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rapport/isaac-deptree.dot
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digraph {
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rankdir=LR;
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"absl-py" [label="absl-py\n2.3.1"]
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+
"antlr4-python3-runtime" [label="antlr4-python3-runtime\n4.9.3"]
5
+
"biped-assets" [label="biped-assets\n0.1.0"]
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"biped-deploy" -> "biped-assets" [label=any]
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"biped-deploy" -> "unitree-sdk2py" [label=any]
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+
"biped-deploy" -> mujoco [label=">=3.3.4"]
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+
"biped-deploy" -> onnxruntime [label=">=1.22.1"]
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"biped-deploy" -> pyyaml [label=">=6.0.2"]
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"biped-deploy" -> torch [label=">=2.5.1"]
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"biped-deploy" [label="biped-deploy\n0.1.0"]
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"biped-tasks" -> "biped-assets" [label=any]
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"biped-tasks" -> isaaclab [label="==2.1.0"]
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"biped-tasks" [label="biped-tasks\n0.1.0"]
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"charset-normalizer" [label="charset-normalizer\n3.4.3"]
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+
"docker-pycreds" -> six [label=">=1.4.0"]
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+
"docker-pycreds" [label="docker-pycreds\n0.4.0"]
19
+
"farama-notifications" [label="Farama-Notifications\n0.0.4"]
20
+
"gym-notices" [label="gym-notices\n0.1.0"]
21
+
"hf-xet" [label="hf-xet\n1.1.10"]
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+
"huggingface-hub" -> "hf-xet" [label=">=1.1.3,<2.0.0"]
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+
"huggingface-hub" -> "typing-extensions" [label=">=3.7.4.3"]
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"huggingface-hub" -> filelock [label=any]
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+
"huggingface-hub" -> fsspec [label=">=2023.5.0"]
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+
"huggingface-hub" -> packaging [label=">=20.9"]
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"huggingface-hub" -> pyyaml [label=">=5.1"]
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"huggingface-hub" -> requests [label=any]
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"huggingface-hub" -> tqdm [label=">=4.42.1"]
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"huggingface-hub" [label="huggingface-hub\n0.35.1"]
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"hydra-core" -> "antlr4-python3-runtime" [label="==4.9.*"]
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"hydra-core" -> omegaconf [label=">=2.2,<2.4"]
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"hydra-core" -> packaging [label=any]
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"hydra-core" [label="hydra-core\n1.3.2"]
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+
"imageio-ffmpeg" [label="imageio-ffmpeg\n0.6.0"]
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"importlib-resources" [label="importlib_resources\n6.5.2"]
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"isaacsim-app" -> "isaacsim-kernel" [label="==4.5.0.0"]
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"isaacsim-app" -> pyperclip [label=any]
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"isaacsim-app" [label="isaacsim-app\n4.5.0.0"]
