pixi.toml

# Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

[workspace]
name = "exploy"
version = "0.1.0"
description = "EXport and dePLOY Reinforcement Learning policies."
authors = ["TODO"]
channels = ["conda-forge"]
platforms = ["linux-64", "osx-arm64"]

# ================
# Feature: default
# ================

# Core dependencies (minimal base).
[dependencies]
git = "*"

[tasks.check]
description = "Check all code without making changes."
depends-on = [
  { task = "format-python-check", environment = "ci" },
  { task = "format-cpp-check", environment = "ci" },
]

[tasks.format]
description = "Format all code."
depends-on = [
  { task = "format-python", environment = "ci" },
  { task = "format-cpp", environment = "ci" },
]

[tasks.lint]
description = "Lint all code."
depends-on = [{ task = "lint-python", environment = "ci" }]

[tasks.build]
description = "Build all C++ code."
depends-on = [
  { task = "build-cpp", environment = "cpp" },
  { task = "build-cpp-example", environment = "cpp" },
]

[tasks.test]
description = "Run all tests."
depends-on = [
  { task = "test-python", environment = "python" },
  { task = "test-cpp", environment = "cpp" },
]

[tasks.clean]
description = "Clean all build artifacts and caches."
cmd = "rm -rf $PIXI_PROJECT_ROOT/build $PIXI_PROJECT_ROOT/.pixi"

# ============
# Environments
# ============

# Environments are defined as sets of features.
# Here below a quick overview of the main features and their intended use:
#
# - The 'default' feature is included in all environments, and can be used for shared dependencies.
# - The 'env-*' features are used to specify environment-specific dependencies and tasks.
# - The '*-dev' features are used to specify development dependencies and tasks that are not needed for runtime.
# - The 'exploy-*-runtime' features are used to specify runtime dependencies.

# -------------------
# Environment: python
# -------------------

# Python development (exploy.core).
[environments.python]
features = [
  # Specific features.
  "env-python",
  # Common features.
  "default",
  "python-dev",
  "exploy-python-runtime",
  "editable-exploy-python",
]
solve-group = "exploy"

[feature.env-python.tasks]
test-python = "pytest"
test-python-core = "pytest -m core"

# This task checks whether the pyproject.toml is properly configured for uv.
[feature.env-python.tasks.run-uv-export]
cmd = "uv export --quiet --extra all --no-hashes --no-header --no-annotate"

# ----------------
# Environment: cpp
# ----------------

# C++ development (controller).
# Note: Python features are needed for the tests.
[environments.cpp]
features = [
  # Specific features.
  "env-cpp",
  "exploy-cpp-runtime",
  # Common features.
  "default",
  "cpp-dev",
  "exploy-python-runtime",
]
solve-group = "exploy"

[feature.cpp-dev.dependencies]
cmake = ">=3.23"
compilers = "*"
gmock = "*"
gtest = "*"
ninja = "*"
[feature.cpp-dev.target.linux-64.dependencies]
extra-cmake-modules = "*"

[feature.env-cpp.tasks.configure-cpp]
cmd = """
cmake \
  -S control \
  -B build/control \
  -G Ninja \
  -DBUILD_TESTING:BOOL=ON \
  -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON
"""

[feature.env-cpp.tasks.build-cpp]
cmd = "cmake --build build/control"
depends-on = ["configure-cpp"]

[feature.env-cpp.tasks.test-cpp]
cmd = "ctest --test-dir build/control --output-on-failure"

# Controller example
[feature.env-cpp.tasks.configure-cpp-example]
cmd = """
cmake \
  -S examples/controller \
  -B build/examples/controller \
  -G Ninja \
  -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON
"""

[feature.env-cpp.tasks.build-cpp-example]
cmd = "cmake --build build/examples/controller"
depends-on = ["configure-cpp-example"]

[feature.env-cpp.tasks.run-cpp-example-isaaclab]
cmd = """
build/examples/controller/loopback_controller_example \
  $PIXI_PROJECT_ROOT/examples/exporter_scripts/isaaclab/exporter_tests/test_export.onnx \
  --cycles 100
"""
depends-on = [
  { task = "build-cpp-example", environment = "cpp" },
  { task = "export-isaaclab-ci", environment = "isaaclab" },
]

[feature.env-cpp.tasks.run-cpp-example-mjlab]
cmd = """
build/examples/controller/loopback_controller_example \
  $PIXI_PROJECT_ROOT/examples/exporter_scripts/mjlab/exporter_tests/test_export.onnx \
  --cycles 100
"""
depends-on = [
  { task = "build-cpp-example", environment = "cpp" },
  { task = "export-mjlab-ci", environment = "mjlab" },
]

[feature.env-cpp.tasks.run-cpp-example]
depends-on = ["run-cpp-example-isaaclab", "run-cpp-example-mjlab"]

