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CI tests in Python 3.9
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‎.github/actions/python-tests/actions.yml‎

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name: 'Run Python Tests'
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description: 'Run Python Tests'
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inputs:
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python-version:
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description: 'Python version'
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required: true
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runs:
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using: "composite"
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steps:
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- name: Check out repository code
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uses: actions/checkout@v4
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- name: Display Python version
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env:
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PYTHON_VERSION: ${{ inputs.python-version }}
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run: echo "Running Python tests with version: ${PYTHON_VERSION}"
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- name: Set up Python
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uses: actions/setup-python@v3
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with:
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python-version: ${{ inputs.python-version }}
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- name: Install datasets
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run: |
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mkdir -p ${NUSCENES} && mkdir -p ${NUIMAGES}
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echo "Installing: v1.0-mini.tgz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/v1.0-mini.tgz | tar -xzf - -C ${NUSCENES} --exclude sweeps
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echo "Installing: nuimages-v1.0-mini.tgz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuimages-v1.0/nuimages-v1.0-mini.tgz | tar -xzf - -C ${NUIMAGES}
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echo "Installing: nuScenes-lidarseg-mini-v1.0.tar.bz2"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuscenes-lidarseg-v1.0/nuScenes-lidarseg-mini-v1.0.tar.bz2 | tar -xjf - -C ${NUSCENES}
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echo "Installing: nuScenes-panoptic-v1.0-mini.tar.gz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuscenes-panoptic-v1.0/nuScenes-panoptic-v1.0-mini.tar.gz | tar -xzf - --strip-components=1 -C ${NUSCENES}
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echo "Installing: nuScenes-map-expansion-v1.3.zip"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/nuScenes-map-expansion-v1.3.zip -o nuScenes-map-expansion-v1.3.zip
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unzip -q nuScenes-map-expansion-v1.3.zip -d ${NUSCENES}/maps/
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echo "Installing: can_bus.zip"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/can_bus.zip -o can_bus.zip
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unzip -q can_bus.zip -d ${NUSCENES} can_bus/scene-0001_*
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echo "Removing zip files . . ."
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rm nuScenes-map-expansion-v1.3.zip can_bus.zip
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- name: Install dependencies
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env:
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PYTHON_VERSION: ${{ inputs.python-version }}
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run: |
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PYTHON_VERSION_UNDERSCORE=${PYTHON_VERSION//./_}
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pip install -r setup/requirements_${PYTHON_VERSION_UNDERSCORE}_lock.txt
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- name: Run Python unit tests
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run: |
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python -m unittest discover python-sdk
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- name: Run Jupyter notebook tests
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run: |
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pip install jupyter -q
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export PYTHONPATH="${PYTHONPATH}:$(pwd)/python-sdk"
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./setup/test_tutorial.sh --ci

‎.github/workflows/pipeline.yml‎

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NUSCENES: data/sets/nuscenes
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NUIMAGES: data/sets/nuimages
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jobs:
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Test:
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Test in 3.9:
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository code
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uses: actions/checkout@v4
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- name: Set up Python 3.12
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uses: actions/setup-python@v3
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- id: Test in Python 3.9
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uses: ./.github/actions/python-tests
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with:
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python-version: "3.12"
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- name: Install datasets
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run: |
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mkdir -p ${NUSCENES} && mkdir -p ${NUIMAGES}
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echo "Installing: v1.0-mini.tgz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/v1.0-mini.tgz | tar -xzf - -C ${NUSCENES} --exclude sweeps
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echo "Installing: nuimages-v1.0-mini.tgz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuimages-v1.0/nuimages-v1.0-mini.tgz | tar -xzf - -C ${NUIMAGES}
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echo "Installing: nuScenes-lidarseg-mini-v1.0.tar.bz2"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuscenes-lidarseg-v1.0/nuScenes-lidarseg-mini-v1.0.tar.bz2 | tar -xjf - -C ${NUSCENES}
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echo "Installing: nuScenes-panoptic-v1.0-mini.tar.gz"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/nuscenes-panoptic-v1.0/nuScenes-panoptic-v1.0-mini.tar.gz | tar -xzf - --strip-components=1 -C ${NUSCENES}
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echo "Installing: nuScenes-map-expansion-v1.3.zip"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/nuScenes-map-expansion-v1.3.zip -o nuScenes-map-expansion-v1.3.zip
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unzip -q nuScenes-map-expansion-v1.3.zip -d ${NUSCENES}/maps/
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echo "Installing: can_bus.zip"
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curl -fsSL https://motional-nuscenes.s3-ap-northeast-1.amazonaws.com/public/v1.0/can_bus.zip -o can_bus.zip
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unzip -q can_bus.zip -d ${NUSCENES} can_bus/scene-0001_*
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echo "Removing zip files . . ."
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rm nuScenes-map-expansion-v1.3.zip can_bus.zip
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- name: Install dependencies
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run: |
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pip install -r setup/requirements_3_12_lock.txt
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- name: Run Python unit tests
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run: |
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python -m unittest discover python-sdk
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- name: Run Jupyter notebook tests
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run: |
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pip install jupyter -q
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export PYTHONPATH="${PYTHONPATH}:$(pwd)/python-sdk"
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./setup/test_tutorial.sh --ci
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python-version: 3.9
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Test in 3.12:
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runs-on: ubuntu-latest
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steps:
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- id: Test in Python 3.12
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uses: ./.github/actions/python-tests
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with:
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python-version: 3.12