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"isaacsim-asset" -> "isaacsim-storage" [label="==4.5.0.0"]
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"isaacsim-asset" -> "isaacsim-utils" [label="==4.5.0.0"]
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"isaacsim-asset" -> pillow [label=any]
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"isaacsim-asset" [label="isaacsim-asset\n4.5.0.0"]
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"isaacsim-benchmark" -> "isaacsim-robot" [label="==4.5.0.0"]
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"isaacsim-benchmark" [label="isaacsim-benchmark\n4.5.0.0"]
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"isaacsim-code-editor" -> "isaacsim-kernel" [label="==4.5.0.0"]
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"isaacsim-code-editor" [label="isaacsim-code-editor\n4.5.0.0"]
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"isaacsim-core" -> "isaacsim-kernel" [label="==4.5.0.0"]
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"isaacsim-core" -> "opencv-python" [label=any]
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"isaacsim-core" -> boto3 [label=any]
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"isaacsim-core" -> matplotlib [label=any]
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"isaacsim-core" -> numpy [label="<2.0.0"]
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"isaacsim-core" -> psutil [label=any]
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"isaacsim-core" -> pyyaml [label=any]
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"isaacsim-core" -> scipy [label=any]
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"isaacsim-core" -> torch [label=">=2.5.1"]
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"isaacsim-core" [label="isaacsim-core\n4.5.0.0"]
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"isaacsim-cortex" -> "isaacsim-robot" [label="==4.5.0.0"]
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"isaacsim-cortex" -> "isaacsim-ros1" [label="==4.5.0.0"]
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"isaacsim-cortex" [label="isaacsim-cortex\n4.5.0.0"]
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"isaacsim-example" -> "isaacsim-cortex" [label="==4.5.0.0"]
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"isaacsim-example" [label="isaacsim-example\n4.5.0.0"]
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"isaacsim-extscache-kit" [label="isaacsim-extscache-kit\n4.5.0.0"]
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"isaacsim-extscache-kit-sdk" [label="isaacsim-extscache-kit-sdk\n4.5.0.0"]
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"isaacsim-extscache-physics" [label="isaacsim-extscache-physics\n4.5.0.0"]
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"isaacsim-gui" -> "isaacsim-core" [label="==4.5.0.0"]
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"isaacsim-gui" [label="isaacsim-gui\n4.5.0.0"]
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"isaacsim-kernel" -> "omniverse-kit" [label="==106.5.0.162521"]
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"isaacsim-kernel" [label="isaacsim-kernel\n4.5.0.0"]
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"isaacsim-replicator" -> "isaacsim-core" [label="==4.5.0.0"]
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"isaacsim-replicator" -> "isaacsim-storage" [label="==4.5.0.0"]
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"isaacsim-replicator" -> pillow [label=any]
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"isaacsim-replicator" [label="isaacsim-replicator\n4.5.0.0"]
