cpu-environment.yaml

# in this yaml you should add dependencies that are not included in the python packages
# (or that you want to install anyways such as torch to install cuda w/ conda)
# also make sure to install the local packages with the "-e" prefix
# to create an environment: conda create env -f environment.yaml
# to update: conda env update -f environment.yaml
name: cabinet-manipulation-cpu
channels:
  - conda-forge
  - nvidia
dependencies:
  - python=3.8 # 3.8 needed for the sturm wheel
  #- cudatoolkit=11.4
  #- cudnn=8.2
  #- jaxlib=*=*cuda*
  - jaxlib
  - jax
  #- cuda-nvcc
  - pip
  - pip:
    - matplotlib
    - ur-rtde
    - wandb
    - imageio
    - pytest
    - pre-commit
    - mypy
    - darglint
    - -e cabinet-robot/
    - -e airo-mono/airo-typing
    - -e airo-mono/airo-spatial-algebra
    - -e airo-mono/airo-robots
    #- -r cat-ind-fg/requirements.txt
    - -e cat-ind-fg/
    ## manual copy of the dependencies
    - dcargs==0.0.12
    - flax==0.3.4
    - jax_dataclasses==1.5.1
    - jaxlie==1.3.0
    - matplotlib==3.4.1
    - networkx==2.6.2
    - numpy
    - open3d==0.11.2
    - overrides==6.0.1
    - pandas==1.2.4
    - python_igraph==0.10.3
    - PyYAML==6.0
    - scipy==1.6.3
    - seaborn==0.11.1
    - tensorflow==2.7.0
    - scikit-learn
    - git+https://github.com/brentyi/jaxfg.git@069e124b23029d384ba026bc29a75ad741ce31a9
    - cat-ind-fg/sturm_articulation-0.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
    - protobuf==3.20.1 # avoid type error in TF: https://stackoverflow.com/questions/72441758/typeerror-descriptors-cannot-not-be-created-directly