nuplan-devkit @ git+https://github.com/motional/nuplan-devkit/@nuplan-devkit-v1.2
scikit-learn==1.2.2
positional-encodings==6.0.1

# nuplan requirements
aioboto3
aiofiles
bokeh==2.4.3  # Used in the nuBoard dashboard
casadi  # Used for optimization solving
control==0.9.1  # Used for LQR controller synthesis
Fiona  # Used in GpkgMapsDB.py
geopandas>=0.12.1  # Used to read maps
guppy3==3.1.2
hydra-core==1.1.0rc1  # Used for configs
joblib
matplotlib  # Used for rendering
nest_asyncio  # Used to nest event loops when running nuBoard/jupyter
numpy==1.23.4
opencv-python==4.8.0.74  # Used widely
pandas    # Used widely
Pillow    # Used widely to render images
psutil  # Used widely to get the number of CPUs
pyarrow # For parquet
pyinstrument    # Used widely as profiler
pyogrio # A performant backend for geopandas
pyquaternion>=0.9.5  # Used widely, avoid known bug with quaternion slerp
pytest    # Used widely
rasterio  # Used in GpkgMapsDB.py
ray # Used widely
retry
rtree # Used in occupancy maps
scipy  # Used widely
selenium # Used in bokeh export png
setuptools==65.5.1  # Used in setup.py, pinned to not break pytorch
Shapely>=2.0.0  # Used widely
SQLAlchemy==1.4.27  # older versions don't work with some table definitions
sympy  # Use for symbolic algebra
tornado  # Used in nuboard.py
tqdm  # Used widely
ujson  # Used in serialiation_callback.py

xformers
pytorch-lightning==2.2.1
tensorboard==2.16.2
protobuf==3.20.*

notebook
timm
einops