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"isaacsim-rl" -> "isaacsim-benchmark" [label="==4.5.0.0"]
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"isaacsim-rl" -> "isaacsim-robot" [label="==4.5.0.0"]
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"isaacsim-rl" -> gymnasium [label=any]
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"isaacsim-rl" [label="isaacsim-rl\n4.5.0.0"]
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"isaacsim-robot" -> "isaacsim-robot-motion" [label="==4.5.0.0"]
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"isaacsim-robot" -> "isaacsim-sensor" [label="==4.5.0.0"]
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"isaacsim-robot" -> osqp [label="<1.0.0"]
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"isaacsim-robot" [label="isaacsim-robot\n4.5.0.0"]
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"isaacsim-robot-motion" -> "isaacsim-gui" [label="==4.5.0.0"]
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"isaacsim-robot-motion" [label="isaacsim-robot-motion\n4.5.0.0"]
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"isaacsim-robot-setup" -> "isaacsim-robot-motion" [label="==4.5.0.0"]
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"isaacsim-robot-setup" [label="isaacsim-robot-setup\n4.5.0.0"]
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"isaacsim-ros1" -> "isaacsim-sensor" [label="==4.5.0.0"]
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"isaacsim-ros1" [label="isaacsim-ros1\n4.5.0.0"]
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"isaacsim-ros2" -> "isaacsim-sensor" [label="==4.5.0.0"]
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"isaacsim-ros2" [label="isaacsim-ros2\n4.5.0.0"]
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"isaacsim-sensor" -> "isaacsim-gui" [label="==4.5.0.0"]
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"isaacsim-sensor" -> "isaacsim-storage" [label="==4.5.0.0"]
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"isaacsim-sensor" -> "isaacsim-utils" [label="==4.5.0.0"]
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"isaacsim-sensor" -> pillow [label=any]
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"isaacsim-sensor" [label="isaacsim-sensor\n4.5.0.0"]
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"isaacsim-storage" -> "isaacsim-kernel" [label="==4.5.0.0"]
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"isaacsim-storage" [label="isaacsim-storage\n4.5.0.0"]
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"isaacsim-template" -> "isaacsim-gui" [label="==4.5.0.0"]
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"isaacsim-template" -> "isaacsim-storage" [label="==4.5.0.0"]
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+
"isaacsim-template" [label="isaacsim-template\n4.5.0.0"]
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"isaacsim-test" -> "isaacsim-robot" [label="==4.5.0.0"]
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"isaacsim-test" [label="isaacsim-test\n4.5.0.0"]
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"isaacsim-utils" -> "isaacsim-gui" [label="==4.5.0.0"]
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"isaacsim-utils" [label="isaacsim-utils\n4.5.0.0"]
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"markdown-it-py" -> mdurl [label="~=0.1"]
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"markdown-it-py" [label="markdown-it-py\n4.0.0"]
106
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"nvidia-cublas-cu12" [label="nvidia-cublas-cu12\n12.4.5.8"]
107
+
"nvidia-cuda-cupti-cu12" [label="nvidia-cuda-cupti-cu12\n12.4.127"]
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"nvidia-cuda-nvrtc-cu12" [label="nvidia-cuda-nvrtc-cu12\n12.4.127"]
