pyproject.toml

[build-system]
requires = [
  "build",
  "wheel",
  "setuptools>=45",
  "scikit-build-core>=0.3.3",
  "pybind11",
  "cmake",
  "ninja",
  "mujoco==3.2.6",
  "pin==3.7.0",
]
build-backend = "scikit_build_core.build"

[project]
name = "rcs"
version = "0.6.3"
description = "A Lean Ecosystem for Robot Learning at Scale"
dependencies = [
  "websockets>=11.0",
  "requests~=2.31",
  "numpy",
  "typer~=0.9",
  "gymnasium~=0.29.1",
  "absl-py~=2.1",
  "etils[epath]>=1.7.0",
  "glfw~=2.7",
  "pyopengl~=3.1.9",
  "pynput>=1.7.7",
  "pillow>=10.3",
  "python-dotenv>=1.0.1",
  "opencv-python~=4.10.0.84",
  "tilburg-hand",
  "digit-interface",
  "pyopengl>=3.1.9",
  "ompl>=1.7.0",
  "rpyc~=6.0.2",
  "pyarrow",
  "simplejpeg",
  "mujoco==3.2.6",
  "pin==3.7.0",
]
readme = "README.md"
maintainers = [{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" }]
authors = [
  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
  { name = "Pierre Krack", email = "pierre.krack@utn.de" },
  { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
]
requires-python = ">=3.10"
license = { file = "LICENSE" }

[dependency-groups]
dev = [
  "ruff==0.3.2",
  "black==24.1.1",
  "isort==5.13.2",
  "mypy==1.10.1",
  "types-requests~=2.31",
  # temporarily use fixed version until PR #275 is merged
  # pybind11-stubgen==2.5.5
  "pybind11-stubgen @ git+https://github.com/juelg/pybind11-stubgen@7f6afa59cfb8a485d3e53311be62214fefd96d75",
  "pytest==8.1.1",
  "commitizen~=3.28.0",
  "clang",
  "clang-format",
  "clang-tidy",
  "ninja",
  "cmake",
]
build_deps = [
  "mujoco==3.2.6",
  "pin==3.7.0",
]

[tool.cibuildwheel]
skip = ["cp314*", "*-musllinux*"]
# Install X11 headers needed to compile GLFW
before-all = "yum install -y libXi-devel libXcursor-devel libXinerama-devel libXrandr-devel glfw-devel"
# Exclude MuJoCo AND Pinocchio from being bundled.
repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude libmujoco.so.3.2.6 --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"

[tool.scikit-build]
build.verbose = true
build.targets = ["_core", "scenes", "rcs"]
logging.level = "INFO"
build-dir = "build"
wheel.packages = ["python/rcs"]
install.components = ["python_package"]

[tool.ruff]
line-length = 120

[tool.ruff.lint]
fixable = ["ALL"]
extend-select = [
  "B", # flake8-bugbear
  # "I",           # isort
  "ARG", # flake8-unused-arguments
  "C4",  # flake8-comprehensions
  "EM",  # flake8-errmsg
  "ICN", # flake8-import-conventions
  "G",   # flake8-logging-format
  "PGH", # pygrep-hooks
  "PIE", # flake8-pie
  "PL",  # pylint
  "PT",  # flake8-pytest-style
  #   "PTH",         # flake8-use-pathlib
  "RET", # flake8-return
  "RUF", # Ruff-specific
  "SIM", # flake8-simplify
  "T20", # flake8-print
  #   "UP",          # pyupgrade
  "YTT", # flake8-2020
  "EXE", # flake8-executable
  "NPY", # NumPy specific rules
  "PD",  # pandas-vet
]
ignore = [
  "PLR09",   # Too many X
  "PLR2004", # Magic comparison
  "E741",    # ambiguous variable name
  "ICN001",  #  `numpy` should be imported as `np`
  "PGH003",  # Use specfic rule code when ignoring types issues
  # "RET504",
  "T201",    # print() used
  "PLR5501", # elif to reduce indentation
  "PT018",   # assertion should be broken down into multiple parts
  "NPY002",
  "G004",    # Logging format string does not contain any placeholders
  "ARG002",
]

[tool.pylint.format]
max-line-length = 120

[tool.pylint.messages_control]
disable = [
  "C",
  "R",
  "fixme",
  "logging-fstring-interpolation",
  "unspecified-encoding",
  "broad-exception-raised",
  "broad-exception-caught",
]

[tool.black]
line-length = 120
target-version = ["py310"]

[tool.isort]
profile = "black"

[tool.mypy]
ignore_missing_imports = true
check_untyped_defs = true
pretty = true

[tool.pytest.ini_options]
minversion = "6.0"
addopts = "-vv"
testpaths = ["python/tests"]

[tool.commitizen]
name = "cz_conventional_commits"
tag_format = "v$version"
version_scheme = "pep440"
version_provider = "pep621"
update_changelog_on_bump = true
major_version_zero = true
version_files = [
  "CMakeLists.txt:VERSION",
  "python/rcs/_core/__init__.pyi:__version__",

  # --- FR3 Extension ---
  "extensions/rcs_fr3/CMakeLists.txt:VERSION",
  "extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi:__version__",
  "extensions/rcs_fr3/pyproject.toml:version",
  # The line below updates the dependency string "rcs>=x.y.z"
  "extensions/rcs_fr3/pyproject.toml:\"rcs>=(.*)\"",

  # --- Panda Extension ---
  "extensions/rcs_panda/CMakeLists.txt:VERSION",
  "extensions/rcs_panda/src/rcs_panda/_core/__init__.pyi:__version__",
  "extensions/rcs_panda/pyproject.toml:version",
  "extensions/rcs_panda/pyproject.toml:\"rcs>=(.*)\"",

  # --- Robotics Library ---
  "extensions/rcs_robotics_library/CMakeLists.txt:VERSION",
  "extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi:__version__",
  "extensions/rcs_robotics_library/pyproject.toml:version",
  "extensions/rcs_robotics_library/pyproject.toml:\"rcs>=(.*)\"",

  # --- SO101 ---
  "extensions/rcs_so101/CMakeLists.txt:VERSION",
  "extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi:__version__",
  "extensions/rcs_so101/pyproject.toml:version",
  "extensions/rcs_so101/pyproject.toml:\"rcs>=(.*)\"",

  # --- Other Extensions ---
  "extensions/rcs_realsense/pyproject.toml:version",
  "extensions/rcs_realsense/src/rcs_realsense/__init__.py:__version__",
  "extensions/rcs_realsense/pyproject.toml:\"rcs>=(.*)\"",

  "extensions/rcs_xarm7/pyproject.toml:version",
  "extensions/rcs_xarm7/src/rcs_xarm7/__init__.py:__version__",
  "extensions/rcs_xarm7/pyproject.toml:\"rcs>=(.*)\"",

  "extensions/rcs_ur5e/pyproject.toml:version",
  "extensions/rcs_ur5e/src/rcs_ur5e/__init__.py:__version__",
  "extensions/rcs_ur5e/pyproject.toml:\"rcs>=(.*)\"",

  "extensions/rcs_tacto/pyproject.toml:version",
  "extensions/rcs_tacto/src/rcs_tacto/__init__.py:__version__",
  "extensions/rcs_tacto/pyproject.toml:\"rcs>=(.*)\"",

  "extensions/rcs_robotiq2f85/pyproject.toml:version",
  "extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/__init__.py:__version__",
  "extensions/rcs_robotiq2f85/pyproject.toml:\"rcs>=(.*)\"",
]