GraspGen/pyproject.toml at main · VectorRobotics/GraspGen · GitHub

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[build-system]
requires = ["setuptools>=45,<78", "wheel", "setuptools-scm"]
build-backend = "setuptools.build_meta"

[project]
name = "grasp_gen"
version = "1.0.0"
description = "GraspGen: A Diffusion-based Framework for 6-DOF Grasping"
authors = [
    {name = "Adithya Murali", email = "admurali@nvidia.com"},
]
maintainers = [
    {name = "Adithya Murali", email = "admurali@nvidia.com"},
]
license = {text = "NVIDIA Corporation"}
readme = "README.md"
requires-python = ">=3.10"
keywords = ["robotics", "manipulation", "learning", "computer-vision", "grasping"]
classifiers = [
    "Programming Language :: Python :: 3",
    "Programming Language :: Python :: 3.10",
    "Natural Language :: English",
    "Topic :: Scientific/Engineering",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
]

dependencies = [
    # Core PyTorch dependencies with CUDA support
    "torch==2.1.0",
    "torchvision==0.16.0",

    # PyTorch Geometric dependencies (installed from PyG wheel index)
    "torch-cluster",
    "torch-scatter",
    "torch-geometric",

    # Core dependencies from requirements.txt
    "pickle5",
    "h5py",
    "hydra-core",
    "matplotlib",
    "meshcat",
    "numpy==1.26.4",
    "webdataset",
    "scikit-learn",
    "scipy",
    "tensorboard",
    "trimesh==4.5.3",
    "transformers",
    "tensordict",
    "diffusers==0.11.1",
    "timm==1.0.15",
    "huggingface-hub==0.25.2",
    "PyOpenGL==3.1.0",
    "addict",
    "spconv-cu120",
    "yapf==0.40.1",
    "tensorboardx",
    "sharedarray",
    "yourdfpy==0.0.56",

    # Additional dependencies from pip installation
    "pyrender",
    "scene-synthesizer[recommend]",
    "imageio",
    "pytest",
    "viser",

    # ZMQ serving
    "pyzmq",
    "msgpack",
    "msgpack-numpy",

    # Pin setuptools to a version that still includes pkg_resources
    # (required by torch==2.1.0 cpp_extension for building CUDA extensions like pointnet2_ops)
    "setuptools>=45,<78",
]

# Note: pointnet2_ops is a local dependency that must be installed separately.
# For seamless installation, use: ./install_pointnet.sh
# Or manually: cd pointnet2_ops && uv pip install --no-build-isolation .

[project.urls]
"Homepage" = "https://graspgen.github.io"
"Repository" = "https://github.com/NVlabs/GraspGen"
"Documentation" = "https://graspgen.github.io"
"Paper" = "https://arxiv.org/abs/2507.13097"
"Models" = "https://huggingface.co/adithyamurali/GraspGenModels"
"Dataset" = "https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GraspGen"

[project.optional-dependencies]
dev = [
    "black",
    "isort",
    "flake8",
]
serve = [
    "pyzmq",
    "msgpack",
    "msgpack-numpy",
]

[tool.setuptools]
include-package-data = true

[tool.setuptools.packages.find]
where = ["."]
include = ["grasp_gen*"]

[tool.setuptools.package-data]
"*" = ["*.yaml", "*.yml", "*.json", "*.txt", "*.md"]

[tool.pytest.ini_options]
testpaths = ["tests"]
markers = [
    "integration: tests requiring a live GraspGen server on localhost:5556",
]

[tool.black]
line-length = 88
target-version = ['py310']

[tool.isort]
profile = "black"
line_length = 88

[tool.uv]
# Allow pre-release packages (needed for pyrender -> pyglet dependencies)
prerelease = "allow"

# Use find-links for PyG packages (flat HTML page, not a PEP 503 index)
find-links = ["https://data.pyg.org/whl/torch-2.1.0+cu121.html"]

# Build dependencies for packages that need special build requirements
[tool.uv.extra-build-dependencies]
sharedarray = ["setuptools>=45,<78"]