /dev/null +++ b/docs/installation/index.md @@ -0,0 +1,43 @@ +# Installation + +The recommended way to install dimOS is the guided `install.sh` script. It installs system dependencies, uv, Python, and dimOS into a project virtual environment (or a source checkout for contributors). Recent clean Ubuntu CI installs took about 2ā€“4 minutes (allow longer on a laptop, slower connection, or first Homebrew/Nix setup). Run it from a terminal: + +```sh skip +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash +``` + +The installer asks for a mode and project directory, sets up system dependencies and uv, installs Python 3.12 and dimOS, and verifies the CLI and native libraries. It can also configure LCM networking and run an optional replay check. Follow the printed activation instructions when it finishes. + +| Platform | Installation path | Validation | +| --- | --- | --- | +| [Ubuntu 22.04/24.04](/docs/installation/ubuntu.md), x86_64/ARM64 | apt | Both modes pass CPU installation CI | +| [macOS](/docs/installation/osx.md), Apple Silicon | Homebrew | CI paused; local testing needed | +| [NixOS / other Linux](/docs/installation/nix.md), including Arch | Nix | Not covered by installation CI | + +Linux ARM64 excludes `scene` because `usd-core` has no wheel. CUDA extras require Linux x86_64; Jetson CUDA setup is not supported. Installation checks do not qualify robot hardware or GPU workloads. + +## Choose a mode + +- **Library (recommended)** installs the published package in a project virtual environment. +- **Developer** clones `main` and installs the checkout with test and lint dependencies. An existing checkout is reused without pulling or switching branches. + +Install a CPU library environment without prompts or replay: + +```sh skip +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- \ + --mode library --project-dir ./dimos-app \ + --non-interactive --no-nix --no-cuda --no-sysctl --skip-tests +cd dimos-app +source .venv/bin/activate +uv run dimos --help +``` + +Use `--mode dev --project-dir ./dimos` for a source checkout. Use `--extras base,unitree` to select capabilities (developer mode defaults to `all` with platform exclusions). See [dependency tiers](/docs/requirements.md#dependency-tiers). + +`--skip-tests` skips replay only (installation verification still runs). `--no-sysctl` skips network tuning. These commands can install system packages on your host. + +For all options: + +```sh skip +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --help +``` diff --git a/docs/installation/nix.md b/docs/installation/nix.md index 78be8950a7..15bd26d40b 100644 --- a/docs/installation/nix.md +++ b/docs/installation/nix.md @@ -1,57 +1,52 @@ -## Nix install (required for nix managed dimos) +# Nix installation -You need to have [nix](https://nixos.org/) installed and [flakes](https://nixos.wiki/wiki/Flakes) enabled, - -[official install docs](https://nixos.org/download/) recommended, but here is a quickstart: +Use the official installer with `--use-nix` to provision a Nix development shell and a virtual environment using the Nix-provided Python: ```sh skip -# Install Nix https://nixos.org/download/ -curl --proto '=https' --tlsv1.2 -sSf -L https://install.determinate.systems/nix | sh -s -- install -. /nix/var/nix/profiles/default/etc/profile.d/nix-daemon.sh - -# make sure nix-flakes are enabled -mkdir -p "$HOME/.config/nix"; echo "experimental-features = nix-command flakes" >> "$HOME/.config/nix/nix.conf" +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --use-nix --mode dev --project-dir ./dimos +cd dimos +nix develop +source .venv/bin/activate ``` -## Using dimOS as a library +The installer offers to install Nix if needed and enables flakes for a new installation. An existing Nix installation must already have flakes enabled. Choose library mode to install the published package instead; the installer downloads the flake files into that project. -```sh skip -mkdir myproject && cd myproject +Nix is an option for Arch Linux and other distributions whose package managers the installer does not handle. This path is not covered by installation CI. Native Arch dependency installation through pacman is not implemented. -# pull the flake (needed for nix develop outside the repo) -wget https://raw.githubusercontent.com/dimensionalOS/dimos/refs/heads/main/flake.nix -wget https://raw.githubusercontent.com/dimensionalOS/dimos/refs/heads/main/flake.lock +On Ubuntu, prefer the [system-package path](/docs/installation/ubuntu.md), which is tested in CI. Nix libraries can conflict with PyPI wheels on Ubuntu 22.04. -# enter the nix development shell (provides system deps) -nix develop +See [installer options](/docs/installation/index.md) and the [DDS guide](/docs/usage/transports/dds.md) for specialized setup. -python3 -m venv .venv -source .venv/bin/activate - -# install everything (depending on your use case you might not need all extras, -# check your respective platform guides) -pip install "dimos[manipulation,misc,unitree]" -``` +## Manual installation -## Developing on dimOS +Install Nix and enable `nix-command` and `flakes` first. From a source checkout: ```sh skip -# this allows getting large files on-demand (and not pulling all immediately) -export GIT_LFS_SKIP_SMUDGE=1 -git clone https://github.com/dimensionalOS/dimos.git +GIT_LFS_SKIP_SMUDGE=1 git clone https://github.com/dimensionalOS/dimos.git cd dimos - -# enter the nix development shell (provides system deps) nix develop - -python3 -m venv .venv +export UV_PYTHON_PREFERENCE=only-system UV_PYTHON_DOWNLOADS=never +uv sync --locked --python "$(command -v python3)" --extra manipulation --extra unitree --extra cpu --group tests --group lint source .venv/bin/activate +uv run --no-sync dimos --help +``` -pip install -e ".[manipulation,misc,unitree]" - -# type check -mypy dimos +For a library environment, download the shell definition instead of cloning: -# tests (around a minute to run) -pytest --numprocesses=auto dimos +```sh skip +mkdir dimos-app && cd dimos-app +curl -fsSLO https://raw.githubusercontent.com/dimensionalOS/dimos/main/flake.nix +curl -fsSLO https://raw.githubusercontent.com/dimensionalOS/dimos/main/flake.lock +git init +git add flake.nix flake.lock +nix develop +export UV_PYTHON_PREFERENCE=only-system UV_PYTHON_DOWNLOADS=never +uv venv --python "$(command -v python3)" +source .venv/bin/activate +uv pip install --torch-backend cpu 'dimos[base,unitree,sim]' +uv run dimos --help ``` + +If uv is missing, install it with `curl -LsSf https://astral.sh/uv/install.sh | sh` and add `$HOME/.local/bin` to PATH. Always enter `nix develop` before activating these environments. Nix supplies Python and native libraries; uv manages Python packages. + +In a developer checkout, `uv run --no-sync` uses the installed environment. When updating dependencies, repeat the selected `--extra cpu` or `--extra cuda` on `uv sync` so the accelerator choice is preserved. diff --git a/docs/installation/osx.md b/docs/installation/osx.md index a34c21a226..2c5873f893 100644 --- a/docs/installation/osx.md +++ b/docs/installation/osx.md @@ -1,46 +1,18 @@ -# macOS Install (12.6 or newer) +# macOS installation -```sh skip -# install homebrew -/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" -# install dependencies -brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo python pre-commit - -# install uv -curl -LsSf https://astral.sh/uv/install.sh | sh && export PATH="$HOME/.local/bin:$PATH" -``` - -## Using dimOS as a library +Use the official installer on macOS 14 or newer: ```sh skip -mkdir myproject && cd myproject - -uv venv --python 3.12 -source .venv/bin/activate - -# install everything (depending on your use case you might not need all extras, -# check your respective platform guides) -uv pip install 'dimos[manipulation,misc,unitree]' +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash ``` -## Developing on dimOS - -```sh skip -# this allows getting large files on-demand (and not pulling all immediately) -export GIT_LFS_SKIP_SMUDGE=1 -git clone https://github.com/dimensionalOS/dimos.git -cd dimos +macOS 14 is the supported minimum for the current installer. The default developer environment includes ONNX Runtime 1.24.1 and Drake 1.45.0, whose Apple Silicon wheels require macOS 14. Some older library combinations may work on earlier macOS releases, but this installer does not support or validate those combinations. -# Install all dependency groups (tests, lint, ā€¦) so mypy + pytest are -# both available. For self-hosted tests, see docs/development/testing.md. -uv sync --all-groups +The installer sets up Homebrew dependencies, uv, Python 3.12, and dimOS. Choose **library** for the published package or **dev** for a source checkout. Follow the printed activation command when it finishes. -# type check -uv run mypy dimos +Apple Silicon is the target macOS configuration. macOS CI is paused because runner capacity is exhausted; the current installer needs local validation. Package and hardware support can differ from Linux. -# tests (around a minute to run) -uv run pytest --numprocesses=auto dimos -``` +See [installer options](/docs/installation/index.md). ## Transport note for macOS @@ -48,12 +20,39 @@ LCM over UDP can be unreliable on macOS for large or high-rate replay workloads. See the [Zenoh quickstart](/docs/usage/transports/index.md#zenoh-quickstart) for what the localhost-pinned default reaches and how to point it at a robot or the LAN. +## Manual installation + +Use these steps if you need to install without the guided script. + ```sh skip -dimos --dtop --replay --replay-db=go2_bigoffice run unitree-go2 +# Install Homebrew first if it is not installed. +/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" +eval "$(/opt/homebrew/bin/brew shellenv)" +brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo pre-commit ffmpeg libsndfile pkg-config +curl -LsSf https://astral.sh/uv/install.sh | sh +export PATH="$HOME/.local/bin:$PATH" ``` -If you are developing on the repository, prefer syncing the full environment with the checked-in lockfile: +### Library environment ```sh skip -uv sync --extra all --frozen +mkdir dimos-app && cd dimos-app +uv venv --python 3.12 +source .venv/bin/activate +uv pip install --torch-backend cpu 'dimos[base,unitree,sim]' +uv run dimos --help ``` + +### Developer checkout + +```sh skip +GIT_LFS_SKIP_SMUDGE=1 git clone https://github.com/dimensionalOS/dimos.git +cd dimos +uv sync --locked --python 3.12 --extra manipulation --extra unitree --extra cpu --group tests --group lint +source .venv/bin/activate +uv run --no-sync dimos --help +``` + +These examples select CPU dependencies. On Linux x86_64 with a CUDA-capable GPU, use `--torch-backend cu128` for library mode or replace `--extra cpu` with `--extra cuda` for developer mode. Do not select both accelerator extras. + +In a developer checkout, `uv run --no-sync` uses the installed environment. When updating dependencies, repeat the selected `--extra cpu` or `--extra cuda` on `uv sync` so the accelerator choice is preserved. diff --git a/docs/installation/ubuntu.md b/docs/installation/ubuntu.md index b77e92adf4..84791bae4c 100644 --- a/docs/installation/ubuntu.md +++ b/docs/installation/ubuntu.md @@ -1,41 +1,58 @@ -## System Dependencies Install (Ubuntu 22.04 or 24.04) +# Ubuntu installation + +Use the official installer on Ubuntu 22.04/24.04, on x86_64 or ARM64: ```sh skip -sudo apt-get update -sudo apt-get install -y curl g++ portaudio19-dev git-lfs libturbojpeg python3-dev pre-commit +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash +``` -# install uv -curl -LsSf https://astral.sh/uv/install.sh | sh && export PATH="$HOME/.local/bin:$PATH" +Choose system packages for the CI-tested path. The installer sets up apt dependencies, uv, Python 3.12, and dimOS, then verifies the CLI and native libraries. + +Choose **library** for the published package or **dev** for