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+
"nvidia-cuda-runtime-cu12" [label="nvidia-cuda-runtime-cu12\n12.4.127"]
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"nvidia-cudnn-cu12" -> "nvidia-cublas-cu12" [label=any]
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"nvidia-cudnn-cu12" [label="nvidia-cudnn-cu12\n9.1.0.70"]
112
+
"nvidia-cufft-cu12" [label="nvidia-cufft-cu12\n11.2.1.3"]
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"nvidia-curand-cu12" [label="nvidia-curand-cu12\n10.3.5.147"]
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"nvidia-cusolver-cu12" -> "nvidia-cublas-cu12" [label=any]
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"nvidia-cusolver-cu12" -> "nvidia-cusparse-cu12" [label=any]
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+
"nvidia-cusolver-cu12" -> "nvidia-nvjitlink-cu12" [label=any]
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"nvidia-cusolver-cu12" [label="nvidia-cusolver-cu12\n11.6.1.9"]
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+
"nvidia-cusparse-cu12" -> "nvidia-nvjitlink-cu12" [label=any]
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+
"nvidia-cusparse-cu12" [label="nvidia-cusparse-cu12\n12.3.1.170"]
120
+
"nvidia-nccl-cu12" [label="nvidia-nccl-cu12\n2.21.5"]
121
+
"nvidia-nvjitlink-cu12" [label="nvidia-nvjitlink-cu12\n12.4.127"]
122
+
"nvidia-nvtx-cu12" [label="nvidia-nvtx-cu12\n12.4.127"]
123
+
"omniverse-kit" [label="omniverse-kit\n106.5.0.162521"]
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+
"opencv-python" -> numpy [label=">=1.17.0"]
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+
"opencv-python" -> numpy [label=">=1.17.3"]
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+
"opencv-python" -> numpy [label=">=1.19.3"]
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+
"opencv-python" -> numpy [label=">=1.21.2"]
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+
"opencv-python" [label="opencv-python\n4.11.0.86"]
129
+
"python-dateutil" -> six [label=">=1.5"]
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+
"python-dateutil" [label="python-dateutil\n2.9.0.post0"]
131
+
"python-dotenv" [label="python-dotenv\n1.1.1"]
132
+
"rich-click" -> "typing-extensions" [label=">=4"]
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"rich-click" -> click [label=">=8"]
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+
"rich-click" -> rich [label=">=12"]
135
+
"rich-click" [label="rich-click\n1.9.1"]
136
+
"rl-games" -> "opencv-python" [label=">=4.5.5,<5.0.0"]
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"rl-games" -> gym [label=">=0.23.0,<0.24.0"]
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"rl-games" -> psutil [label=">=5.9.0,<6.0.0"]
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"rl-games" -> pyyaml [label=">=6.0,<7.0"]
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"rl-games" -> setproctitle [label=">=1.2.2,<2.0.0"]
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"rl-games" -> tensorboard [label=">=2.8.0,<3.0.0"]
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"rl-games" -> tensorboardx [label=">=2.5,<3.0"]
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"rl-games" -> wandb [label=">=0.12.11,<0.13.0"]
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+
"rl-games" [label="rl_games\n1.6.1"]
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"rsl-rl-lib" -> gitpython [label=any]
146
+
"rsl-rl-lib" -> numpy [label=">=1.16.4"]
147
+
"rsl-rl-lib" -> onnx [label=any]
148
+
"rsl-rl-lib" -> torch [label=">=1.10.0"]
149
+
"rsl-rl-lib" -> torchvision [label=">=0.5.0"]
150
+
"rsl-rl-lib" [label="rsl-rl-lib\n2.3.3"]
151
+
"sentry-sdk" -> certifi [label=any]
152
+