‎setup/requirements_3_9_lock.txt‎

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#
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# This file is autogenerated by pip-compile with Python 3.9
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# by the following command:
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#
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# pip-compile --output-file=setup/requirements_3_9_lock.txt setup/requirements.txt
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#
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cachetools==6.2.0
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# via -r setup/requirements/requirements_base.txt
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contourpy==1.3.0
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# via matplotlib
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cycler==0.12.1
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# via matplotlib
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descartes==1.1.0
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# via -r setup/requirements/requirements_base.txt
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filelock==3.19.1
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# via torch
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fire==0.7.1
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# via -r setup/requirements/requirements_base.txt
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fonttools==4.59.1
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# via matplotlib
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fsspec==2025.7.0
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# via torch
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importlib-metadata==8.7.0
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# via triton
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importlib-resources==6.5.2
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# via matplotlib
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jinja2==3.1.6
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# via torch
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joblib==1.5.1
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# via scikit-learn
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kiwisolver==1.4.7
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# via matplotlib
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markupsafe==3.0.2
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# via jinja2
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matplotlib==3.9.4
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# via
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# -r setup/requirements/requirements_base.txt
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# descartes
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motmetrics==1.4.0
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# via -r setup/requirements/requirements_tracking.txt
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mpmath==1.3.0
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# via sympy
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networkx==3.2.1
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# via torch
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numpy==1.26.4
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# via
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# -r setup/requirements/requirements_base.txt
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# contourpy
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# matplotlib
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# motmetrics
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# opencv-python-headless
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# pandas
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# pycocotools
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# pyquaternion
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# scikit-learn
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# scipy
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# shapely
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# torchvision
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nvidia-cublas-cu12==12.8.4.1
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# via
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# nvidia-cudnn-cu12
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# nvidia-cusolver-cu12
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# torch
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nvidia-cuda-cupti-cu12==12.8.90
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# via torch
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nvidia-cuda-nvrtc-cu12==12.8.93
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# via torch
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nvidia-cuda-runtime-cu12==12.8.90
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# via torch
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nvidia-cudnn-cu12==9.10.2.21
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# via torch
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nvidia-cufft-cu12==11.3.3.83
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# via torch
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nvidia-cufile-cu12==1.13.1.3
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# via torch
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nvidia-curand-cu12==10.3.9.90
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# via torch
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nvidia-cusolver-cu12==11.7.3.90
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# via torch
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nvidia-cusparse-cu12==12.5.8.93
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# via
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# nvidia-cusolver-cu12
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# torch
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nvidia-cusparselt-cu12==0.7.1
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# via torch
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nvidia-nccl-cu12==2.27.3
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# via torch
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nvidia-nvjitlink-cu12==12.8.93
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# via
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# nvidia-cufft-cu12
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# nvidia-cusolver-cu12
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# nvidia-cusparse-cu12
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# torch
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nvidia-nvtx-cu12==12.8.90
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# via torch
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opencv-python-headless==4.11.0.86
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# via -r setup/requirements/requirements_base.txt
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packaging==25.0
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# via matplotlib
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pandas==2.3.2
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# via
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# -r setup/requirements/requirements_tracking.txt
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# motmetrics
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parameterized==0.9.0
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# via -r setup/requirements/requirements_base.txt
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pillow==11.3.0
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# via
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# -r setup/requirements/requirements_base.txt
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# matplotlib
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# torchvision
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pycocotools==2.0.10
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# via -r setup/requirements/requirements_nuimages.txt
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pyparsing==3.2.3
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# via matplotlib
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pyquaternion==0.9.9
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# via -r setup/requirements/requirements_base.txt
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python-dateutil==2.9.0.post0
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# via
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# matplotlib
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# pandas
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pytz==2025.2
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# via pandas
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scikit-learn==1.6.1
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# via -r setup/requirements/requirements_base.txt
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scipy==1.13.1
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# via
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# -r setup/requirements/requirements_base.txt
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# motmetrics
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# scikit-learn
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shapely==2.0.7
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# via -r setup/requirements/requirements_base.txt
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six==1.17.0
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# via python-dateutil
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sympy==1.14.0
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# via torch
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termcolor==3.1.0
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# via fire
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threadpoolctl==3.6.0
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# via scikit-learn
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torch==2.8.0
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# via
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# -r setup/requirements/requirements_prediction.txt
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# torchvision
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torchvision==0.23.0
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# via -r setup/requirements/requirements_prediction.txt
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tqdm==4.67.1
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# via -r setup/requirements/requirements_base.txt
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triton==3.4.0
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# via torch
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typing-extensions==4.15.0
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# via torch
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tzdata==2025.2
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# via pandas
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xmltodict==0.14.2
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# via motmetrics
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zipp==3.23.0
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# via
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# importlib-metadata
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# importlib-resources
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# The following packages are considered to be unsafe in a requirements file:
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# setuptools

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