a source checkout. For example: + +```sh skip +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --mode dev --no-nix --project-dir ./dimos +cd dimos +source .venv/bin/activate ``` -## Using dimOS as a library +An existing checkout is reused without pulling or switching branches. Developer mode includes test and lint dependencies; see [testing](/docs/development/testing.md) for additional groups. + +Both modes pass CPU installation CI on Ubuntu 22.04/24.04 and x86_64/ARM64. Linux ARM64 excludes the unsupported `scene` extra. Jetson CUDA setup is not supported. + +See [installer options](/docs/installation/index.md). + +## Manual installation + +Use these steps if you need to install without the guided script. ```sh skip -mkdir myproject && cd myproject +sudo apt-get update +sudo apt-get install -y ca-certificates curl git g++ portaudio19-dev git-lfs libturbojpeg pre-commit libgl1 libegl1 libglib2.0-0 ffmpeg libsndfile1 pkg-config +curl -LsSf https://astral.sh/uv/install.sh | sh +export PATH="$HOME/.local/bin:$PATH" +``` +### Library environment + +```sh skip +mkdir dimos-app && cd dimos-app uv venv --python 3.12 source .venv/bin/activate - -# install everything (depending on your use case you might not need all extras, -# check your respective platform guides) -uv pip install 'dimos[manipulation,misc,unitree]' +uv pip install --torch-backend cpu 'dimos[base,unitree,sim]' +uv run dimos --help ``` -## Developing on dimOS +### Developer checkout ```sh skip -# this allows getting large files on-demand (and not pulling all immediately) -export GIT_LFS_SKIP_SMUDGE=1 -git clone https://github.com/dimensionalOS/dimos.git +GIT_LFS_SKIP_SMUDGE=1 git clone https://github.com/dimensionalOS/dimos.git cd dimos +uv sync --locked --python 3.12 --extra manipulation --extra unitree --extra cpu --group tests --group lint +source .venv/bin/activate +uv run --no-sync dimos --help +``` -# Install all dependency groups (tests, lint, ā€¦) so mypy + pytest are -# both available. For self-hosted tests, see docs/development/testing.md. -uv sync --all-groups - -# type check -uv run mypy dimos +These examples select CPU dependencies. On Linux x86_64 with a CUDA-capable GPU, use `--torch-backend cu128` for library mode or replace `--extra cpu` with `--extra cuda` for developer mode. Do not select both accelerator extras. -# tests (around a minute to run) -uv run pytest --numprocesses=auto dimos -``` +In a developer checkout, `uv run --no-sync` uses the installed environment. When updating dependencies, repeat the selected `--extra cpu` or `--extra cuda` on `uv sync` so the accelerator choice is preserved. diff --git a/docs/platforms/humanoid/g1/index.md b/docs/platforms/humanoid/g1/index.md index bd268e068f..c7930ea16a 100644 --- a/docs/platforms/humanoid/g1/index.md +++ b/docs/platforms/humanoid/g1/index.md @@ -47,12 +47,12 @@ SSH into the robot, then: ```bash # pick the "developer" setup -bash <(curl -fsSL https://pub-4767fdd15e6a41b6b2ce2558d71ec8d9.r2.dev/install.sh) +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --mode dev ``` #### Notes -dimOS handles DDS setup automatically. If you're using the Unitree SDK directly, set: +For DDS dependencies, follow the [DDS setup guide](/docs/usage/transports/dds.md). The installer does not provision every robot SDK. If you're using the Unitree SDK directly, set: ```bash export CYCLONEDDS_HOME="$HOME/cyclonedds/install" ``` @@ -87,7 +87,7 @@ command locomotion in this blueprint. On the G1 computer: ```bash -uv sync --extra all +# Activate the developer environment created by the installer first. uv run dimos run unitree-g1-teleop --network-interface eth0 ``` diff --git a/docs/platforms/quadruped/go2/setup.md b/docs/platforms/quadruped/go2/setup.md index 8b93292255..8484d3389c 100644 --- a/docs/platforms/quadruped/go2/setup.md +++ b/docs/platforms/quadruped/go2/setup.md @@ -10,17 +10,10 @@ Full autonomous navigation, mapping, and agentic control on a real Go2. No ROS r ## Install -First, install system dependencies for your platform: -- [Ubuntu](/docs/installation/ubuntu.md) -- [macOS](/docs/installation/osx.md) -- [Nix](/docs/installation/nix.md) - -Then install dimOS: +Use the [official installer](/docs/installation/index.md), then follow its environment activation command: ```bash -uv venv --python "3.12" -source .venv/bin/activate -uv pip install 'dimos[base,unitree]' +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash ``` ## Run on Your Go2 diff --git a/docs/platforms/quadruped/go2/simulation.md b/docs/platforms/quadruped/go2/simulation.md index a2727e954e..d41a2a5932 100644 --- a/docs/platforms/quadruped/go2/simulation.md +++ b/docs/platforms/quadruped/go2/simulation.md @@ -17,7 +17,7 @@ Opens the command center at [localhost:7779](http://localhost:7779) with Rerun 3 ## MuJoCo Simulation ```bash -uv pip install 'dimos[base,unitree,sim]' +# The installer's default extras include sim. dimos --simulation run unitree-go2 ``` diff --git a/docs/platforms/quadruped/spot/index.md b/docs/platforms/quadruped/spot/index.md index 76010ebece..04c8ef690b 100644 --- a/docs/platforms/quadruped/spot/index.md +++ b/docs/platforms/quadruped/spot/index.md @@ -5,6 +5,8 @@ odometry streaming. ## Install +Set up dimOS with the [official installer](/docs/installation/index.md) in developer mode, then add the Spot extra to that checkout: + ```bash uv sync --extra spot ``` diff --git a/docs/quickstart.md b/docs/quickstart.md index b6955ceb36..a70f374cc3 100644 --- a/docs/quickstart.md +++ b/docs/quickstart.md @@ -6,7 +6,7 @@ When you are ready for more, the same install works with physics simulation, a r ## Before you begin -You need a machine running **Ubuntu 22.04 or newer** or **macOS 12.6 or newer**, with **Python 3.12**, about **10 GB of free disk**, and **16 GB of RAM**. A GPU is only required later for perception and AI features, so any reasonably modern laptop can run this quickstart. +You need a machine running **Ubuntu 22.04 or newer** or **macOS 14 or newer**, with about **10 GB of free disk**, and **16 GB of RAM**. A GPU is only required later for perception and AI features, so any reasonably modern laptop can run this quickstart. The full hardware matrix, including tested configurations and Jetson boards, is on the [system requirements](/docs/requirements.md) page. @@ -14,10 +14,6 @@ If you use a coding agent such as Claude Code or OpenClaw, point it at the repos ## Install dimOS -There are two ways to install, and you only need one of them. - -### Option A: guided installer (recommended) - The installer script walks you through the whole setup interactively. It installs the system packages dimOS needs (such as git-lfs and portaudio), installs the [uv](https://docs.astral.sh/uv/) Python package manager if you don't have it, creates a virtual environment, and installs dimOS into it with the extras you choose. ```bash @@ -26,32 +22,9 @@ curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/in If you prefer to read the script before running it, it lives at [scripts/install.sh](https://github.com/dimensionalOS/dimos/blob/main/scripts/install.sh) in the repository. -When the installer finishes, activate the environment it created and **skip ahead to [Run your first replay](#run-your-first-replay)**. Everything in Option B has already been done for you. - -### Option B: manual install - -First install the system dependencies for your OS by following the matching guide: - -| OS guide | Notes | -| --- | --- | -| [Ubuntu](/docs/installation/ubuntu.md) | Primary tested path | -| [macOS](/docs/installation/osx.md) | Homebrew-based, less mature than Linux | -| [Nix](/docs/installation/nix.md) | Flakes and dev shell | - -Then create a Python 3.12 environment. The examples use [uv](https://docs.astral.sh/uv/), though plain `python -m venv` and `pip` work the same way: - -```bash -uv venv --python "3.12" -source .venv/bin/activate -``` - -Finally install dimOS with the extras this quickstart uses: - -```bash -uv pip install 'dimos[base,unitree]' -``` +When the installer finishes, follow its activation command and continue to [Run your first replay](#run-your-first-replay). Python 3.12 is installed automatically if needed. -Extras keep the install lean. The `base` extra brings the runtime, modules, transports, and CLI, while `unitree` adds WebRTC support and the skills for the Go2 and G1 robots, whether real or replayed. +See [installation](/docs/installation/index.md) for library/developer modes, platform support, and extras. ## Run your first replay @@ -74,10 +47,9 @@ Congratulations, you have a full dimOS navigation stack running on recorded data ### Simulation (MuJoCo) -Instead of replaying recorded data, you can run the robot in a physics simulation. Install the `sim` extra and pass `--simulation`: +The installer's default extras include `sim`. To run a physics simulation, pass `--simulation`: ```bash -uv pip install 'dimos[base,unitree,sim]' dimos --simulation run unitree-go2 # quadruped dimos --simulation run unitree-g1-sim # humanoid ``` diff --git a/docs/requirements.md b/docs/requirements.md index 9d2b5d82a4..fcda21c94e 100644 --- a/docs/requirements.md +++ b/docs/requirements.md @@ -1,5 +1,7 @@ # System Requirements +Install dimOS with the [official installer](/docs/installation/index.md). It provisions Python and system dependencies for the supported installation paths. + ## Hardware | Component | Minimum | Recommended | @@ -8,7 +10,7 @@ | CPU | 8-core Intel / AMD | 12+ cores | | RAM | 16 GB | 32 GB+ | | Disk | 10 GB SSD | 25 GB+ SSD | -| OS | Ubuntu 22.04, macOS 12.6+ | Ubuntu 24.04 | +| OS | Ubuntu 22.04, macOS 14+ | Ubuntu 24.04 | > GPU is optional for basic robot control. Required for perception, VLMs, and AI features. @@ -25,16 +27,12 @@ ## Dependency Tiers -Bare `pip install dimos` installs the **core** tier. Extras add capabilities on top. +The macOS 14 minimum follows the current developer dependencies, including ONNX Runtime and Drake. It does not mean that every older dimOS package requires macOS 14. See the [macOS installation guide](/docs/installation/osx.md). + +Choose extras with the installer's `--extras` option. The default is `all`, adjusted for the platform. For example: ```bash -pip install dimos # Core only -pip install 'dimos[base,unitree]' # Unitree robot control (no torch) -pip install 'dimos[base,unitree,perception]' # + Object detection, VLMs (requires torch) -pip install 'dimos[base,unitree,sim]' # + MuJoCo simulation -pip install 'dimos[base,unitree,perception,sim]' # Full stack -pip install 'dimos[base,unitree,drone]' # + Drone support -pip install 'dimos[base,unitree,manipulation]' # + Arm control +curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --extras base,unitree,sim ``` | Extra | What it adds | Key packages | GPU? | @@ -50,22 +48,17 @@ pip install 'dimos[base,unitree,manipulation]' # + Arm control | `drone` | DJI Tello / MAVLink drones | pymavlink | No | | `manipulation` | Arm planning + control | Drake, piper-sdk, xarm-sdk | No | | `mapping` | GTSAM-backed pose graph optimization (relocalization) | gtsam-extended | No | -| `cuda` | GPU acceleration | cupy, onnxruntime-gpu | **Yes** | -| `cpu` | CPU inference backends | onnxruntime | No | +| `cuda` | CUDA PyTorch and GPU acceleration | torch, torchvision, cupy, onnxruntime-gpu | **Yes** | +| `cpu` | CPU PyTorch and inference backends | torch, torchvision, onnxruntime | No | | `misc` | Extra models, embeddings, hardware SDKs | edgetam, timm, torchreid, xarm-sdk | Varies | | `base` | Standard stack (agents + web + viz) | langchain, fastapi, rerun-sdk | No | | `dds` | DDS transport (CycloneDDS) | cyclonedds | No | Cockpit voice input and the legacy browser audio upload require the `ffmpeg` -executable in addition to the Python `web` extra. On Ubuntu/Debian, install it -with `sudo apt-get install ffmpeg`. +executable in addition to the Python `web` extra. The installer supplies it