"sentry-sdk" -> urllib3 [label=">=1.26.11"]
153
+
"sentry-sdk" [label="sentry-sdk\n2.38.0"]
154
+
"stable-baselines3" -> cloudpickle [label=any]
155
+
"stable-baselines3" -> gymnasium [label=">=0.29.1,<1.3.0"]
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+
"stable-baselines3" -> matplotlib [label=any]
157
+
"stable-baselines3" -> numpy [label=">=1.20,<3.0"]
158
+
"stable-baselines3" -> pandas [label=any]
159
+
"stable-baselines3" -> torch [label=">=2.3,<3.0"]
160
+
"stable-baselines3" [label="stable_baselines3\n2.7.0"]
161
+
"tensorboard-data-server" [label="tensorboard-data-server\n0.7.2"]
162
+
"typing-extensions" [label="typing_extensions\n4.15.0"]
163
+
"unitree-sdk2py" -> "opencv-python" [label=any]
164
+
"unitree-sdk2py" -> cyclonedds [label="==0.10.2"]
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+
"unitree-sdk2py" -> numpy [label=any]
166
+
"unitree-sdk2py" [label="unitree_sdk2py\n1.0.1"]
167
+
"warp-lang" -> numpy [label=any]
168
+
"warp-lang" [label="warp-lang\n1.9.0"]
169
+
anyio -> "typing-extensions" [label=">=4.5"]
170
+
anyio -> exceptiongroup [label=">=1.0.2"]
171
+
anyio -> idna [label=">=2.8"]
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+
anyio -> sniffio [label=">=1.1"]
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+
anyio [label="anyio\n4.11.0"]
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+
boto3 -> botocore [label=">=1.40.37,<1.41.0"]
175
+
boto3 -> jmespath [label=">=0.7.1,<2.0.0"]
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+
boto3 -> s3transfer [label=">=0.14.0,<0.15.0"]
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+
boto3 [label="boto3\n1.40.37"]
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+
botocore -> "python-dateutil" [label=">=2.1,<3.0.0"]
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+
botocore -> jmespath [label=">=0.7.1,<2.0.0"]
180
+
botocore -> urllib3 [label=">=1.25.4,<3,!=2.2.0"]
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+
botocore [label="botocore\n1.40.37"]
182
+
certifi [label="certifi\n2025.8.3"]
183
+
click [label="click\n8.3.0"]
184
+
cloudpickle [label="cloudpickle\n3.1.1"]
185
+
coloredlogs -> humanfriendly [label=">=9.1"]
186
+
coloredlogs [label="coloredlogs\n15.0.1"]
187
+
contourpy -> numpy [label=">=1.23"]
188
+
contourpy [label="contourpy\n1.3.2"]
189
+
cycler [label="cycler\n0.12.1"]
190
+
cyclonedds -> "rich-click" [label=any]
191
+
cyclonedds [label="cyclonedds\n0.10.2"]
192
+
decorator [label="decorator\n5.2.1"]
193
+
einops [label="einops\n0.8.1"]
194
+
etils [label="etils\n1.13.0"]
195
+
exceptiongroup -> "typing-extensions" [label=">=4.6.0"]
196
+
exceptiongroup [label="exceptiongroup\n1.3.0"]
197
+
filelock [label="filelock\n3.19.1"]
198
+
flatbuffers [label="flatbuffers\n25.9.23"]
199
+
flatdict [label="flatdict\n4.0.1"]
200
+
fonttools [label="fonttools\n4.60.0"]
201
+
fsspec [label="fsspec\n2025.9.0"]
202
+
gitdb -> smmap [label=">=3.0.1,<6"]
203
+
gitdb [label="gitdb\n4.0.12"]
204
+
gitpython -> gitdb [label=">=4.0.1,<5"]
205
+
gitpython [label="GitPython\n3.1.45"]
206
+
glfw [label="glfw\n2.10.0"]
207
+
graphviz [label="graphviz\n0.21"]
208
+
grpcio -> "typing-extensions" [label="~=4.12"]
209
+
grpcio [label="grpcio\n1.75.0"]
210
+
gym -> "gym-notices" [label=">=0.0.4"]
211
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gym -> cloudpickle [label=">=1.2.0"]
212
+
gym -> numpy [label=">=1.18.0"]
213
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gym [label="gym\n0.23.1"]
214
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gymnasium -> "farama-notifications" [label=">=0.0.1"]
215
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gymnasium -> "typing-extensions" [label=">=4.3.0"]