# pre-commit run --show-diff-on-failure --all-files

# ---------------
# Environment: ci
# ---------------

[environments.ci]
features = [
  # Specific features.
  "env-ci",
  # Common features.
  "default",
  "exploy-python-runtime",
  "editable-exploy-python",
]
solve-group = "exploy"

[feature.env-ci.dependencies]
clang-format = "*"
nodejs = "*"
pre-commit = "*"
python = "*"
"ruamel.yaml" = "*"
ruff = "*"

[feature.env-ci.tasks]
lint-python = "ruff check ."
lint-python-fix = "ruff check --fix ."
format-python = "ruff format ."
format-python-check = "ruff format --check ."
pre-commit-ci = "pre-commit run --show-diff-on-failure --all-files"
format-cpp = "find control -name '*.cpp' -o -name '*.hpp' | xargs clang-format -i"
format-cpp-check = "find control -name '*.cpp' -o -name '*.hpp' | xargs clang-format --dry-run --Werror"

# -----------------
# Environment: docs
# -----------------

# Documentation building.
[environments.docs]
features = [
  # Specific features.
  "env-docs",
  # Common features.
  "default",
  "exploy-python-runtime",
  "editable-exploy-python",
]
solve-group = "exploy"

[feature.env-docs.dependencies]
breathe = "*"
doxygen = "*"
furo = "*"
myst-parser = "*"
python = "*"
sphinx = "*"
sphinx-autodoc-typehints = "*"

[feature.env-docs.tasks]
clean-docs = "rm -rf docs/_build"
doxygen = "mkdir -p docs/_build/doxygen && doxygen Doxyfile"
open-docs = "xdg-open docs/_build/html/index.html || open docs/_build/html/index.html"

[feature.env-docs.tasks.build-docs]
cmd = "sphinx-build -b html docs docs/_build/html"
depends-on = ["doxygen"]

[feature.env-docs.tasks.linkcheck]
cmd = "sphinx-build -b linkcheck docs docs/_build/linkcheck"
depends-on = ["doxygen"]

# -------------------
# Environment: mjlab
# -------------------

# Due to transitive git dependencies from MjLab (e.g. mujoco-warp), merging this environment
# into the main 'exploy' solve group causes dependency conflicts. For now, we keep it separate.
# Note: this environment is not using on purpose 'exploy-python-runtime' since delicate dependencies
# that are shared with MjLab are handled directly in the 'mjlab-*' feature.
[environments.mjlab]
features = [
  # Specific features.
  "env-mjlab",
  "mjlab-120",
  "editable-exploy-python-mjlab",
  # Common features.
  "python-dev",
]
no-default-feature = true

[feature.env-mjlab.tasks]
export-mjlab-g1 = "python examples/exporter_scripts/mjlab/export_mjlab.py --task Mjlab-Velocity-Flat-Unitree-G1 --pause-on-failure"
export-mjlab = { depends-on = ["export-mjlab-g1"] }

test-python-mjlab = "pytest python/exploy/exporter/frameworks/mjlab"
test-import-mjlab = "python -c \"import mjlab; print('MjLab installed:', mjlab.__file__)\""
verify-mjlab = { depends-on = ["test-import-mjlab"] }
test-mjlab = { depends-on = ["verify-mjlab", "test-python-mjlab"] }

[feature.env-mjlab.tasks.export-mjlab-ci]
cmd = "python examples/exporter_scripts/mjlab/export_mjlab.py --task Mjlab-Velocity-Flat-Unitree-G1"
inputs = [
  "python/exploy/exporter/core/*",
  "python/exploy/exporter/frameworks/mjlab/*",
  "examples/exporter_scripts/mjlab/export_mjlab.py",
]
outputs = ["examples/exporter_scripts/mjlab/exporter_tests/test_export.onnx"]

# ---------------------
# Environment: isaaclab
# ---------------------

# Due to strict dependency pinnings of IsaacSim and IsaacLab, merging this environment into
# the main 'exploy' solve group causes dependency conflicts. For now, we keep it separate.
# Note: this environment is not using on purpose 'exploy-python-runtime' since delicate dependencies
# that are shared with Isaac* are handled directly in the 'isaaclab-*' feature.
[environments.isaaclab]
features = [
  # Specific features.
  "env-isaaclab",
  "isaaclab-232",
  "editable-exploy-python-isaaclab",
  # Common features.
  "python-dev",
]
no-default-feature = true