through system packages on Ubuntu and macOS. ## Headless / Server Environments -If running on a headless Ubuntu server (no display), install OpenGL libraries for visualization dependencies: - -```bash -sudo apt-get install -y libgl1 libegl1 -``` +The Ubuntu installer includes `libgl1` and `libegl1` for visualization imports on headless servers. Nix users (`nix develop`) don't need this. The flake provides `libGL`, `libGLU`, and `mesa`. diff --git a/docs/usage/transports/dds.md b/docs/usage/transports/dds.md index 7f08eedcac..8cbbdfebe5 100644 --- a/docs/usage/transports/dds.md +++ b/docs/usage/transports/dds.md @@ -50,5 +50,5 @@ sudo ln -sf /usr/include/dds /opt/cyclonedds/include/ To install all extras including DDS: ```bash -CYCLONEDDS_HOME=/opt/cyclonedds uv sync --all-extras --all-groups +CYCLONEDDS_HOME=/opt/cyclonedds uv sync --extra dds --inexact ``` diff --git a/misc/fresh-ubuntu-tests/suite/setup.sh b/misc/fresh-ubuntu-tests/suite/setup.sh index 9761acb5fd..9c569da177 100755 --- a/misc/fresh-ubuntu-tests/suite/setup.sh +++ b/misc/fresh-ubuntu-tests/suite/setup.sh @@ -9,7 +9,7 @@ export GIT_LFS_SKIP_SMUDGE=1 # system dependencies (docs/installation/ubuntu.md) sudo apt-get update -sudo apt-get install -y curl g++ portaudio19-dev git-lfs libturbojpeg python3-dev pre-commit +sudo apt-get install -y ca-certificates curl git g++ portaudio19-dev git-lfs libturbojpeg pre-commit libgl1 libegl1 libglib2.0-0 ffmpeg libsndfile1 pkg-config # uv curl -LsSf https://astral.sh/uv/install.sh | sh diff --git a/pyproject.toml b/pyproject.toml index 340a4bfb52..63997bc0c2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -298,17 +298,22 @@ planning = [ # Complete manipulation workflow: control, planning, perception, agents, and simulation. manipulation = [ - "dimos[planning,base,sim,cpu]", + "dimos[planning,base,sim]", + "onnxruntime", ] cpu = [ + "torch>=2.1,<2.8", + "torchvision>=0.16,<0.23", # CPU inference backends "onnxruntime", ] cuda = [ - "cupy-cuda12x==13.6.0; platform_machine == 'x86_64'", - "onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12 + "torch>=2.1,<2.8", + "torchvision>=0.16,<0.23", + "cupy-cuda12x==13.6.0; sys_platform == 'linux' and platform_machine == 'x86_64'", + "onnxruntime-gpu>=1.17.1; sys_platform == 'linux' and platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12 ] sim = [ @@ -375,12 +380,14 @@ graspgenx = [ "graspgenx", "huggingface-hub>=0.30,<1", "matplotlib>=3.7.1", - "torch>=2.1,<2.7", - "torchvision>=0.16,<0.22", + "torch>=2.1,<2.8", + "torchvision>=0.16,<0.23", ] all = [ - "dimos[apriltag,cuda,drone,manipulation,misc,scene,unitree,webrtc]", + "dimos[apriltag,cuda,drone,manipulation,misc,unitree,webrtc]", + # usd-core does not publish Linux ARM64 wheels. + "dimos[scene]; sys_platform != 'linux' or platform_machine != 'aarch64'", ] [dependency-groups] @@ -444,7 +451,8 @@ tests = [ # Deps the lint job swaps for stubs (`stubs//` or `types-*`): # the real packages are needed at test time, stubs cover mypy. - "dimos[apriltag,mapping,drone,cpu,learning]", + "dimos[apriltag,mapping,drone,learning]", + "onnxruntime", # Scene-cooking tests need these two from the `scene` extra. The full # extra can't be included: usd-core ships no linux-aarch64 wheel. "coacd>=1.0.0", @@ -516,6 +524,7 @@ dev = [ ] [tool.uv] +conflicts = [[{ extra = "cpu" }, { extra = "cuda" }]] required-version = ">=0.9.25" default-groups = ["tests"] exclude-newer = "7 days" @@ -545,22 +554,84 @@ override-dependencies = [ "huggingface-hub>=0.30,<1", "diffusers>=0.29", "pyopengl>=3.1.5", - # Force the torch 2.7 line even if a transitive dep asks for newer. +] + +# The pinned GraspGenX revision caps torch for its local driver. Relax only +# those caps here; global overrides would bypass accelerator-specific sources. +[[tool.uv.dependency-metadata]] +name = "graspgenx" +version = "1.0.0" +requires-python = ">=3.10" +requires-dist = [ "torch>=2.1,<2.8", "torchvision>=0.16,<0.23", -] + "torch-geometric", + "h5py", + "hydra-core", + "matplotlib", + "numpy==1.26.4", + "webdataset", + "scikit-learn", + "scipy", + "tensorboard", + "trimesh==4.5.3", + "transformers", + "tensordict", + "diffusers==0.11.1", + "timm==1.0.15", + "huggingface-hub==0.25.2", + "PyOpenGL==3.1.5", + "addict", + "yapf==0.40.1", + "tensorboardx", + "sharedarray", + "yourdfpy==0.0.56", + "urdfpy", + "pyrender", + "scene-synthesizer[recommend]", + "imageio", + "viser", + "tqdm", + "pyyaml", + "pytest", + "setuptools>=45,<78", + "nvidia-curobo; extra == 'end2end'", + "cuda-core[cu12]<1.0; extra == 'end2end'", + "newton[sim]; extra == 'end2end'", + "mujoco-warp==3.5.0.2; extra == 'end2end'", + "mujoco==3.5.0; extra == 'end2end'", + "coacd>=1.0.7; extra == 'end2end'", + "usd-core; extra == 'end2end'", + "python-fcl; extra == 'end2end'", + "black; extra == 'dev'", + "isort; extra == 'dev'", + "flake8; extra == 'dev'", + "pyzmq; extra == 'serve'", + "msgpack; extra == 'serve'", + "msgpack-numpy; extra == 'serve'", + "torch-tensorrt>=2.6,<2.7; extra == 'tensorrt'", + "tensorrt>=10,<11; extra == 'tensorrt'", +] +provides-extras = ["end2end", "dev", "serve", "tensorrt"] [tool.uv.sources] graspgenx = { git = "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/NVlabs/GraspGenX.git", rev = "b9429097728cb1c430dd78b92edf17ba318aad03" } -# CUDA builds are not published for macOS or non-x86_64 Linux. Those platforms -# fall back to PyPI. +# Accelerator extras select PyTorch builds on Linux x86_64. macOS and +# non-x86_64 Linux use PyPI wheels. torch = [ - { index = "pytorch-cu128", marker = "(sys_platform == 'linux' and platform_machine == 'x86_64') or sys_platform == 'win32'" }, + { index = "pytorch-cpu", extra = "cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" }, + { index = "pytorch-cu128", extra = "cuda", marker = "(sys_platform == 'linux' and platform_machine == 'x86_64') or sys_platform == 'win32'" }, ] torchvision = [ - { index = "pytorch-cu128", marker = "(sys_platform == 'linux' and platform_machine == 'x86_64') or sys_platform == 'win32'" }, + { index = "pytorch-cpu", extra = "cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" }, + { index = "pytorch-cu128", extra = "cuda", marker = "(sys_platform == 'linux' and platform_machine == 'x86_64') or sys_platform == 'win32'" }, ] +[[tool.uv.index]] +name = "pytorch-cpu" +url = "https://download.pytorch.org/whl/cpu" +explicit = true + [[tool.uv.index]] name = "pytorch-cu128" url = "https://download.pytorch.org/whl/cu128" diff --git a/scripts/install.sh b/scripts/install.sh index daf5a770b1..47eeb30246 100755 --- a/scripts/install.sh +++ b/scripts/install.sh @@ -5,37 +5,29 @@ # Interactive installer for DimOS ā€” the agentive operating system for generalist robotics. # # Usage: -# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- --help +# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash +# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --help # # Non-interactive: -# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- --non-interactive --mode library --extras base,unitree +# curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --non-interactive --mode library --extras base,unitree # +# Prompts read /dev/tty explicitly. Parse the entire script before main runs so +# child processes cannot consume the script when invoked through curl | bash. +{ set -euo pipefail - - -# ā”€ā”€ā”€ signal handling (must be early so Ctrl+C works everywhere) ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ -trap 'printf "\n"; exit 130' INT - -# If piped from curl (stdin is not a TTY and $0 is the shell), -# save to temp file and re-execute so interactive prompts get proper TTY input. -if [ ! -t 0 ] && { [ "$0" = "bash" ] || [ "$0" = "-bash" ] || [ "$0" = "/bin/bash" ] || [ "$0" = "/usr/bin/bash" ] || [ "$0" = "sh" ] || [ "$0" = "/bin/sh" ]; }; then - TMPSCRIPT="$(mktemp /tmp/dimos-install.XXXXXX.sh)" - cat > "$TMPSCRIPT" - chmod +x "$TMPSCRIPT" - exec bash "$TMPSCRIPT" "$@" -fi +trap 'exit 130' INT +trap 'exit 143' TERM INSTALLER_VERSION="0.3.0" # ā”€ā”€ā”€ package lists (edit these when dependencies change) ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ -UBUNTU_PACKAGES="curl g++ portaudio19-dev git-lfs libturbojpeg python3-dev pre-commit libgl1 libegl1" -MACOS_PACKAGES="gnu-sed gcc portaudio git-lfs libjpeg-turbo python pre-commit" +UBUNTU_PACKAGES="ca-certificates curl git g++ portaudio19-dev git-lfs libturbojpeg pre-commit libgl1 libegl1 libglib2.0-0 ffmpeg libsndfile1 pkg-config" +MACOS_PACKAGES="gnu-sed gcc portaudio git-lfs libjpeg-turbo pre-commit ffmpeg libsndfile pkg-config" INSTALL_MODE="${DIMOS_INSTALL_MODE:-}" EXTRAS="${DIMOS_EXTRAS:-}" NON_INTERACTIVE="${DIMOS_NO_PROMPT:-0}" -GIT_BRANCH="${DIMOS_BRANCH:-dev}" +GIT_BRANCH="${DIMOS_BRANCH:-main}" NO_CUDA="${DIMOS_NO_CUDA:-0}" NO_SYSCTL="${DIMOS_NO_SYSCTL:-0}" DRY_RUN="${DIMOS_DRY_RUN:-0}" @@ -47,7 +39,11 @@ SKIP_TESTS="${DIMOS_SKIP_TESTS:-0}" HAS_NIX=0 SETUP_METHOD="" INSTALL_DIR="" +INSTALL_PYTHON="3.12" GUM="" +INSTALL_DEPS=1 +DEV_TOOLS=0 +CHILD_PID="" if [[ -t 1 ]] && command -v tput &>/dev/null && [[ $(tput colors 2>/dev/null || echo 0) -ge 8 ]]; then CYAN=$'\033[38;5;44m'; GREEN=$'\033[32m'; YELLOW=$'\033[33m'; RED=$'\033[31m' @@ -63,15 +59,28 @@ err() { printf "%sāœ—%s %s\n" "$RED" "$RESET" "$*" >&2; } die() { err "$@"; exit 1; } # Cancelled exit code ā€” used by prompt functions to signal Ctrl+C readonly CANCELLED_EXIT=130 -check_cancel() { [[ $? -eq $CANCELLED_EXIT ]] && { err "cancelled"; exit 1; }; return 0; } dim() { printf "%s%s%s\n" "$DIM" "$*" "$RESET"; } run_cmd() { if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] $*"; return 0; fi [[ "$VERBOSE" == "1" ]] && dim "$ $*" - eval "$@" + "$@" } +# Execute argv in the selected environment without interpolating paths into code. +project_cmd() ( + if [[ "$DRY_RUN" == "1" ]]; then + dim "[dry-run] in $INSTALL_DIR: $*" + return + fi + cd "$INSTALL_DIR" || exit + if [[ "$USE_NIX" == "1" ]]; then + exec nix develop --command "$@" + else + exec "$@" + fi +) + has_cmd() { command -v "$1" &>/dev/null; } # ā”€ā”€ā”€ gum bootstrap ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ @@ -111,13 +120,14 @@ prompt_select() { printf "\n" >/dev/tty if [[ -n "$GUM" ]]; then local tmpf; tmpf=$(mktemp) + local ec=0 "$GUM" choose --header "$msg" \ --cursor "ā— " --cursor.foreground="44" \ --header.foreground="255" --header.bold \ --selected.foreground="44" \ - "${options[@]}" "$tmpf" - local ec=$?; PROMPT_RESULT=$(<"$tmpf"); rm -f "$tmpf" - [[ $ec -ne 0 ]] && die "cancelled" + "${options[@]}" "$tmpf" || ec=$? + PROMPT_RESULT=$(<"$tmpf"); rm -f "$tmpf" + if [[ $ec -ne 0 ]]; then die "cancelled"; fi else printf "%s%s%s\n" "$BOLD" "$msg" "$RESET" >/dev/tty local i=1 @@ -128,7 +138,8 @@ prompt_select() { printf " choice [1]: " >/dev/tty local choice; read -r choice /dev/tty if [[ -n "$GUM" ]]; then local tmpf; tmpf=$(mktemp) + local ec=0 "$GUM" choose --no-limit --header "$msg (space to toggle, enter to confirm)" \ --cursor "āÆ " --cursor.foreground="44" \ --header.foreground="255" --header.bold \ --selected.foreground="44" \ - "${options[@]}" "$tmpf" - local ec=$?; PROMPT_RESULT=$(<"$tmpf"); rm -f "$tmpf" - [[ $ec -ne 0 ]] && die "cancelled" + "${options[@]}" "$tmpf" || ec=$? + PROMPT_RESULT=$(<"$tmpf"); rm -f "$tmpf" + if [[ $ec -ne 0 ]]; then die "cancelled"; fi else printf "%s%s%s (comma-separated, enter for all)\n" "$BOLD" "$msg" "$RESET" >/dev/tty local i=1 @@ -166,7 +178,9 @@ prompt_multi() { local out="" IFS=',' read -ra nums <<< "$sel" for n in "${nums[@]}"; do - n="${n// /}"; local idx=$((n - 1)) + n="${n// /}" + [[ "$n" =~ ^[0-9]+$ ]] || die "enter comma-separated menu numbers" + local idx=$((10#$n - 1)) if [[ $idx -ge 0 ]] && [[ $idx -lt ${#options[@]} ]]; then [[ -n "$out" ]] && out+=$'\n' out+="${options[$idx]}" @@ -197,18 +211,6 @@ prompt_confirm() { fi } -prompt_spin() { - local title="$1"; shift - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] $*"; return 