216
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gymnasium -> cloudpickle [label=">=1.2.0"]
217
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gymnasium -> numpy [label=">=1.21.0"]
218
+
gymnasium [label="gymnasium\n1.2.1"]
219
+
h5py -> numpy [label=">=1.19.3"]
220
+
h5py [label="h5py\n3.14.0"]
221
+
hidapi -> setuptools [label=">=19.0"]
222
+
hidapi [label="hidapi\n0.14.0.post2"]
223
+
humanfriendly [label="humanfriendly\n10.0"]
224
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idna [label="idna\n3.10"]
225
+
imageio -> numpy [label=any]
226
+
imageio -> pillow [label=">=8.3.2"]
227
+
imageio [label="imageio\n2.37.0"]
228
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isaaclab -> "hydra-core" [label=any]
229
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isaaclab -> "warp-lang" [label=any]
230
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isaaclab -> einops [label=any]
231
+
isaaclab -> flatdict [label="==4.0.1"]
232
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isaaclab -> gymnasium [label=any]
233
+
isaaclab -> h5py [label=any]
234
+
isaaclab -> hidapi [label="==0.14.0.post2"]
235
+
isaaclab -> moviepy [label=any]
236
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isaaclab -> numpy [label="<2"]
237
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isaaclab -> numpy [label=any]
238
+
isaaclab -> numpy [label=any]
239
+
isaaclab -> onnx [label="==1.16.1"]
240
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isaaclab -> pillow [label="==11.0.0"]
241
+
isaaclab -> pillow [label="==11.0.0"]
242
+
isaaclab -> prettytable [label="==3.3.0"]
243
+
isaaclab -> protobuf [label=">=3.20.2,<5.0.0"]
244
+
isaaclab -> protobuf [label=">=3.20.2,<5.0.0"]
245
+
isaaclab -> pyglet [label="<2"]
246
+
isaaclab -> starlette [label="==0.46.0"]
247
+
isaaclab -> tensorboard [label=any]
248
+
isaaclab -> tensorboard [label=any]
249
+
isaaclab -> toml [label=any]
250
+
isaaclab -> torch [label="==2.5.1"]
251
+
isaaclab -> torch [label="==2.5.1"]
252
+
isaaclab -> torch [label="==2.5.1"]
253
+
isaaclab -> torchvision [label=">=0.14.1"]
254
+
isaaclab -> torchvision [label=">=0.14.1"]
255
+
isaaclab -> transformers [label=any]
256
+
isaaclab -> trimesh [label=any]
257
+
isaaclab [label="isaaclab\n2.1.0"]
258
+
isaacsim -> "isaacsim-kernel" [label="==4.5.0.0"]
259
+
isaacsim [label="isaacsim\n4.5.0.0"]
260
+
jinja2 -> markupsafe [label=">=2.0"]
261
+
jinja2 [label="Jinja2\n3.1.6"]
262
+
jmespath [label="jmespath\n1.0.1"]
263
+
kiwisolver [label="kiwisolver\n1.4.9"]
264
+
markdown [label="Markdown\n3.9"]
265
+
markupsafe [label="MarkupSafe\n3.0.2"]
266
+
matplotlib -> "python-dateutil" [label=">=2.7"]
267
+
matplotlib -> contourpy [label=">=1.0.1"]
268
+
matplotlib -> cycler [label=">=0.10"]
269
+
matplotlib -> fonttools [label=">=4.22.0"]
270
+
matplotlib -> kiwisolver [label=">=1.3.1"]
271
+
matplotlib -> numpy [label=">=1.23"]
272
+
matplotlib -> packaging [label=">=20.0"]
273
+
matplotlib -> pillow [label=">=8"]
274
+
matplotlib -> pyparsing [label=">=2.3.1"]
275
+
matplotlib [label="matplotlib\n3.10.6"]
276
+
mdurl [label="mdurl\n0.1.2"]
277
+
moviepy -> "imageio-ffmpeg" [label=">=0.2.0"]
278
+
moviepy -> "python-dotenv" [label=">=0.10"]
279
+
moviepy -> decorator [label=">=4.0.2,<6.0"]
280
+
moviepy -> imageio [label=">=2.5,<3.0"]
281
+
moviepy -> numpy [label=">=1.25.0"]
282
+
moviepy -> pillow [label=">=9.2.0,<12.0"]
283
+
moviepy -> proglog [label="<=1.0.0"]
284
+
moviepy [label="moviepy\n2.2.1"]
285
+
mpmath [label="mpmath\n1.3.0"]
286
+
mujoco -> "absl-py" [label=any]
287
+
mujoco -> etils [label=any]
288
+
mujoco -> glfw [label=any]
289
+
mujoco -> numpy [label=any]
290
+
mujoco -> pyopengl [label=any]