[feature.env-isaaclab.tasks]
# Tasks to export policies for Isaac Lab.
export-isaaclab-g1 = "python examples/exporter_scripts/isaaclab/export_isaaclab.py --task Isaac-Velocity-Rough-G1-Play-v0 --pause-on-failure"
export-isaaclab-g1-rnn = "python examples/exporter_scripts/isaaclab/export_isaaclab.py --task Exploy-Velocity-Flat-G1-RNN-Play-v0 --pause-on-failure"
export-isaaclab-anymal = "python examples/exporter_scripts/isaaclab/export_isaaclab.py --task Isaac-Velocity-Rough-Anymal-C-Play-v0 --pause-on-failure"
export-isaaclab = { depends-on = ["export-isaaclab-g1"] }

test-python-isaaclab = "pytest python/exploy/exporter/frameworks/isaaclab"
test-isaaclab = { depends-on = ["verify-isaaclab", "test-python-isaaclab"] }

test-import-isaaclab = "python -c \"import isaaclab; print('Isaac Lab installed:', isaaclab.__file__)\""
test-import-torch = "python -c \"import torch; print('CUDA available:', torch.cuda.is_available())\""
verify-isaaclab = { depends-on = ["test-import-isaaclab", "test-import-torch"] }

# Tasks to test Isaac Lab installation.
[feature.env-isaaclab.tasks.export-isaaclab-ci]
cmd = "python examples/exporter_scripts/isaaclab/export_isaaclab.py --task Isaac-Velocity-Rough-G1-Play-v0"
inputs = [
  "python/exploy/exporter/core/*",
  "python/exploy/exporter/frameworks/isaaclab/*",
  "examples/exporter_scripts/isaaclab/export_isaaclab.py",
]
outputs = ["examples/exporter_scripts/isaaclab/exporter_tests/test_export.onnx"]

# ========
# Features
# ========

# Features are used to specify sets of dependencies and tasks that can be shared across environments.

# ---------------------------------------
# Features: exploy-* runtime dependencies
# ---------------------------------------

# Keep this in sync with CMake runtime requirements.
[feature.exploy-cpp-runtime.dependencies]
eigen = ">=3.4"
fmt = ">=9.1"
nlohmann_json = ">=3.11"
# This should be >=1.15 but we need 1.24.2 for OOTB CMake support in conda-forge.
onnxruntime-cpp = ">=1.24.2"

# Keep this in sync with pyproject.toml.
[feature.exploy-python-runtime.dependencies]
numpy = "<2"
onnx = "*"
onnxruntime = "*"
onnxscript = "*"
pytorch = "*"

# -----------------------------------------
# Features: editable-exploy-* installations
# -----------------------------------------

# Editable installation of: exploy.
[feature.editable-exploy-python.pypi-dependencies]
exploy = { path = ".", editable = true }

# Editable installation of: exploy[mjlab].
[feature.editable-exploy-python-mjlab.pypi-dependencies]
exploy = { path = ".", extras = ["mjlab"], editable = true }

# Editable installation of: exploy[isaaclab].
[feature.editable-exploy-python-isaaclab.pypi-dependencies]
exploy = { path = ".", extras = ["isaaclab"], editable = true }

# -------------------
# Feature: python-dev
# -------------------

[feature.python-dev.dependencies]
hatch = "*"
hatch-vcs = "*"
ipython = "*"
pip = "*"
pybind11 = ">=2.10"
pytest = "*"
python = "*"
python-build = "*"
uv = "*"

[feature.python-dev.pypi-dependencies]
pytest-gitignore = "*"

# ---------------
# Feature: mjlab
# ---------------

[feature.mjlab-120]
platforms = ["linux-64"]

[feature.mjlab-120.system-requirements]
libc = { family = "glibc", version = "2.35" }

[feature.mjlab-120.dependencies]
numpy = "<2"
python = "3.11.*"
pytorch = "*"
rich = ">=13.3.3"
mjlab = "==1.2.0"
scipy = "*"

# -----------------
# Feature: isaaclab
# -----------------

[feature.isaaclab-232]
platforms = ["linux-64"]

[feature.isaaclab-232.activation.env]
LD_LIBRARY_PATH = "$LD_LIBRARY_PATH:$CONDA_PREFIX/lib"
OMNI_KIT_ACCEPT_EULA = "yes"

[feature.isaaclab-232.system-requirements]
cuda = "13"
libc = { family = "glibc", version = "2.35" }

[feature.isaaclab-232.pypi-options]
no-build-isolation = true
extra-index-urls = ["https://pypi.nvidia.com"]

[feature.isaaclab-232.dependencies]
click = "==8.1.7"
cryptography = "==44.0.0"
filelock = "==3.13.1"
fsspec = "==2024.6.1"
gymnasium = "==1.2.0"
idna = "==3.10"
numpy = "==1.26.0"
networkx = "==3.3"
markupsafe = "==2.1.3"
packaging = "==23.0"
pillow = "==11.3.0"
psutil = "==5.9.8"
pytorch = { version = "==2.7.0", build = "*cuda*" }
python = "3.11.*"
pyyaml = "==6.0.2"
rsl-rl-lib = "<4"
sympy = "==1.13.3"
torchvision = "==0.22.0"
typing-extensions = "==4.12.2"
# Headless rendering.
libglu = "*"

[feature.isaaclab-232.pypi-dependencies]
isaacsim = { extras = ["all"], version = "==5.1.0.0" }