0; fi - if [[ -n "$GUM" ]] && [[ "$VERBOSE" != "1" ]]; then - "$GUM" spin --title "$title" --spinner dot --spinner.foreground="44" -- bash -c "$*" - else - [[ "$VERBOSE" == "1" ]] && dim "$ $*" - info "$title" - eval "$@" - fi -} - # ā”€ā”€ā”€ ascii banner ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ show_banner() { if [[ "$NON_INTERACTIVE" == "1" ]] && [[ -z "${DIMOS_SHOW_BANNER:-}" ]]; then return; fi @@ -257,35 +259,40 @@ usage() { ${BOLD}DimOS Interactive Installer${RESET} v${INSTALLER_VERSION} ${BOLD}USAGE${RESET} - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- [OPTIONS] + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- [OPTIONS] ${BOLD}OPTIONS${RESET} --mode library|dev Install mode (default: interactive prompt) --extras Comma-separated pip extras - --branch Git branch for dev mode (default: dev) + --branch Git branch for dev mode (default: main) --project-dir Project directory --non-interactive Accept defaults, no prompts - --no-cuda Force CPU-only + --no-cuda Use CPU inference dependencies (skip CUDA extras) --no-sysctl Skip LCM sysctl configuration --use-nix Force Nix-based setup --no-nix Skip Nix entirely - --skip-tests Skip post-install verification + --skip-tests Skip the optional replay smoke test --dry-run Print commands without executing --verbose Show all commands --help Show this help ${BOLD}EXAMPLES${RESET} - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- --mode dev --no-cuda - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- --non-interactive --extras base,unitree - curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/dev/scripts/install.sh | bash -s -- --dry-run + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --mode dev --no-cuda + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --non-interactive --extras base,unitree + curl -fsSL https://raw.githubusercontent.com/dimensionalOS/dimos/main/scripts/install.sh | bash -s -- --dry-run EOF exit 0 } parse_args() { while [[ $# -gt 0 ]]; do + case "$1" in + --mode|--extras|--branch|--project-dir) + [[ $# -ge 2 && -n "$2" && "$2" != --* ]] || die "$1 requires a value" + ;; + esac case "$1" in --mode) INSTALL_MODE="$2"; shift 2 ;; --extras) EXTRAS="$2"; shift 2 ;; @@ -300,9 +307,12 @@ parse_args() { --dry-run) DRY_RUN=1; NON_INTERACTIVE=1; shift ;; --verbose) VERBOSE=1; shift ;; --help|-h) usage ;; - *) warn "unknown option: $1"; shift ;; + *) die "unknown option: $1" ;; esac done + case "$INSTALL_MODE" in ""|library|dev) ;; *) die "invalid mode: $INSTALL_MODE";; esac + [[ "$USE_NIX" != 1 || "$NO_NIX" != 1 ]] || die "--use-nix and --no-nix cannot be combined" + if [[ "$DRY_RUN" == 1 ]]; then NON_INTERACTIVE=1; fi } # ā”€ā”€ā”€ detection ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ @@ -338,7 +348,7 @@ detect_os() { detect_gpu() { if [[ "$DETECTED_OS" == "macos" ]]; then [[ "$DETECTED_ARCH" == "arm64" ]] && DETECTED_GPU="apple-silicon" || DETECTED_GPU="none" - elif has_cmd nvidia-smi; then + elif has_cmd nvidia-smi && nvidia-smi --query-gpu=name --format=csv,noheader >/dev/null 2>&1; then DETECTED_GPU="nvidia" DETECTED_CUDA="$(nvidia-smi 2>/dev/null | grep -oP 'CUDA Version: \K[0-9.]+' || echo "")" else @@ -352,7 +362,7 @@ detect_python() { local ver; ver="$("$cmd" --version 2>&1 | grep -oE '[0-9]+\.[0-9]+\.[0-9]+' | head -1 || echo "")" if [[ -n "$ver" ]]; then local major minor; major="$(echo "$ver" | cut -d. -f1)"; minor="$(echo "$ver" | cut -d. -f2)" - if [[ "$major" -eq 3 ]] && [[ "$minor" -ge 10 ]]; then + if [[ "$major" -eq 3 ]] && [[ "$minor" -ge 10 && "$minor" -lt 13 ]]; then DETECTED_PYTHON="$(command -v "$cmd")"; DETECTED_PYTHON_VER="$ver"; return fi fi @@ -365,7 +375,7 @@ detect_nix() { if has_cmd nix; then HAS_NIX=1 elif [[ -f /nix/var/nix/profiles/default/etc/profile.d/nix-daemon.sh ]]; then . /nix/var/nix/profiles/default/etc/profile.d/nix-daemon.sh 2>/dev/null || true - has_cmd nix && HAS_NIX=1 + if has_cmd nix; then HAS_NIX=1; fi fi } @@ -431,15 +441,11 @@ install_nix() { HAS_NIX=1; return fi - # Clean stale Nix backup files that block reinstall - for rc in /etc/bashrc /etc/bash.bashrc /etc/zshrc; do - if [[ -f "${rc}.backup-before-nix" ]]; then - sudo mv "${rc}.backup-before-nix" "$rc" - fi - done - - # Run from /tmp (CWD may not exist) with TTY so nix installer can prompt - (cd /tmp && sh <(curl --proto '=https' --tlsv1.2 -L https://nixos.org/nix/install) --daemon) /dev/null || echo MISSING)" - echo "gcc=$(which gcc 2>/dev/null || echo MISSING)" - ' >"$tmpf") || true - local nix_check; nix_check=$(<"$tmpf"); rm -f "$tmpf" - echo "$nix_check" | grep -q "python3=MISSING" && warn "nix develop: python3 not found" || ok "nix develop: python3 available" - echo "$nix_check" | grep -q "gcc=MISSING" && warn "nix develop: gcc not found" || ok "nix develop: gcc available" + info "verifying nix develop environment..." + if [[ "$DRY_RUN" == 1 ]]; then return; fi + # A shell hook may print setup messages before the command's final line. + INSTALL_PYTHON=$(project_cmd sh -c 'command -v gcc >/dev/null && python3 -c "import sys; print(sys.executable)"' | tail -n 1) || die "nix develop verification failed" + [[ "$INSTALL_PYTHON" == /nix/store/* ]] || die "Nix setup must provide its own Python" } # ā”€ā”€ā”€ system dependencies ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ @@ -520,45 +525,59 @@ install_system_deps() { case "$DETECTED_OS" in ubuntu|wsl) - local needed="" + local -a needed=() privilege=(/usr/bin/env) + if [[ $(id -u) != 0 ]]; then privilege=(sudo); fi for pkg in $UBUNTU_PACKAGES; do - if ! dpkg -s "$pkg" &>/dev/null; then - needed+=" $pkg" + if [[ "$(dpkg-query -W -f='${Status}' "$pkg" 2>/dev/null || true)" != "install ok installed" ]]; then + needed+=("$pkg") fi done - if [[ -z "$needed" ]]; then + if [[ ${#needed[@]} -eq 0 ]]; then ok "all system dependencies already installed" return fi - info "need to install:${needed}" + info "need to install: ${needed[*]}" if ! prompt_confirm "Install these packages via apt?" "yes"; then - warn "skipping system dependencies ā€” some features may not work" - return + die "required system packages were declined; install them before continuing: ${needed[*]}" fi - run_cmd "sudo apt-get update" - run_cmd "sudo DEBIAN_FRONTEND=noninteractive NEEDRESTART_MODE=a apt-get install -y $needed" + run_cmd "${privilege[@]}" apt-get update + run_cmd "${privilege[@]}" /usr/bin/env DEBIAN_FRONTEND=noninteractive NEEDRESTART_MODE=a apt-get install -y "${needed[@]}" ;; macos) + # Homebrew may exist outside PATH, including immediately after bootstrap. + if ! has_cmd brew; then + case "$DETECTED_ARCH" in + arm64) export PATH="/opt/homebrew/bin:$PATH" ;; + x86_64) export PATH="/usr/local/bin:$PATH" ;; + esac + fi if ! has_cmd brew; then info "installing homebrew..." - run_cmd '/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"' + if [[ "$DRY_RUN" == 1 ]]; then + dim "[dry-run] install Homebrew" + else + local installer + installer=$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh) + if [[ "$NON_INTERACTIVE" == 1 ]]; then + NONINTERACTIVE=1 /bin/bash -c "$installer" + else + /bin/bash -c "$installer" /dev/null 2>&1; then - needed+=" $pkg" - fi + if ! brew list --versions "$pkg" >/dev/null 2>&1; then needed+=("$pkg"); fi done - if [[ -z "$needed" ]]; then + if [[ ${#needed[@]} -eq 0 ]]; then ok "all system dependencies already installed" return fi - info "need to install via brew:${needed}" + info "need to install via brew: ${needed[*]}" if ! prompt_confirm "Install these packages via brew?" "yes"; then - warn "skipping system dependencies ā€” some features may not work" - return + die "required system packages were declined; install them before continuing: ${needed[*]}" fi - run_cmd "brew install $needed" + run_cmd brew install "${needed[@]}" ;; nixos) info "NixOS detected ā€” system deps managed via nix develop" @@ -574,17 +593,21 @@ install_system_deps() { } install_uv() { - if has_cmd uv; then ok "uv already installed ($(uv --version 2>/dev/null))"; return; fi - info "installing uv..." - run_cmd 'curl -LsSf https://astral.sh/uv/install.sh | sh' - export PATH="$HOME/.local/bin:$PATH" - if ! has_cmd uv; then - for rc in "$HOME/.bashrc" "$HOME/.zshrc" "$HOME/.profile" "$HOME/.cargo/env"; do - [[ -f "$rc" ]] && source "$rc" 2>/dev/null || true - done + local version="" + if has_cmd uv; then version=$(uv --version | awk '{print $2}'); fi + if [[ -n "$version" ]] && awk -v version="$version" 'BEGIN { + split(version, v, "."); exit !(v[1] > 0 || v[2] > 9 || (v[2] == 9 && v[3] >= 25)) + }'; then + ok "uv already installed ($version)" + return fi + info "installing uv >=0.9.25..." + if [[ "$DRY_RUN" == 1 ]]; then dim "[dry-run] install uv"; return; fi + curl -LsSf https://astral.sh/uv/install.sh | sh + export PATH="$HOME/.local/bin:$PATH" + hash -r has_cmd uv || die "uv installation failed ā€” install manually: https://docs.astral.sh/uv/" - ok "uv installed ($(uv --version 2>/dev/null))" + ok "uv installed ($(uv --version))" } # ā”€ā”€ā”€ install mode + extras ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ @@ -619,10 +642,11 @@ prompt_extras() { while IFS= read -r line; do [[ -n "$line" ]] && feature_sel+=("$line"); done <<< "$_features" local -a extras_list=() - for p in "${platform_sel[@]}"; do + # Bash 3.2 treats empty arrays as unset under nounset. + for p in ${platform_sel[@]+"${platform_sel[@]}"}; do case "$p" in *Unitree*) extras_list+=("unitree");; *Drone*) extras_list+=("drone");; *Manipulator*) extras_list+=("manipulation");; esac done - for f in "${feature_sel[@]}"; do + for f in ${feature_sel[@]+"${feature_sel[@]}"}; do case "$f" in *Agent*) extras_list+=("agents");; *Perception*) extras_list+=("perception");; *Visualization*) extras_list+=("visualization");; *Simulation*) extras_list+=("sim");; *Web*) extras_list+=("web");; *Misc*) extras_list+=("misc");; esac done @@ -633,7 +657,7 @@ prompt_extras() { extras_list+=("cpu") fi - prompt_confirm "Include development tools (ruff, pytest, mypy)?" "no" && extras_list+=("dev") + if prompt_confirm "Include development tools (ruff, pytest, mypy)?" "no"; then DEV_TOOLS=1; fi [[ ${#extras_list[@]} -eq 0 ]] && extras_list=("base") EXTRAS="$(IFS=,; echo "${extras_list[*]}")" @@ -663,138 +687,100 @@ prompt_install_dir() { } # ā”€ā”€ā”€ installation ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ -do_install_library() { - local dir="${PROJECT_DIR:-}" - if [[ -z "$dir" ]]; then dir=$(prompt_install_dir "$PWD/dimensional-applications" "library") || die "cancelled"; fi - INSTALL_DIR="$dir" - info "library install ā†’ ${dir}" - run_cmd "mkdir -p '$dir'" - - # Show what we're about to do - printf "\n" - info "next step: create .venv and install Python packages" - if [[ "$USE_NIX" == "1" ]]; then - dim " will run: ${CYAN}cd ${dir} && nix develop --command bash -c \"uv venv && uv pip install 'dimos[${EXTRAS}]'\"${RESET}" - dim " nix develop provides system libraries (libGL, mesa, etc.)" - else - dim " will run: ${CYAN}cd ${dir} && uv venv --python 3.12 && uv pip install \"dimos[${EXTRAS}]\"${RESET}" - fi - printf "\n" - - if ! prompt_confirm "Install dependencies now?" "yes"; then - dim " skipping dependency install" - printf "\n" - dim " to install later, run:" - dim " cd ${dir}" - if [[ "$USE_NIX" == "1" ]]; then - dim " nix develop" - dim " uv venv --python 3.12" - dim " source .venv/bin/activate" - dim " uv pip install \"dimos[${EXTRAS}]\"" - else - dim " uv venv --python 3.12" - dim " source .venv/bin/activate" - dim " uv pip install \"dimos[${EXTRAS}]\"" - fi - ok "project directory created at ${dir}" - return - fi - - if [[ "$USE_NIX" == "1" ]]; then - info "downloading flake files..." - local base="https://raw.githubusercontent.com/dimensionalOS/dimos/refs/heads/${GIT_BRANCH}" - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] curl flake.nix + flake.lock" - else - curl -fsSL "${base}/flake.nix" -o "${dir}/flake.nix" - curl -fsSL "${base}/flake.lock" -o "${dir}/flake.lock" - fi - [[ "$DRY_RUN" != "1" ]] && [[ ! -d "${dir}/.git" ]] && (cd "$dir" && git init -q && git add flake.nix flake.lock && git commit -q -m "init" --allow-empty) - verify_nix_develop "$dir" - info "installing dimos[${EXTRAS}] via nix develop..." - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] nix develop + uv venv + uv pip install" +# Expand the aggregate so --no-cuda and platform restrictions also apply to all. +resolve_extras() { + local requested="$EXTRAS" extra + local -a selected=() inputs=() + IFS=',' read -r -a inputs <<< "$requested" + for extra in "${inputs[@]}"; do + if [[ "$extra" == all ]]; then + selected+=(agents apriltag base drone manipulation misc perception sim unitree visualization web webrtc) + if [[ "$DETECTED_OS" != macos && "$DETECTED_ARCH" == aarch64 ]]; then + info "scene is unavailable on Linux ARM64; excluding it from all" + else + selected+=(scene) + fi else - local venv_flag="" - if [[ -d "${dir}/.venv" ]]; then - warn "existing .venv found in ${dir}/" - if prompt_confirm "Replace existing virtual environment?" "no"; then - venv_flag="UV_VENV_CLEAR=1" - else - info "keeping existing .venv" - venv_flag="SKIP_VENV=1" - fi + [[ "$extra" =~ ^[a-zA-Z0-9][a-zA-Z0-9_-]*$ ]] || die "invalid extra: $extra" + if [[ "$extra" == scene && "$DETECTED_OS" != macos && "$DETECTED_ARCH" == aarch64 ]]; then + die "scene requires usd-core, which has no Linux ARM64 wheel" fi - (cd "$dir" && nix develop --command bash -c "set -euo pipefail; [[ \"\${SKIP_VENV:-}\" != 1 ]] && ${venv_flag} uv venv --python 3.12; source .venv/bin/activate; uv pip install 'dimos[${EXTRAS}]'") + if [[ "$extra" == cuda && "$NO_CUDA" == 1 ]]; then continue; fi + selected+=("$extra") fi - else - if [[ -d "${dir}/.venv" ]] && [[ "$DRY_RUN" != "1" ]]; then - warn "existing .venv found in ${dir}/" - if prompt_confirm "Replace existing virtual environment?" "no"; then - info "replacing virtual environment..." - (cd "$dir" && UV_VENV_CLEAR=1 uv venv --python 3.12) - else - info "keeping existing .venv ā€” skipping venv creation" - fi + done + EXTRAS="$(IFS=,; echo "${selected[*]:-}")" + if [[ ",$EXTRAS," == *,cuda,* ]]; then + [[ "$DETECTED_OS" != macos && "$DETECTED_ARCH" == x86_64 ]] || die "CUDA installation requires Linux x86_64; Jetson CUDA is not supported" + [[ ",$EXTRAS," != *,cpu,* ]] || die "select either cpu or cuda, not both" + elif [[ ",$EXTRAS," != *,cpu,* ]]; then + if [[ "$NO_CUDA" != 1 && "$DETECTED_GPU" == nvidia && "$DETECTED_ARCH" == x86_64 ]]; then + EXTRAS="${EXTRAS:+$EXTRAS,}cuda" else - info "creating virtual environment (python 3.12)..." - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] uv venv --python 3.12" - else pushd "$dir" >/dev/null && uv venv --python 3.12 && popd >/dev/null; fi + EXTRAS="${EXTRAS:+$EXTRAS,}cpu" fi - info "installing dimos[${EXTRAS}]..." - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] uv pip install 'dimos[${EXTRAS}]'" - else pushd "$dir" >/dev/null && source .venv/bin/activate && uv pip install "dimos[${EXTRAS}]" && popd >/dev/null; fi fi - ok "dimos installed in ${dir}" + info "installing extras: $EXTRAS" } -do_install_dev() { +do_install_library() { local dir="${PROJECT_DIR:-}" - if [[ -z "$dir" ]]; then dir=$(prompt_install_dir "$PWD/dimos" "dev") || die "cancelled"; fi + if [[ -z "$dir" ]]; then dir=$(prompt_install_dir "$PWD/dimensional-applications" library) || die "cancelled"; fi INSTALL_DIR="$dir" - info "developer install ā†’ ${dir}" - - # Step 1: Clone or pull - if [[ -d "$dir/.git" ]]; then - info "existing clone found, pulling latest..." - run_cmd "cd '$dir' && git pull --rebase origin $GIT_BRANCH" - else - info "cloning dimos (branch: ${GIT_BRANCH})..." - run_cmd "GIT_LFS_SKIP_SMUDGE=1 git clone -b $GIT_BRANCH https://github.com/dimensionalOS/dimos.git '$dir'" - fi - - # Step 2: Install dependencies (ask first ā€” this is the heavy part) - printf "\n" - info "next step: create .venv and install all Python dependencies" - if [[ "$USE_NIX" == "1" ]]; then - dim " will run: ${CYAN}nix develop --command bash -c \"uv sync --extra all\"${RESET}" - else - dim " will run: ${CYAN}cd ${dir} && uv sync --extra all${RESET}" + info "library install ā†’ $dir" + run_cmd mkdir -p "$dir" + if ! prompt_confirm "Install dependencies now?" yes; then + INSTALL_DEPS=0 + dim "to install later: uv venv --python 3.12 && uv pip install 'dimos[$EXTRAS]'" + return fi - dim " this creates a .venv and installs ~430 packages (may take several minutes)" - printf "\n" - - if ! prompt_confirm "Install dependencies now?" "yes"; then - dim " skipping dependency install" - printf "\n" - dim " to install later, run:" - dim " cd ${dir}" - if [[ "$USE_NIX" == "1" ]]; then - dim " nix develop --command bash -c \"uv sync --extra all\"" + if [[ "$USE_NIX" == 1 ]]; then + local base="https://raw.githubusercontent.com/dimensionalOS/dimos/refs/heads/$GIT_BRANCH" + run_cmd curl -fsSL "$base/flake.nix" -o "$dir/flake.nix" + run_cmd curl -fsSL "$base/flake.lock" -o "$dir/flake.lock" + if [[ ! -e "$dir/.git" ]]; then run_cmd git -C "$dir" init -q; fi + run_cmd git -C "$dir" add flake.nix flake.lock + verify_nix_develop + fi + if [[ -d "$dir/.venv" && "$DRY_RUN" != 1 ]]; then + if prompt_confirm "Replace existing virtual environment?" no; then + project_cmd /usr/bin/env UV_VENV_CLEAR=1 uv venv --python "$INSTALL_PYTHON" else - dim " uv sync --extra all" + info "keeping existing .venv" fi - ok "repository cloned to ${dir}" - return + else + project_cmd uv venv --python "$INSTALL_PYTHON" + fi + local backend=cpu + if [[ ",$EXTRAS," == *,cuda,* ]]; then backend=cu128; fi + project_cmd uv pip install --python .venv/bin/python --torch-backend "$backend" "dimos[$EXTRAS]" + if [[ "$DEV_TOOLS" == 1 ]]; then + project_cmd uv pip install --python .venv/bin/python ruff pytest mypy fi + ok "dimos installed in $dir" +} - if [[ "$USE_NIX" == "1" ]]; then - verify_nix_develop "$dir" - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] nix develop + uv sync --extra all" - else (cd "$dir" && nix develop --command bash -c "set -euo pipefail && uv sync --extra all"); fi +do_install_dev() { + local dir="${PROJECT_DIR:-}" + if [[ -z "$dir" ]]; then dir=$(prompt_install_dir "$PWD/dimos" dev) || die "cancelled"; fi + INSTALL_DIR="$dir" + info "developer install ā†’ $dir" + if [[ -e "$dir/.git" ]]; then + git -C "$dir" rev-parse --is-inside-work-tree >/dev/null || die "invalid Git checkout: $dir" + info "using existing checkout at $(git -C "$dir" rev-parse --short HEAD)" else - if [[ "$DRY_RUN" == "1" ]]; then dim "[dry-run] uv sync --extra all" - else pushd "$dir" >/dev/null && uv sync --extra all && popd >/dev/null; fi - fi - ok "developer environment ready in ${dir}" + run_cmd /usr/bin/env GIT_LFS_SKIP_SMUDGE=1 git clone -b "$GIT_BRANCH" https://github.com/dimensionalOS/dimos.git "$dir" + fi + if [[ "$USE_NIX" == 1 ]]; then verify_nix_develop; fi + local -a sync_args=(--locked --python "$INSTALL_PYTHON" --group tests --group lint) + local -a extras=() + local extra + IFS=',' read -r -a extras <<< "$EXTRAS" + for extra in "${extras[@]}"; do sync_args+=(--extra "$extra"); done + dim "will run: uv sync ${sync_args[*]}" + if ! prompt_confirm "Install dependencies now?" yes; then INSTALL_DEPS=0; return; fi + project_cmd uv sync "${sync_args[@]}" + ok "developer environment ready in $dir" } do_install() { @@ -821,8 +807,8 @@ configure_system() { printf "\n" if prompt_confirm "Apply sysctl changes?" "yes"; then - run_cmd "sudo sysctl -w net.core.rmem_max=67108864" - run_cmd "sudo sysctl -w net.core.rmem_default=67108864" + run_cmd sudo sysctl -w net.core.rmem_max=67108864 + run_cmd sudo sysctl -w net.core.rmem_default=67108864 if prompt_confirm "Persist across reboots?" "yes"; then if [[ "$DRY_RUN" != "1" ]]; then printf "# DimOS LCM transport buffers\nnet.core.rmem_max=67108864\nnet.core.rmem_default=67108864\n" | sudo tee /etc/sysctl.d/99-dimos.conf >/dev/null @@ -833,78 +819,82 @@ configure_system() { } # ā”€ā”€ā”€ verification ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ +# Python's timeout works on macOS too. Each command owns a process group so +# timeout and interruption also stop workers started by a blueprint. +run_bounded() { + info "checking (timeout ${1}s): ${*:2}" + project_cmd .venv/bin/python - "$@" <<'PYTHON' & +import os +import signal +import subprocess +import sys + +seconds = float(sys.argv[1]) +process = subprocess.Popen(sys.argv[2:], start_new_session=True) + +def interrupted(signum, frame): + raise SystemExit(128 + signum) + +signal.signal(signal.SIGINT, interrupted) +signal.signal(signal.SIGTERM, interrupted) +try: + try: + status = process.wait(timeout=seconds) + except subprocess.TimeoutExpired: + status = 124 +finally: + try: + os.killpg(process.pid, signal.SIGTERM) + process.wait(timeout=5) + except ProcessLookupError: + pass + except subprocess.TimeoutExpired: + pass + finally: + try: + os.killpg(process.pid, signal.SIGKILL) + except ProcessLookupError: + pass + process.wait() +sys.exit(status) +PYTHON + CHILD_PID=$! + local status=0 + wait "$CHILD_PID" || status=$? + CHILD_PID="" + return "$status" +} + verify_install() { + if [[ "$INSTALL_DEPS" != 1 || "$DRY_RUN" == 1 ]]; then return; fi info "verifying installation..." - local dir="$INSTALL_DIR" - if [[ "$DRY_RUN" == "1" ]]; then ok "verification skipped (dry-run)"; return; fi - local venv_python="${dir}/.venv/bin/python3" - [[ ! -f "$venv_python" ]] && { warn "venv not found, skipping verification"; return; } - - if [[ "$USE_NIX" == "1" ]]; then - (cd "$dir" && nix develop --command bash -c "source .venv/bin/activate && python3 -c 'import dimos'" 2>/dev/null) && ok "python import: dimos āœ“" || warn "import check failed" - else - "$venv_python" -c "import dimos" 2>/dev/null && ok "python import: dimos āœ“" || warn "import check failed" - fi - - [[ -x "${dir}/.venv/bin/dimos" ]] && ok "dimos CLI available" || dim " activate venv for CLI: source .venv/bin/activate" - - if [[ "$DETECTED_GPU" == "nvidia" ]] && [[ "$NO_CUDA" != "1" ]] && [[ "$EXTRAS" == *"cuda"* ]]; then - "$venv_python" -c "import torch; assert torch.cuda.is_available()" 2>/dev/null && ok "CUDA available" || dim " CUDA not available in this environment" - fi - printf "\n" + run_bounded 60 .venv/bin/dimos --help + run_bounded 60 .venv/bin/dimos list + run_bounded 60 .venv/bin/python -c 'import sqlite3, cv2, open3d; from turbojpeg import TurboJPEG; TurboJPEG()' + if [[ ",$EXTRAS," == *,cuda,* ]]; then + run_bounded 60 .venv/bin/python -c 'import torch; assert torch.cuda.is_available(); assert (torch.ones(1, device="cuda") + 1).item() == 2' + elif [[ "$NO_CUDA" == 1 ]] && project_cmd .venv/bin/python -c 'import importlib.util; raise SystemExit(importlib.util.find_spec("torch") is None)'; then + run_bounded 60 .venv/bin/python -c 'import torch; assert (torch.ones(1, device="cpu") + 1).item() == 2' + fi + ok "installation verified" } run_post_install_tests() { - [[ "$SKIP_TESTS" == "1" ]] && { dim " skipping tests (--skip-tests)"; return; } - [[ "$DRY_RUN" == "1" ]] && { dim "[dry-run] would run post-install tests"; return; } - - local dir="$INSTALL_DIR" - local venv="${dir}/.venv/bin/activate" - [[ ! -f "$venv" ]] && { warn "venv not found, skipping tests"; return; } - - # Only offer smoke test if unitree extras installed - if ! { [[ "$EXTRAS" == *"unitree"* ]] || [[ "$EXTRAS" == "all" ]]; }; then - dim " no smoke tests available for selected extras" - return - fi - - if ! prompt_confirm "Run a quick smoke test? (starts unitree-go2 for 60s)" "yes"; then - dim " skipping smoke test" - return - fi - - printf "\n"; info "${BOLD}post-install smoke test${RESET}"; printf "\n" - - local cmd - if [[ "$EXTRAS" == *"sim"* ]] || [[ "$EXTRAS" == "all" ]]; then - cmd="dimos --simulation run unitree-go2" - else - cmd="dimos --replay run unitree-go2" - fi - - info "running: ${DIM}${cmd}${RESET} (Ctrl+C to stop)" - + [[ "$INSTALL_DEPS" != 1 || "$SKIP_TESTS" == 1 || "$DRY_RUN" == 1 ]] && return 0 + [[ ",$EXTRAS," == *,unitree,* ]] || return 0 + prompt_confirm "Run a quick smoke test? (starts unitree-go2 replay for 60s)" yes || return 0 local exit_code=0 - pushd "$dir" >/dev/null - source "$venv" - $cmd & - local pid=$! - # wait allows bash to process INT trap immediately - wait $pid || exit_code=$? - popd >/dev/null - - printf "\n" - if [[ $exit_code -eq 124 ]]; then ok "smoke test: ran 60s without crash āœ“" - elif [[ $exit_code -eq 130 ]] || [[ $exit_code -eq 137 ]]; then - ok "smoke test: stopped by user" - elif [[ $exit_code -eq 0 ]]; then ok "smoke test: completed āœ“" - else warn "smoke test exited with code ${exit_code} (may be expected headless)" - fi + run_bounded 60 .venv/bin/dimos --viewer none --replay run unitree-go2 || exit_code=$? + case "$exit_code" in + 0|124) ok "smoke test passed" ;; + *) die "smoke test failed (exit $exit_code)" ;; + esac } # ā”€ā”€ā”€ quickstart ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ print_quickstart() { local dir="$INSTALL_DIR" + if [[ "$DRY_RUN" == 1 ]]; then info "dry-run complete; no installation performed"; return; fi printf "\n %s%sšŸŽ‰ installation complete!