[build-system]
requires = ["setuptools>=67", "wheel", "pip"]
build-backend = "setuptools.build_meta"

[project]
# See https://setuptools.pypa.io/en/latest/userguide/quickstart.html for more project configuration options.
name = "gr00t_wbc"
dynamic = ["version"]
readme = "README.md"
classifiers = [
    "Intended Audience :: Science/Research",
    "Development Status :: 3 - Alpha",
    "License :: OSI Approved :: Apache Software License",
    "Programming Language :: Python :: 3",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
]
authors = [
    {name = "NVIDIA Gear Lab"}
]
requires-python = "~=3.10"
dependencies = [
    "av>=14.2",
    "torch",
    "pyttsx3==2.90",
    "scipy==1.15.3",
    "numpy==1.26.4",
    "matplotlib",
    "hydra-core",
    "ray[default]",
    "click",
    "gymnasium",
    "mujoco",
    "termcolor",
    "flask",
    "python-socketio>=5.13.0",
    "flask_socketio",
    "loguru", 
    "meshcat",
    "meshcat-shapes",
    "onnxruntime",
    "rerun-sdk==0.21.0",
    "pygame",
    "sshkeyboard",
    "msgpack",
    "msgpack-numpy",
    "pyzmq",
    "PyQt6; platform_machine != 'aarch64'",
    "pin",
    "pin-pink",
    "pyrealsense2; sys_platform != 'darwin'",
    "pyrealsense2-macosx; sys_platform == 'darwin'",
    "qpsolvers[osqp,quadprog]",
    "tyro",
    "cv-bridge",
    "lark",
    "lerobot @ git+https://github.com/huggingface/lerobot.git@a445d9c9da6bea99a8972daa4fe1fdd053d711d2",
    "datasets==3.6.0",
    "pandas",
    "evdev; sys_platform == 'linux'"
]
license = {file = "LICENSE"}

[project.optional-dependencies]
dev = [
    "pytest==7.4.0",
    "build",
    "setuptools",
    "wheel",
    "ruff",
    "black",
    "ipdb"
]

[project.scripts]
gr00t_wbc = "gr00t_wbc.control.teleop.gui.cli:cli"

[tool.setuptools.packages.find]
where = ["."]
include = ["gr00t_wbc*"]
exclude = [
    "*.tests",
    "*.tests.*",
    "tests.*",
    "tests",
    "docs*",
    "scripts*"
]

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

[tool.setuptools.package-data]
gr00t_wbc = ["py.typed", "**/*.json", "**/*.yaml"]

[tool.setuptools.dynamic]
version = {attr = "gr00t_wbc.version.VERSION"}

[tool.black]
line-length = 100
include = '\.pyi?$'
exclude = '''
(
      __pycache__
    | \.git
    | \.mypy_cache
    | \.pytest_cache
    | \.vscode
    | \.venv
    | \bdist\b
    | \bdoc\b
    | external_dependencies
    | logs
    | source
    | /(
      | external_dependencies/
    )/
)
'''

[tool.isort]
profile = "black"
multi_line_output = 3
skip = [
    "external_dependencies", 
    "external_dependencies/**",
]
skip_glob = [
    "external_dependencies/*",
]

[tool.pyright]
reportPrivateImportUsage = false

[tool.ruff]
line-length = 115
target-version = "py310"
exclude = [
    "gr00t_wbc/dexmg",
    "external_dependencies",
    "external_dependencies/**",
    "./external_dependencies/**",
    "*.ipynb",
]


[tool.ruff.lint]
select = ["E", "F", "I"]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401"]

[tool.ruff.lint.isort]
case-sensitive = false
combine-as-imports = true
force-sort-within-sections = true
from-first = false
single-line-exclusions = ["typing"]
section-order = ["future", "standard-library", "third-party", "first-party", "local-folder"]

[tool.mypy]
ignore_missing_imports = true
no_site_packages = true
check_untyped_defs = true
exclude = [
    "external_dependencies", 
]

[[tool.mypy.overrides]]
module = "tests.*"
strict_optional = false

[tool.pytest.ini_options]
testpaths = "tests/"
python_classes = [
  "Test*",
  "*Test"
]
log_format = "%(asctime)s - %(levelname)s - %(name)s - %(message)s"
log_level = "DEBUG"