291
+
mujoco [label="mujoco\n3.3.6"]
292
+
networkx [label="networkx\n3.4.2"]
293
+
numpy [label="numpy\n1.26.4"]
294
+
omegaconf -> "antlr4-python3-runtime" [label="==4.9.*"]
295
+
omegaconf -> pyyaml [label=">=5.1.0"]
296
+
omegaconf [label="omegaconf\n2.3.0"]
297
+
onnx -> numpy [label=">=1.20"]
298
+
onnx -> protobuf [label=">=3.20.2"]
299
+
onnx [label="onnx\n1.16.1"]
300
+
onnxruntime -> coloredlogs [label=any]
301
+
onnxruntime -> flatbuffers [label=any]
302
+
onnxruntime -> numpy [label=">=1.21.6"]
303
+
onnxruntime -> packaging [label=any]
304
+
onnxruntime -> protobuf [label=any]
305
+
onnxruntime -> sympy [label=any]
306
+
onnxruntime [label="onnxruntime\n1.22.1"]
307
+
osqp -> numpy [label=">=1.7"]
308
+
osqp -> qdldl [label=any]
309
+
osqp -> scipy [label=">=0.13.2"]
310
+
osqp [label="osqp\n0.6.7.post3"]
311
+
packaging [label="packaging\n25.0"]
312
+
pandas -> "python-dateutil" [label=">=2.8.2"]
313
+
pandas -> numpy [label=">=1.22.4"]
314
+
pandas -> pytz [label=">=2020.1"]
315
+
pandas -> tzdata [label=">=2022.7"]
316
+
pandas [label="pandas\n2.3.2"]
317
+
pathtools [label="pathtools\n0.1.2"]
318
+
pillow [label="pillow\n11.0.0"]
319
+
pip [label="pip\n25.2"]
320
+
pipdeptree -> packaging [label=">=25"]
321
+
pipdeptree -> pip [label=">=25.2"]
322
+
pipdeptree [label="pipdeptree\n2.29.0"]
323
+
prettytable -> wcwidth [label=any]
324
+
prettytable [label="prettytable\n3.3.0"]
325
+
proglog -> tqdm [label=any]
326
+
proglog [label="proglog\n0.1.12"]
327
+
promise -> six [label=any]
328
+
promise [label="promise\n2.3"]
329
+
protobuf [label="protobuf\n3.20.3"]
330
+
psutil [label="psutil\n5.9.8"]
331
+
pygame [label="pygame\n2.1.0"]
332
+
pyglet [label="pyglet\n1.5.31"]
333
+
pygments [label="Pygments\n2.19.2"]
334
+
pyopengl [label="PyOpenGL\n3.1.10"]
335
+
pyparsing [label="pyparsing\n3.2.5"]
336
+
pyperclip [label="pyperclip\n1.10.0"]
337
+
pytz [label="pytz\n2025.2"]
338
+
pyyaml [label="PyYAML\n6.0.2"]
339
+
qdldl -> numpy [label=">=1.7"]
340
+
qdldl -> scipy [label=">=0.13.2"]
341
+
qdldl [label="qdldl\n0.1.7.post5"]
342
+
regex [label="regex\n2025.9.18"]
343
+
requests -> "charset-normalizer" [label=">=2,<4"]
344
+
requests -> certifi [label=">=2017.4.17"]
345
+
requests -> idna [label=">=2.5,<4"]
346
+
requests -> urllib3 [label=">=1.21.1,<3"]
347
+
requests [label="requests\n2.32.5"]
348
+
rich -> "markdown-it-py" [label=">=2.2.0"]
349
+
rich -> pygments [label=">=2.13.0,<3.0.0"]
350
+
rich [label="rich\n14.1.0"]
351
+
s3transfer -> botocore [label=">=1.37.4,<2.0a.0"]
352
+
s3transfer [label="s3transfer\n0.14.0"]
353
+
safetensors [label="safetensors\n0.6.2"]
354
+
scipy -> numpy [label=">=1.23.5,<2.5"]
355
+
scipy [label="scipy\n1.15.3"]
356
+
setproctitle [label="setproctitle\n1.3.7"]
357
+
setuptools [label="setuptools\n80.9.0"]
358
+
shortuuid [label="shortuuid\n1.0.13"]
359
+
six [label="six\n1.17.0"]
360
+
skrl -> gymnasium [label=any]
361
+
skrl -> packaging [label=any]
362
+
skrl -> tensorboard [label=any]
363
+
skrl -> tqdm [label=any]
364
+
skrl [label="skrl\n1.4.3"]
365
+
smmap [label="smmap\n5.0.2"]
366
+
sniffio [label="sniffio\n1.3.1"]
367
+
starlette -> anyio [label=">=3.6.2,<5"]
368
+
starlette [label="starlette\n0.46.0"]
369
+
sympy -> mpmath [label=">=1.1.0,<1.4"]
370
+
sympy [label="sympy\n1.13.1"]
371
+
tensorboard -> "absl-py" [label=">=0.4"]
372
+
tensorboard -> "tensorboard-data-server" [label=">=0.7.0,<0.8.0"]
373
+
tensorboard -> grpcio [label=">=1.48.2"]
374
+
tensorboard -> markdown [label=">=2.6.8"]
375
+
tensorboard -> numpy [label=">=1.12.0"]
376
+
tensorboard -> packaging [label=any]
377
+
tensorboard -> pillow [label=any]
378
+
tensorboard -> protobuf [label=">=3.19.6,!=4.24.0"]
379
