# Core dependencies for the bundle tooling.
# Install with: pip install -r requirements.txt

# Array and IO
numpy>=1.24
h5py>=3.8

# JSON Schema validation
jsonschema>=4.17

# Stage 2 (Go1 ingestion)
rosbags>=0.9                   # reads ROS1 .bag files without a ROS install
mjcf_urdf_simple_converter     # MJCF → URDF kinematics conversion

# Stage 3 (animation in PiViz)
yourdfpy>=0.0.50               # URDF parser + forward kinematics
piviz-3d                       # 3D visualization (Yogesh's library)

# Stage 4 (G1 + Panda ingestion)
lerobot                        # Hugging Face LeRobot dataset loader (G1 and Panda/DROID)
tqdm>=4.65                     # progress bars for long episode reads

# Phase 2 (reservoir preprocessing + DEMLAT integration)
trimesh>=4.0                   # mesh repair, decimation, volume sampling
fast-simplification             # backend for trimesh's quadric decimation
scipy>=1.10                    # KDTree for fast bridging, savgol for SG derivatives
# openprc                      # DEMLAT (Yogesh's library, install separately)

# Phase 3 (PRC readout training + plotting)
matplotlib>=3.7                # plot_readout_results.py

# For later stages, uncomment as needed:
# datasets>=2.14         # HuggingFace datasets (G1)
# tensorflow>=2.13       # RLDS / DROID
# mujoco>=3.0            # MJCF sanity rollouts (validation)
# pyarrow>=14            # parquet (LeRobot datasets)

