# Main environment (.venv) for the RGB-D pipeline: FoundationPose, RGB-D preprocessing, hand/object registration,
# collision fix / audits / rendering, Dyn-HaMR launcher and playback. Observed versions on the reference machine
# (Python 3.11.15, Ubuntu 22.04, CUDA 12.8) — pins, not a cross-platform lock.
#
# Install order:
#   1. torch==2.7.1 torchvision==0.22.1  --index-url https://download.pytorch.org/whl/cu128   (must match driver/CUDA)
#   2. pip install -r requirements/pipeline_venv.txt
#   3. pip install --no-build-isolation git+https://github.com/facebookresearch/pytorch3d.git@stable   (needs nvcc; observed 0.7.9)
#   4. pip install --no-build-isolation --no-deps ./third_party/nvdiffrast                               (needs nvcc; snapshot 0.4.0)
#   5. build FoundationPose mycpp (see docs/SETUP_AND_WEIGHTS.md)
numpy==2.4.4
scipy==1.17.1
opencv-python==5.0.0.93
trimesh==4.12.2
coacd==1.0.14
open3d==0.19.0
kornia==0.8.3
omegaconf==2.3.1
hydra-core==1.3.2
imageio==2.37.3
imageio-ffmpeg==0.6.0
pillow==12.2.0
matplotlib==3.11.0
pandas==3.0.5
scikit-learn==1.9.1
joblib==1.6.0
h5py==3.16.0
PyYAML==6.0.3
ruamel.yaml==0.19.1
transformations==2026.1.18
pyrender==0.1.45
PyOpenGL==3.1.0
PyOpenGL-accelerate==3.1.10
psutil==7.2.2
tqdm==4.68.3
requests==2.34.2
mujoco==3.5.0
mujoco-warp==3.5.0
warp-lang==1.14.0
glfw==2.10.0
smplx==0.1.28
einops==0.8.2
timm==1.0.29
huggingface-hub==0.28.1
safetensors==0.8.0
ninja==1.13.2
pybind11==3.1.0