+
tensorboard -> setuptools [label=">=41.0.0"]
380
+
tensorboard -> werkzeug [label=">=1.0.1"]
381
+
tensorboard [label="tensorboard\n2.20.0"]
382
+
tensorboardx -> numpy [label=any]
383
+
tensorboardx -> packaging [label=any]
384
+
tensorboardx -> protobuf [label=">=3.20"]
385
+
tensorboardx [label="tensorboardX\n2.6.4"]
386
+
tokenizers -> "huggingface-hub" [label=">=0.16.4,<2.0"]
387
+
tokenizers [label="tokenizers\n0.22.1"]
388
+
toml [label="toml\n0.10.2"]
389
+
torch -> "nvidia-cublas-cu12" [label="==12.4.5.8"]
390
+
torch -> "nvidia-cuda-cupti-cu12" [label="==12.4.127"]
391
+
torch -> "nvidia-cuda-nvrtc-cu12" [label="==12.4.127"]
392
+
torch -> "nvidia-cuda-runtime-cu12" [label="==12.4.127"]
393
+
torch -> "nvidia-cudnn-cu12" [label="==9.1.0.70"]
394
+
torch -> "nvidia-cufft-cu12" [label="==11.2.1.3"]
395
+
torch -> "nvidia-curand-cu12" [label="==10.3.5.147"]
396
+
torch -> "nvidia-cusolver-cu12" [label="==11.6.1.9"]
397
+
torch -> "nvidia-cusparse-cu12" [label="==12.3.1.170"]
398
+
torch -> "nvidia-nccl-cu12" [label="==2.21.5"]
399
+
torch -> "nvidia-nvjitlink-cu12" [label="==12.4.127"]
400
+
torch -> "nvidia-nvtx-cu12" [label="==12.4.127"]
401
+
torch -> "typing-extensions" [label=">=4.8.0"]
402
+
torch -> filelock [label=any]
403
+
torch -> fsspec [label=any]
404
+
torch -> jinja2 [label=any]
405
+
torch -> networkx [label=any]
406
+
torch -> sympy [label="==1.13.1"]
407
+
torch -> triton [label="==3.1.0"]
408
+
torch [label="torch\n2.5.1"]
409
+
torchvision -> numpy [label=any]
410
+
torchvision -> pillow [label=">=5.3.0,!=8.3.*"]
411
+
torchvision -> torch [label="==2.5.1"]
412
+
torchvision [label="torchvision\n0.20.1"]
413
+
tqdm [label="tqdm\n4.67.1"]
414
+
transformers -> "huggingface-hub" [label=">=0.34.0,<1.0"]
415
+
transformers -> filelock [label=any]
416
+
transformers -> numpy [label=">=1.17"]
417
+
transformers -> packaging [label=">=20.0"]
418
+
transformers -> pyyaml [label=">=5.1"]
419
+
transformers -> regex [label="!=2019.12.17"]
420
+
transformers -> requests [label=any]
421
+
transformers -> safetensors [label=">=0.4.3"]
422
+
transformers -> tokenizers [label=">=0.22.0,<=0.23.0"]
423
+
transformers -> tqdm [label=">=4.27"]
424
+
transformers [label="transformers\n4.56.2"]
425
+
trimesh -> numpy [label=">=1.20"]
426
+
trimesh [label="trimesh\n4.8.2"]
427
+
triton -> filelock [label=any]
428
+
triton [label="triton\n3.1.0"]
429
+
tzdata [label="tzdata\n2025.2"]
430
+
urllib3 [label="urllib3\n2.5.0"]
431
+
wandb -> "docker-pycreds" [label=">=0.4.0"]
432
+
wandb -> "sentry-sdk" [label=">=1.0.0"]
433
+
wandb -> click [label=">=7.0,!=8.0.0"]
434
+
wandb -> gitpython [label=">=1.0.0"]
435
+
wandb -> pathtools [label=any]
436
+
wandb -> promise [label=">=2.0,<3"]
437
+
wandb -> protobuf [label=">=3.12.0,<4.0dev"]
438
+
wandb -> psutil [label=">=5.0.0"]
439
+
wandb -> pyyaml [label=any]
440
+
wandb -> requests [label=">=2.0.0,<3"]
441
+
wandb -> setproctitle [label=any]
442
+
wandb -> setuptools [label=any]
443
+
wandb -> shortuuid [label=">=0.5.0"]
444
+
wandb -> six [label=">=1.13.0"]
445
+
wandb [label="wandb\n0.12.21"]
446
+
wcwidth [label="wcwidth\n0.2.14"]
447
+
werkzeug -> markupsafe [label=">=2.1.1"]
448
+
werkzeug [label="Werkzeug\n3.1.3"]
449
+
zipp [label="zipp\n3.23.0"]
450
+
}
451
+
+4
rapport/sdk2-study.typ
+4
rapport/sdk2-study.typ
···
1
+
Unitree met à disposition du public un _SDK_#footnote[Kit de développement logiciel (Software Development Kit)] permettant de contrôler ses robots (dont le H1v2).
2
+
1
3
== Une base de code partiellement open-source
4
+
5
+
Le code source du SDK d'unitree est disponible sur _Github_ à https://github.com/unitreerobotics/unitree_sdk2.
2
6
3
7
== Canaux DDS bas niveau
4
8