%s\n\n %sget started:%s\n\n" "$BOLD" "$GREEN" "$RESET" "$BOLD" "$RESET" if [[ "$USE_NIX" == "1" ]]; then @@ -922,7 +912,7 @@ print_quickstart() { printf " %s# MuJoCo simulation%s\n dimos --simulation run unitree-go2\n\n" "$DIM" "$RESET" fi if [[ "$INSTALL_MODE" == "dev" ]]; then - printf " %s# tests%s\n uv run pytest dimos\n\n %s# type check%s\n uv run mypy dimos\n\n" "$DIM" "$RESET" "$DIM" "$RESET" + printf " %s# tests%s\n uv run --no-sync pytest dimos\n\n %s# type check%s\n uv run --no-sync mypy dimos\n\n" "$DIM" "$RESET" "$DIM" "$RESET" fi if [[ "$USE_NIX" == "1" ]]; then printf " %sāš %s open a %snew terminal%s first, then run 'nix develop' before working with DimOS\n" "$YELLOW" "$RESET" "$BOLD" "$RESET" @@ -935,14 +925,22 @@ print_quickstart() { # ā”€ā”€ā”€ cleanup ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ cleanup() { local ec=$? + if [[ -n "$CHILD_PID" ]]; then + kill -TERM "$CHILD_PID" 2>/dev/null || true + wait "$CHILD_PID" 2>/dev/null || true + fi [[ $ec -eq 130 ]] && { warn "interrupted"; } [[ $ec -ne 0 ]] && [[ $ec -ne 130 ]] && { printf "\n"; err "installation failed (exit ${ec})"; err "help: https://github.com/dimensionalOS/dimos/issues"; } + return 0 } trap cleanup EXIT # ā”€ā”€ā”€ main ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ main() { parse_args "$@" + if [[ "$NON_INTERACTIVE" != 1 ]] && ! (true /dev/null; then + die "no terminal available; use --non-interactive" + fi if [[ "$NON_INTERACTIVE" != "1" ]]; then if install_gum 2>/dev/null; then @@ -958,14 +956,23 @@ main() { if [[ "$DETECTED_OS" == "ubuntu" ]] || [[ "$DETECTED_OS" == "wsl" ]]; then local ver_major; ver_major="$(echo "$DETECTED_OS_VERSION" | cut -d. -f1)" - [[ "$ver_major" -lt 22 ]] 2>/dev/null && warn "Ubuntu ${DETECTED_OS_VERSION} ā€” 22.04+ recommended" + if [[ "$ver_major" =~ ^[0-9]+$ ]] && [[ "$ver_major" -lt 22 ]]; then + warn "Ubuntu ${DETECTED_OS_VERSION} ā€” 22.04+ recommended" + fi fi if [[ "$DETECTED_OS" == "macos" ]]; then local mac_major; mac_major="$(echo "$DETECTED_OS_VERSION" | cut -d. -f1)" - [[ "$mac_major" -lt 12 ]] 2>/dev/null && die "macOS ${DETECTED_OS_VERSION} too old ā€” 12.6+ required" + if [[ "$mac_major" =~ ^[0-9]+$ ]] && [[ "$mac_major" -lt 14 ]]; then + die "macOS ${DETECTED_OS_VERSION} too old ā€” 14+ required by current dependencies" + fi fi prompt_setup_method + if [[ "$USE_NIX" == 1 ]]; then + export UV_PYTHON_PREFERENCE=only-system UV_PYTHON_DOWNLOADS=never + else + export UV_PYTHON_PREFERENCE=only-managed + fi if [[ "$SETUP_METHOD" != "nix" ]]; then install_system_deps; fi install_uv @@ -990,11 +997,19 @@ main() { fi prompt_extras + resolve_extras do_install + if [[ "$INSTALL_DEPS" != 1 ]]; then + info "setup prepared; dependency installation was skipped" + return + fi configure_system verify_install run_post_install_tests print_quickstart } -main "$@" +if [[ "${BASH_SOURCE[0]:-$0}" == "$0" ]]; then + main "$@" +fi +} diff --git a/scripts/test-install.sh b/scripts/test-install.sh new file mode 100644 index 0000000000..8d3c089c57 --- /dev/null +++ b/scripts/test-install.sh @@ -0,0 +1,30 @@ +#!/usr/bin/env bash +# Copyright 2025-2026 Dimensional Inc. +# Licensed under the Apache License, Version 2.0 +# Run one real installation on a disposable host/container: +# INSTALL_TEST_ROOT="$(mktemp -d)" bash scripts/test-install.sh library|dev +set -euo pipefail + +repo=$(cd "$(dirname "$0")/.." && pwd) +mode=${1:?expected library or dev} +case "$mode" in library|dev) ;; *) exit 2;; esac +: "${INSTALL_TEST_ROOT:?set INSTALL_TEST_ROOT to an empty temporary directory}" +mkdir -p "$INSTALL_TEST_ROOT/logs" +project="$INSTALL_TEST_ROOT/$mode" +export GIT_LFS_SKIP_SMUDGE=1 +export UV_PYTHON_PREFERENCE=only-managed +export CUDA_VISIBLE_DEVICES="" +unset VIRTUAL_ENV PYTHONPATH + +if [[ "$mode" == dev ]]; then + expected_commit=$(git -C "$repo" rev-parse HEAD) + git clone --no-hardlinks --no-checkout "$repo" "$project" + git -C "$project" checkout --detach "$expected_commit" +fi + +# The installer performs bounded CLI and dependency verification. --skip-tests +# disables its optional blueprint replay. pipefail preserves installation errors. +cat "$repo/scripts/install.sh" | /bin/bash -s -- \ + --non-interactive --no-nix --no-sysctl --skip-tests --no-cuda \ + --mode "$mode" --project-dir "$project" \ + 2>&1 | tee "$INSTALL_TEST_ROOT/logs/install.log" diff --git a/uv.lock b/uv.lock index a90b0c3f11..5682c551d6 100644 --- a/uv.lock +++ b/uv.lock @@ -6,27 +6,32 @@ resolution-markers = [ "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'emscripten'", "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')", "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'emscripten'", "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')", "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'darwin'", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'win32'", - "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", + "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'emscripten'", + "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'emscripten'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", ] +conflicts = [[ + { package = "dimos", extra = "cpu" }, + { package = "dimos", extra = "cuda" }, +]] [options] exclude-newer = "0001-01-01T00:00:00Z" # This has no effect and is included for backwards compatibility when using relative exclude-newer values. @@ -55,14 +60,17 @@ overrides = [ { name = "pyopengl", specifier = ">=3.1.5" }, { name = "pytest", specifier = "==8.3.5" }, { name = "timm", specifier = ">=1.0.17" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" }, { name = "trimesh", specifier = ">=4.12" }, { name = "yourdfpy", specifier = ">=0.0.60" }, ] +[[manifest.dependency-metadata]] +name = "graspgenx" +version = "1.0.0" +requires-dist = ["torch>=2.1,<2.8", "torchvision>=0.16,<0.23", "torch-geometric", "h5py", "hydra-core", "matplotlib", "numpy==1.26.4", "webdataset", "scikit-learn", "scipy", "tensorboard", "trimesh==4.5.3", "transformers", "tensordict", "diffusers==0.11.1", "timm==1.0.15", "huggingface-hub==0.25.2", "pyopengl==3.1.5", "addict", "yapf==0.40.1", "tensorboardx", "sharedarray", "yourdfpy==0.0.56", "urdfpy", "pyrender", "scene-synthesizer[recommend]", "imageio", "viser", "tqdm", "pyyaml", "pytest", "setuptools>=45,<78", "nvidia-curobo ; extra == 'end2end'", "cuda-core[cu12]<1.0 ; extra == 'end2end'", "newton[sim] ; extra == 'end2end'", "mujoco-warp==3.5.0.2 ; extra == 'end2end'", "mujoco==3.5.0 ; extra == 'end2end'", "coacd>=1.0.7 ; extra == 'end2end'", "usd-core ; extra == 'end2end'", "python-fcl ; extra == 'end2end'", "black ; extra == 'dev'", "isort ; extra == 'dev'", "flake8 ; extra == 'dev'", "pyzmq ; extra == 'serve'", "msgpack ; extra == 'serve'", "msgpack-numpy ; extra == 'serve'", "torch-tensorrt>=2.6,<2.7 ; extra == 'tensorrt'", "tensorrt>=10,<11 ; extra == 'tensorrt'"] +requires-python = ">=3.10" +provides-extras = ["end2end", "dev", "serve", "tensorrt"] + [[package]] name = "a750-control" version = "0.1.1" @@ -86,14 +94,15 @@ version = "1.12.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "huggingface-hub" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "packaging" }, { name = "psutil" }, { name = "pyyaml" }, { name = "safetensors" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/4a/8e/ac2a9566747a93f8be36ee08532eb0160558b07630a081a6056a9f89bf1d/accelerate-1.12.0.tar.gz", hash = "sha256:70988c352feb481887077d2ab845125024b2a137a5090d6d7a32b57d03a45df6", size = 398399, upload-time = "2025-11-21T11:27:46.973Z" } wheels = [ @@ -134,7 +143,7 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aiohappyeyeballs" }, { name = "aiosignal" }, - { name = "async-timeout", marker = "python_full_version < '3.11'" }, + { name = "async-timeout", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "attrs" }, { name = "frozenlist" }, { name = "multidict" }, @@ -290,7 +299,7 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "mako" }, { name = "sqlalchemy" }, - { name = "tomli", marker = "python_full_version < '3.11'" }, + { name = "tomli", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/16/2b/e4153978368de59918115c9e01d3ebf58a558a7285efa7e960c383c4b59a/alembic-1.19.1.tar.gz", hash = "sha256:e0fca0518118c78acc493e31bcb5402f190057aaf6df8b5b95ce94c4789cf648", size = 2070816, upload-time = "2026-08-08T16:32:01.565Z" } @@ -336,7 +345,7 @@ name = "anyio" version = "4.12.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "exceptiongroup", marker = "python_full_version < '3.11'" }, + { name = "exceptiongroup", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "idna" }, { name = "typing-extensions" }, ] @@ -359,7 +368,7 @@ name = "astroid" version = "4.0.4" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, + { name = "typing-extensions", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/07/63/0adf26577da5eff6eb7a177876c1cfa213856be9926a000f65c4add9692b/astroid-4.0.4.tar.gz", hash = "sha256:986fed8bcf79fb82c78b18a53352a0b287a73817d6dbcfba3162da36667c49a0", size = 406358, upload-time = "2026-02-07T23:35:07.509Z" } wheels = [ @@ -399,7 +408,7 @@ version = "2.0.4" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "pycodestyle" }, - { name = "tomli", marker = "python_full_version < '3.11'" }, + { name = "tomli", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/e0/8a/9be661f5400867a09706e29f5ab99a59987fd3a4c337757365e7491fa90b/autopep8-2.0.4.tar.gz", hash = "sha256:2913064abd97b3419d1cc83ea71f042cb821f87e45b9c88cad5ad3c4ea87fe0c", size = 116472, upload-time = "2023-08-26T13:49:59.375Z" } wheels = [ @@ -548,8 +557,8 @@ dependencies = [ { name = "pathspec" }, { name = "platformdirs" }, { name = "pytokens" }, - { name = "tomli", marker = "python_full_version < '3.11'" }, - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, + { name = "tomli", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "typing-extensions", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/e1/c5/61175d618685d42b005847464b8fb4743a67b1b8fdb75e50e5a96c31a27a/black-26.3.1.tar.gz", hash = "sha256:2c50f5063a9641c7eed7795014ba37b0f5fa227f3d408b968936e24bc0566b07", size = 666155, upload-time = "2026-03-12T03:36:03.593Z" } wheels = [ @@ -576,21 +585,21 @@ name = "bleak" version = "3.0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "async-timeout", marker = "python_full_version < '3.11'" }, - { name = "dbus-fast", marker = "sys_platform == 'linux'" }, - { name = "pyobjc-core", marker = "sys_platform == 'darwin'" }, - { name = "pyobjc-framework-corebluetooth", marker = "sys_platform == 'darwin'" }, - { name = "pyobjc-framework-libdispatch", marker = "sys_platform == 'darwin'" }, - { name = "typing-extensions", marker = "python_full_version < '3.12'" }, - { name = "winrt-runtime", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-devices-bluetooth", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-devices-bluetooth-advertisement", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-devices-bluetooth-genericattributeprofile", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-devices-enumeration", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-devices-radios", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-foundation", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-foundation-collections", marker = "sys_platform == 'win32'" }, - { name = "winrt-windows-storage-streams", marker = "sys_platform == 'win32'" }, + { name = "async-timeout", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "dbus-fast", marker = "sys_platform == 'linux' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "pyobjc-core", marker = "sys_platform == 'darwin' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "pyobjc-framework-corebluetooth", marker = "sys_platform == 'darwin' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "pyobjc-framework-libdispatch", marker = "sys_platform == 'darwin' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "typing-extensions", marker = "python_full_version < '3.12' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-runtime", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-devices-bluetooth", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-devices-bluetooth-advertisement", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-devices-bluetooth-genericattributeprofile", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-devices-enumeration", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-devices-radios", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-foundation", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-foundation-collections", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "winrt-windows-storage-streams", marker = "sys_platform == 'win32' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/16/df/05a3f80ca8e3f7f5b0dba68a9e618147c909ccdba1468f07487dc8d72a9d/bleak-3.0.2.tar.gz", hash = "sha256:c2229cb8238d5876b4bd05c74bf7a1aea1f88da39d2e51ac9dfd5cc319d5265f", size = 125293, upload-time = "2026-05-02T23:01:04.066Z" } wheels = [ @@ -626,8 +635,8 @@ dependencies = [ { name = "bosdyn-core" }, { name = "deprecated" }, { name = "grpcio" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "pyjwt" }, { name = "pynmea2" }, { name = "requests" }, @@ -675,24 +684,24 @@ dependencies = [ { name = "etils" }, { name = "flask" }, { name = "flask-cors" }, - { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jax", version = "0.6.2", source = { 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"https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "transformers", extra = ["torch"] }, { name = "trimesh" }, { name = "ultralytics" }, { name = "unitree-webrtc-connect" }, - { name = "usd-core" }, + { name = "usd-core", marker = "platform_machine != 'aarch64' or sys_platform != 'linux' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "uvicorn" }, { name = "viser", extra = ["urdf"] }, { name = "xacro" }, @@ -1933,7 +1956,7 @@ base = [ { name = "yourdfpy" }, ] control = [ - { name = "a750-control", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'" }, + { name = "a750-control", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "can-motor-control" }, { name = "piper-sdk" }, { name = "pygame" }, @@ -1943,10 +1966,18 @@ control = [ ] cpu = [ { name = "onnxruntime" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] cuda = [ - { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64'" }, - { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64'" }, + { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'" }, + { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] dds = [ { name = "cyclonedds" }, @@ -1958,25 +1989,27 @@ graspgenx = [ { name = "graspgenx" }, { name = "huggingface-hub" }, { name = "matplotlib" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, - { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] learning = [ { name = "h5py" }, - { name = "pandas", version = "2.3.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "pandas", version = "3.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "pandas", version = "2.3.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "pandas", version = "3.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "pyarrow" }, ] manipulation = [ - { name = "a750-control", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'" }, + { name = "a750-control", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "aioquic" }, { name = "can-motor-control" }, { name = "chromadb" }, { name = "dimos-viewer" }, - { name = "drake", version = "1.45.0", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, - { name = "drake", version = "1.49.0", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "drake", version = "1.45.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_machine == 'aarch64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'darwin' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "drake", version = "1.49.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'aarch64' and sys_platform != 'darwin') or (platform_machine == 'aarch64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'darwin' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "edgetam-dimos" }, { name = "einops" }, { name = "fastapi" }, @@ -2050,10 +2083,10 @@ perception = [ { name = "ultralytics" }, ] planning = [ - { name = "a750-control", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'" }, + { name = "a750-control", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "can-motor-control" }, - { name = "drake", version = "1.45.0", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, - { name = "drake", version = "1.49.0", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "drake", version = "1.45.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'aarch64' and sys_platform == 'darwin') or (platform_machine == 'aarch64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'darwin' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "drake", version = "1.49.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'aarch64' and sys_platform != 'darwin') or (platform_machine == 'aarch64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'darwin' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "matplotlib" }, { name = "piper-sdk" }, { name = "pycollada" }, @@ -2208,8 +2241,8 @@ lint = [ { name = "gdown" }, { name = "googlemaps" }, { name = "hydra-core" }, - { name = "ipython", version = "8.38.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "ipython", version = "9.10.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "ipython", version = "8.38.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "ipython", version = "9.10.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "langchain" }, { name = "langchain-core" }, { name = "langchain-openai" }, @@ -2229,11 +2262,13 @@ lint = [ { name = "sentencepiece" }, { name = "sounddevice" }, { name = "tensorboard" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "torchreid" }, - { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "transformers", extra = ["torch"] }, { name = "trimesh" }, { name = "types-pyaudio" }, @@ -2262,11 +2297,13 @@ project-deps = [ { name = "openai" }, { name = "sentencepiece" }, { name = "tensorboard" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "torchreid" }, - { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "transformers", extra = ["torch"] }, { name = "ultralytics" }, { name = "xacro" }, @@ -2276,7 +2313,7 @@ tests = [ { name = "chromadb" }, { name = "coacd" }, { name = "coverage" }, - { name = "dimos", extra = ["apriltag", "cpu", "drone", "learning", "mapping", "visualization", "web", "webrtc"] }, + { name = "dimos", extra = ["apriltag", "drone", "learning", "mapping", "visualization", "web", "webrtc"] }, { name = "einops" }, { name = "gdown" }, { name = "googlemaps" }, @@ -2290,6 +2327,7 @@ tests = [ { name = "moondream" }, { name = "mujoco" }, { name = "ollama" }, + { name = "onnxruntime" }, { name = "open-clip-torch" }, { name = "openai" }, { name = "pre-commit" }, @@ -2310,16 +2348,18 @@ tests = [ { name = "requests-mock" }, { name = "sentencepiece" }, { name = "tensorboard" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "torchreid" }, - { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "transformers", extra = ["torch"] }, { name = "trimesh" }, { name = "ultralytics" }, { name = "unitree-webrtc-connect" }, - { name = "viser", extra = ["urdf"], marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "viser", extra = ["urdf"], marker = "platform_machine != 'aarch64' or sys_platform != 'linux' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "watchdog" }, { name = "xacro" }, ] @@ -2329,7 +2369,7 @@ tests-self-hosted = [ { name = "coacd" }, { name = "coverage" }, { name = "dim-odom" }, - { name = "dimos", extra = ["apriltag", "cpu", "drone", "learning", "manipulation", "mapping", "misc", "unitree", "visualization", "web", "webrtc"] }, + { name = "dimos", extra = ["apriltag", "drone", "learning", "manipulation", "mapping", "misc", "unitree", "visualization", "web", "webrtc"] }, { name = "einops" }, { name = "gdown" }, { name = "googlemaps" }, @@ -2344,6 +2384,7 @@ tests-self-hosted = [ { name = "moondream" }, { name = "mujoco" }, { name = "ollama" }, + { name = "onnxruntime" }, { name = "open-clip-torch" }, { name = "openai" }, { name = "pre-commit" }, @@ -2365,16 +2406,18 @@ tests-self-hosted = [ { name = "requests-mock" }, { name = "sentencepiece" }, { name = "tensorboard" }, - { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torch", version = "2.6.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torch", version = "2.7.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "torchreid" }, - { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')" }, - { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" }, + { name = "torchvision", version = "0.21.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version < '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra != 'extra-5-dimos-cpu' and extra != 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu') or (python_full_version >= '3.11' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cpu') or (platform_machine == 'aarch64' and sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "torchvision", version = "0.22.1+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-5-dimos-cuda') or (platform_machine != 'x86_64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cuda') or (sys_platform != 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "transformers", extra = ["torch"] }, { name = "trimesh" }, { name = "ultralytics" }, { name = "unitree-webrtc-connect" }, - { name = "viser", extra = ["urdf"], marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "viser", extra = ["urdf"], marker = "platform_machine != 'aarch64' or sys_platform != 'linux' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "watchdog" }, { name = "xacro" }, ] @@ -2395,14 +2438,15 @@ requires-dist = [ { name = "cmeel-tinyxml2", specifier = ">=11,<12" }, { name = "coacd", marker = "extra == 'scene'", specifier = ">=1.0.0" }, { name = "cryptography", specifier = ">=46.0.5" }, - { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = "==13.6.0" }, + { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuda'", specifier = "==13.6.0" }, { name = "cyclonedds", marker = "extra == 'dds'", specifier = ">=0.10.5" }, { name = "cyclonedds", marker = "extra == 'unitree-dds'", specifier = ">=0.10.5" }, { name = "dimos", extras = ["agents", "web", "perception", "visualization"], marker = "extra == 'base'" }, - { name = "dimos", extras = ["apriltag", "cuda", "drone", "manipulation", "misc", "scene", "unitree", "webrtc"], marker = "extra == 'all'" }, + { name = "dimos", extras = ["apriltag", "cuda", "drone", "manipulation", "misc", "unitree", "webrtc"], marker = "extra == 'all'" }, { name = "dimos", extras = ["base", "mapping"], marker = "extra == 'unitree'" }, { name = "dimos", extras = ["control"], marker = "extra == 'planning'" }, - { name = "dimos", extras = ["planning", "base", "sim", "cpu"], marker = "extra == 'manipulation'" }, + { name = "dimos", extras = ["planning", "base", "sim"], marker = "extra == 'manipulation'" }, + { name = "dimos", extras = ["scene"], marker = "(platform_machine != 'aarch64' and extra == 'all') or (sys_platform != 'linux' and extra == 'all')" }, { name = "dimos", extras = ["unitree"], marker = "extra == 'unitree-dds'" }, { name = "dimos-lcm", specifier = ">=0.1.3" }, { name = "dimos-viewer", specifier = "==0.32.0a2" }, @@ -2450,7 +2494,8 @@ requires-dist = [ { name = "ollama", marker = "extra == 'agents'", specifier = ">=0.6.0" }, { name = "omegaconf", marker = "extra == 'perception'", specifier = ">=2.3.0" }, { name = "onnxruntime", marker = "extra == 'cpu'" }, - { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=1.17.1" }, + { name = "onnxruntime", marker = "extra == 'manipulation'" }, + { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuda'", specifier = ">=1.17.1" }, { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" }, { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'", specifier = ">=0.18.0" }, { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'", specifier = ">=0.19.0.post9" }, @@ -2502,11 +2547,17 @@ requires-dist = [ { name = "textual-serve", specifier = ">=1.1.1,<2" }, { name = "timm", marker = "extra == 'perception'", specifier = ">=1.0.15" }, { name = "toolz", specifier = ">=1.1.0" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'graspgenx') or (sys_platform == 'win32' and extra == 'graspgenx')", specifier = ">=2.1,<2.7", index = "https://download.pytorch.org/whl/cu128" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'graspgenx') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'graspgenx')", specifier = ">=2.1,<2.7" }, + { name = "torch", marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cpu'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cpu", conflict = { package = "dimos", extra = "cpu" } }, + { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuda') or (sys_platform == 'win32' and extra == 'cuda')", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128", conflict = { package = "dimos", extra = "cuda" } }, + { name = "torch", marker = "(platform_machine != 'x86_64' and extra == 'cpu') or (sys_platform != 'linux' and extra == 'cpu')", specifier = ">=2.1,<2.8" }, + { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'cuda')", specifier = ">=2.1,<2.8" }, + { name = "torch", marker = "extra == 'graspgenx'", specifier = ">=2.1,<2.8" }, { name = "torchreid", marker = "extra == 'misc'", specifier = "==0.2.5" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'graspgenx') or (sys_platform == 'win32' and extra == 'graspgenx')", specifier = ">=0.16,<0.22", index = "https://download.pytorch.org/whl/cu128" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'graspgenx') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'graspgenx')", specifier = ">=0.16,<0.22" }, + { name = "torchvision", marker = "platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cpu'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cpu", conflict = { package = "dimos", extra = "cpu" } }, + { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'cuda') or (sys_platform == 'win32' and extra == 'cuda')", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128", conflict = { package = "dimos", extra = "cuda" } }, + { name = "torchvision", marker = "(platform_machine != 'x86_64' and extra == 'cpu') or (sys_platform != 'linux' and extra == 'cpu')", specifier = ">=0.16,<0.23" }, + { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'cuda') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'cuda')", specifier = ">=0.16,<0.23" }, + { name = "torchvision", marker = "extra == 'graspgenx'", specifier = ">=0.16,<0.23" }, { name = "transformers", extras = ["torch"], marker = "extra == 'perception'", specifier = ">=4.53.0,<4.54" }, { name = "trimesh", marker = "extra == 'apriltag'", specifier = ">=4.0.0" }, { name = "trimesh", marker = "extra == 'planning'" }, @@ -2567,11 +2618,9 @@ lint = [ { name = "sentencepiece", specifier = ">=0.2.0" }, { name = "sounddevice", specifier = ">=0.5.5" }, { name = "tensorboard", specifier = "==2.20.0" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torch", specifier = ">=2.1,<2.8" }, { name = "torchreid", specifier = "==0.2.5" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torchvision", specifier = ">=0.16,<0.23" }, { name = "transformers", extras = ["torch"], specifier = "==4.53.3" }, { name = "trimesh", specifier = ">=4.12" }, { name = "types-pyaudio" }, @@ -2600,11 +2649,9 @@ project-deps = [ { name = "openai" }, { name = "sentencepiece", specifier = ">=0.2.0" }, { name = "tensorboard", specifier = "==2.20.0" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torch", specifier = ">=2.1,<2.8" }, { name = "torchreid", specifier = "==0.2.5" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torchvision", specifier = ">=0.16,<0.23" }, { name = "transformers", extras = ["torch"], specifier = "==4.53.3" }, { name = "ultralytics", specifier = ">=8.3.70" }, { name = "xacro" }, @@ -2614,7 +2661,7 @@ tests = [ { name = "chromadb", specifier = ">=1.0.0" }, { name = "coacd", specifier = ">=1.0.0" }, { name = "coverage", specifier = ">=7.0" }, - { name = "dimos", extras = ["apriltag", "mapping", "drone", "cpu", "learning"] }, + { name = "dimos", extras = ["apriltag", "mapping", "drone", "learning"] }, { name = "dimos", extras = ["web", "visualization", "webrtc"] }, { name = "einops", specifier = ">=0.8.1" }, { name = "gdown", specifier = "==6.0.0" }, @@ -2629,6 +2676,7 @@ tests = [ { name = "moondream" }, { name = "mujoco", specifier = ">=3.3.4" }, { name = "ollama", specifier = ">=0.6.0" }, + { name = "onnxruntime" }, { name = "open-clip-torch", specifier = "==3.2.0" }, { name = "openai" }, { name = "pre-commit", specifier = "==4.2.0" }, @@ -2649,11 +2697,9 @@ tests = [ { name = "requests-mock", specifier = "==1.12.1" }, { name = "sentencepiece", specifier = ">=0.2.0" }, { name = "tensorboard", specifier = "==2.20.0" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torch", specifier = ">=2.1,<2.8" }, { name = "torchreid", specifier = "==0.2.5" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torchvision", specifier = ">=0.16,<0.23" }, { name = "transformers", extras = ["torch"], specifier = "==4.53.3" }, { name = "trimesh", specifier = ">=4.0.0" }, { name = "ultralytics", specifier = ">=8.3.70" }, @@ -2668,7 +2714,7 @@ tests-self-hosted = [ { name = "coacd", specifier = ">=1.0.0" }, { name = "coverage", specifier = ">=7.0" }, { name = "dim-odom", specifier = ">=0.4.1" }, - { name = "dimos", extras = ["apriltag", "mapping", "drone", "cpu", "learning"] }, + { name = "dimos", extras = ["apriltag", "mapping", "drone", "learning"] }, { name = "dimos", extras = ["manipulation", "misc", "unitree"] }, { name = "dimos", extras = ["web", "visualization", "webrtc"] }, { name = "einops", specifier = ">=0.8.1" }, @@ -2685,6 +2731,7 @@ tests-self-hosted = [ { name = "moondream" }, { name = "mujoco", specifier = ">=3.3.4" }, { name = "ollama", specifier = ">=0.6.0" }, + { name = "onnxruntime" }, { name = "open-clip-torch", specifier = "==3.2.0" }, { name = "openai" }, { name = "pre-commit", specifier = "==4.2.0" }, @@ -2706,11 +2753,9 @@ tests-self-hosted = [ { name = "requests-mock", specifier = "==1.12.1" }, { name = "sentencepiece", specifier = ">=0.2.0" }, { name = "tensorboard", specifier = "==2.20.0" }, - { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" }, - { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torch", specifier = ">=2.1,<2.8" }, { name = "torchreid", specifier = "==0.2.5" }, - { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" }, - { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" }, + { name = "torchvision", specifier = ">=0.16,<0.23" }, { name = "transformers", extras = ["torch"], specifier = "==4.53.3" }, { name = "trimesh", specifier = ">=4.0.0" }, { name = "ultralytics", specifier = ">=8.3.70" }, @@ -2727,8 +2772,8 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "foxglove-websocket" }, { name = "lcm-dimos-fork" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/09/b2/4cdd2bce665ab633313b5d371e0a63fcae2cf77a934a2a9bf820db88a540/dimos_lcm-0.1.3.tar.gz", hash = "sha256:5f7dbd3055f299823bc0e450c59583ad5a2d093c182deec8a86073853881bb09", size = 405688, upload-time = "2026-06-03T07:20:20.552Z" } wheels = [ @@ -2781,14 +2826,14 @@ dependencies = [ { name = "labmaze" }, { name = "lxml" }, { name = "mujoco" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "protobuf" }, { name = "pyopengl" }, { name = "pyparsing" }, { name = "requests" }, - { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "setuptools" }, { name = "tqdm" }, ] @@ -2804,8 +2849,8 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "absl-py" }, { name = "dm-tree" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/62/c9/93e8d6239d5806508a2ee4b370e67c6069943ca149f59f533923737a99b7/dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de", size = 20187, upload-time = "2022-12-21T00:25:29.306Z" } wheels = [ @@ -2819,8 +2864,8 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}, marker = "python_full_version >= '3.11'" }, + { name = "ipython", version = "8.38.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "ipython", version = "9.10.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "jupyter-client" }, { name = "jupyter-core" }, { name = "matplotlib-inline" }, @@ -4124,23 +4188,22 @@ resolution-markers = [ "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'linux'", "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' 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{ name = "dill" }, { name = "isort" }, { name = "mccabe" }, { name = "platformdirs" }, - { name = "tomli", marker = "python_full_version < '3.11'" }, + { name = "tomli", marker = "python_full_version < '3.11' or (extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, { name = "tomlkit" }, ] sdist = { url = "https://files.pythonhosted.org/packages/5a/d2/b081da1a8930d00e3fc06352a1d449aaf815d4982319fab5d8cdb2e9ab35/pylint-4.0.4.tar.gz", hash = "sha256:d9b71674e19b1c36d79265b5887bf8e55278cbe236c9e95d22dc82cf044fdbd2", size = 1571735, upload-time = "2025-11-30T13:29:04.315Z" } @@ -8130,7 +8521,7 @@ name = "pyobjc-framework-cocoa" version = "12.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyobjc-core", marker = "sys_platform == 'darwin'" }, + { name = "pyobjc-core", marker = "(python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'emscripten') or (python_full_version >= '3.11' and sys_platform == 'emscripten' and 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marker = "sys_platform == 'darwin'" }, - { name = "pyobjc-framework-cocoa", marker = "sys_platform == 'darwin'" }, + { name = "pyobjc-core", marker = "(python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'emscripten') or (python_full_version >= '3.11' and sys_platform == 'emscripten' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (platform_machine == 'aarch64' and sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32') or (platform_machine != 'aarch64' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or sys_platform == 'darwin' or (sys_platform == 'linux' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda') or (sys_platform == 'win32' and extra == 'extra-5-dimos-cpu' and extra == 'extra-5-dimos-cuda')" }, + { name = "pyobjc-framework-cocoa", marker = "(python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'emscripten') or 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