pyproject.toml

# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0

[project]
name = "robolab"
version = "0.3.1"
description = "A benchmark for simulation"
readme = "README.md"
requires-python = ">=3.11"
license = {text = "Apache-2.0"}
authors = [{name = "Xuning Yang"}]
dependencies = [
    # Core
    # IsaacLab + IsaacSim are NOT pinned here: they are mutually-exclusive,
    # version-specific stacks selected via the `isaac50` / `isaac51` extras
    # below (see [tool.uv].conflicts). Install with e.g.
    #   uv sync --extra isaac50   # IsaacLab 2.2.0 / IsaacSim 5.0.0  (default)
    #   uv sync --extra isaac51   # IsaacLab 2.3.2.post1 / IsaacSim 5.1.0
    "torch",
    "numpy",
    "gymnasium",
    # Remote inference
    "requests",
    "json_numpy",
    "pyzmq",
    "msgpack",
    "msgpack-numpy",
    "websockets",
    # Computer vision and image processing
    "opencv-python",
    "Pillow",
    "imageio",
    # Scientific computing
    "scipy",
    "matplotlib",
    # Data handling
    "h5py",
    "PyYAML",
    "pandas",
    # Misc
    "tqdm",
    "tyro",
    "python-dotenv",
    "setuptools<81",
    # Dashboard (robolab-dashboard CLI); kept in the default install since
    # the runtime footprint is small and most users want it available.
    "fastapi",
    "uvicorn[standard]",
    "jinja2",
]

[project.optional-dependencies]
# Mutually-exclusive IsaacLab/IsaacSim stacks. Exactly one must be selected at
# install time; they are declared as conflicting under [tool.uv].
isaac50 = [
    "isaaclab==2.2.0",
    "isaacsim[all,extscache]==5.0.0",
]
isaac51 = [
    "isaaclab==2.3.2.post1",
    "isaacsim[all,extscache]==5.1.0",
]
analysis = ["sbi"]
test = ["pytest"]
all = ["sbi", "pytest"]

[project.scripts]
robolab-dashboard = "dashboard.cli:main"

[build-system]
requires = ["setuptools>=61.0"]
build-backend = "setuptools.build_meta"

[tool.setuptools.packages.find]
include = ["robolab", "robolab.*", "policies", "policies.*", "dashboard", "dashboard.*"]

[tool.setuptools.package-data]
dashboard = ["templates/*.html", "static/*"]

# -- uv configuration --

[tool.uv]
prerelease = "allow"
index-strategy = "unsafe-best-match"
# The two IsaacLab/IsaacSim stacks cannot be co-installed in one environment.
# Declaring them conflicting lets a single lockfile cover both; pick one per
# environment with `uv sync --extra isaac50` or `--extra isaac51`.
conflicts = [[{ extra = "isaac50" }, { extra = "isaac51" }]]
# isaacsim (both the 5.0 and 5.1 kernels) pins websockets==12.0 — stale
# metadata in practice: kit only uses websockets for livestream/omni.services,
# which headless eval never touches, and the benchmark runs routinely on
# isaac50 with websockets 16. Override the pin so the lock resolves a modern
# websockets for the policy clients instead of being dragged down to 12.0.
override-dependencies = ["websockets>=14.0"]
# warp-lang 1.13.0.dev20260418 on pypi.nvidia.com only published the macOS
# wheel — no Linux build — so any resolver pass that picked it would break
# `uv sync` on Linux. Exclude that specific version.
constraint-dependencies = ["warp-lang != 1.13.0.dev20260418"]

[tool.uv.extra-build-dependencies]
# flatdict 4.0.1 ships sdist-only and its legacy setup.py needs an older
# setuptools plus `wheel` to build. Building in an isolated PEP 517 env
# (i.e. NOT in `no-build-isolation-package`) lets these deps apply
# deterministically regardless of what's in the project venv.
flatdict = ["setuptools<81", "wheel"]

[[tool.uv.index]]
name = "pytorch-cu128"
url = "https://download.pytorch.org/whl/cu128"
explicit = true

[[tool.uv.index]]
name = "nvidia"
url = "https://pypi.nvidia.com"

[tool.uv.sources]
torch = { index = "pytorch-cu128" }
torchvision = { index = "pytorch-cu128" }

[tool.pytest.ini_options]
testpaths = ["tests"]

[tool.ruff]
target-version = "py311"
line-length = 120

[tool.ruff.lint]
select = ["I"]

[tool.ruff.lint.isort]
known-first-party = ["robolab", "policies"]
known-third-party = ["isaaclab", "isaaclab_assets", "isaaclab_mimic", "isaaclab_rl", "isaaclab_tasks"]