From 577e8b37a767cd804fcf33770bf60b05dd9365ba Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:16:48 +0200 Subject: [PATCH 1/8] Update dependencies and project configuration --- pyproject.toml | 35 +++++++++++++++++------------------ 1 file changed, 17 insertions(+), 18 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 9e2f1204..9affe713 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -25,10 +25,10 @@ keywords = [ "reinforcement-learning", "motion-planning", ] + dependencies = [ "numpy>=1.20", "scipy", - "casadi>=3.6", "prettytable", "urdfdom-py", "array-api-compat", @@ -36,37 +36,36 @@ dependencies = [ [project.optional-dependencies] jax = ["jax<=0.6.0", "jaxlib"] -casadi = ["casadi", "liecasadi"] -pytorch = ["torch", "jax", "jaxlib"] +casadi = ["casadi>=3.6", "liecasadi"] +pytorch = ["torch"] mujoco = ["mujoco"] usd = ["usd-core"] +conversion = ["idyntree"] +all = [ + "adam-robotics[jax,casadi,pytorch,mujoco,usd,conversion]", +] test = [ - "jax<=0.6.0", - "jaxlib", - "casadi", - "torch", - "urdf-usd-converter", - "mujoco", - "robot_descriptions", + "adam-robotics[all]", "pytest", - "idyntree", + "requests", + "robot_descriptions", + "urdf-usd-converter", "icub-models", +] +dev = [ + "adam-robotics[test]", "black", - "requests", - "liecasadi", ] -conversion = ["idyntree"] -all = ["jax", "jaxlib", "casadi>=3.6", "torch"] [project.urls] -"Documentation" = "https://adam-robotics.readthedocs.io/en/latest/" -"Source" = "https://github.com/ami-iit/adam" +Documentation = "https://adam-robotics.readthedocs.io/en/latest/" +Source = "https://github.com/ami-iit/adam" [tool.setuptools_scm] local_scheme = "dirty-tag" [tool.setuptools] -package-dir = { "" = "src" } # keeps the src/ layout +package-dir = { "" = "src" } [tool.setuptools.packages.find] where = ["src"] From 7019766b8105c724316c9646c5a19447c71c9e01 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:22:40 +0200 Subject: [PATCH 2/8] Update test dependencies in pyproject.toml --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 9affe713..21e905da 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -45,7 +45,7 @@ all = [ "adam-robotics[jax,casadi,pytorch,mujoco,usd,conversion]", ] test = [ - "adam-robotics[all]", + "adam-robotics[jax,casadi,pytorch,mujoco,conversion]" "pytest", "requests", "robot_descriptions", From 2fe08b4412452f46958fc5cf38b2204a7ddc54b4 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:23:08 +0200 Subject: [PATCH 3/8] Update jax dependency --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 21e905da..3cf066f7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -35,7 +35,7 @@ dependencies = [ ] [project.optional-dependencies] -jax = ["jax<=0.6.0", "jaxlib"] +jax = ["jax", "jaxlib"] casadi = ["casadi>=3.6", "liecasadi"] pytorch = ["torch"] mujoco = ["mujoco"] From 2f62a1bf371ff6fece53908a4cea67d386487395 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:25:20 +0200 Subject: [PATCH 4/8] Add missing comma --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 3cf066f7..55ed00f5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -45,7 +45,7 @@ all = [ "adam-robotics[jax,casadi,pytorch,mujoco,usd,conversion]", ] test = [ - "adam-robotics[jax,casadi,pytorch,mujoco,conversion]" + "adam-robotics[jax,casadi,pytorch,mujoco,conversion]", "pytest", "requests", "robot_descriptions", From f23dd4c1bc48e80812d24a0e889af0b0e6ab3811 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:31:21 +0200 Subject: [PATCH 5/8] Move urdf-usd-converter to conda deps --- ci_env_linux.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ci_env_linux.yml b/ci_env_linux.yml index f1f6b027..fe35683e 100644 --- a/ci_env_linux.yml +++ b/ci_env_linux.yml @@ -23,5 +23,4 @@ dependencies: - liecasadi - mujoco - robot_descriptions - - pip: - - urdf-usd-converter + - urdf-usd-converter From de54ca4004f0ab0cea70d3849195b844ae96da3f Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 12:31:52 +0200 Subject: [PATCH 6/8] Move urdf-usd-converter to conda deps --- ci_env_win.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ci_env_win.yml b/ci_env_win.yml index 03223b04..38be2fc1 100644 --- a/ci_env_win.yml +++ b/ci_env_win.yml @@ -21,5 +21,4 @@ dependencies: - array-api-compat - mujoco - robot_descriptions - - pip: - - urdf-usd-converter + - urdf-usd-converter From b4591e433d3360c3fc06e95739b69d9c82cfc554 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 15:02:47 +0200 Subject: [PATCH 7/8] Change urdf-usd-converter to pip installation --- ci_env_linux.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ci_env_linux.yml b/ci_env_linux.yml index fe35683e..f1f6b027 100644 --- a/ci_env_linux.yml +++ b/ci_env_linux.yml @@ -23,4 +23,5 @@ dependencies: - liecasadi - mujoco - robot_descriptions - - urdf-usd-converter + - pip: + - urdf-usd-converter From 40fb2455623772a590e728b0ddc726721f53d537 Mon Sep 17 00:00:00 2001 From: Giuseppe L'Erario Date: Wed, 1 Apr 2026 15:09:14 +0200 Subject: [PATCH 8/8] Update ci_env_win.yml to include pip dependencies Added pip section for 'urdf-usd-converter' in dependencies. --- ci_env_win.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ci_env_win.yml b/ci_env_win.yml index 38be2fc1..03223b04 100644 --- a/ci_env_win.yml +++ b/ci_env_win.yml @@ -21,4 +21,5 @@ dependencies: - array-api-compat - mujoco - robot_descriptions - - urdf-usd-converter + - pip: + - urdf-usd-converter