pyproject.toml

[build-system]
requires = ["uv_build>=0.12.1,<0.13"]
build-backend = "uv_build"

[tool.uv.build-backend]
# Downloaded robot meshes stay out of the wheel; keep in sync with
# ROBOT_ASSET_SPECS in src/unilab/assets/hub.py.
source-exclude = [
    "/src/unilab/assets/bots",
    "/src/unilab/assets/robots/allegro_hand/assets",
    "/src/unilab/assets/robots/g1/assets",
    "/src/unilab/assets/robots/g1/textures",
    "/src/unilab/assets/robots/go2/assets",
    "/src/unilab/assets/robots/x2/meshes",
]

[project]
name = "unilab"
version = "1.3.3"
description = "Configurable, contract-driven robot learning across physics backends"
readme = "README.md"
license = "Apache-2.0"
license-files = ["LICENSE"]
authors = [{ name = "UniLab Authors" }]
keywords = ["robot-learning", "reinforcement-learning", "mujoco", "simulation"]
classifiers = [
    "Operating System :: OS Independent",
    "Programming Language :: Python :: 3",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Programming Language :: Python :: 3.13",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
]
requires-python = ">=3.10,<3.14"
dependencies = [
    "numpy",
    "unisim-core>=1.7.8",
    "numba>=0.67",
    "prettytable>=3.10",
    # A range (not an exact pin) lets ROCm users substitute a ROCm torch
    # build; uv.lock pins the tested CUDA builds via tool.uv.sources.
    "torch>=2.9,<2.15",
    "gymnasium",
    "imageio",
    "etils",
    "hydra-core>=1.3",
    "tensordict",
    "rsl-rl-lib>=5.0.0",
    "packaging",
    "mediapy",
    "tensorboard>=2.21.0",
    "setuptools",
    "rich",
    "tqdm",
    "typing-extensions",
    "lark>=1.3.1",
    "wandb",
    "onnxruntime<1.20 ; python_version < '3.11'",
    "onnxruntime>=1.20 ; python_version >= '3.11'",
    "huggingface_hub>=0.25",
    "ninja ; sys_platform == 'linux'",
    "imageio-ffmpeg>=0.6.0",
    "viser>=1.0.26",
    "trimesh>=3.21.7",
]

[project.scripts]
train = "unilab.cli:train_main"
eval = "unilab.cli:eval_main"
demo = "unilab.cli:demo_main"
unilab-complete = "unilab.cli_completion:main"
unilab-viz-nan = "unilab.utils.nan_viz:main"
unilab-render-teaser = "unilab.visualization.teaser:main"
unilab-pull-assets = "unilab.assets.pull:main"

[project.urls]
Homepage = "https://unilabsim.github.io"
Documentation = "https://unilabsim.github.io/UniLab-doc/"
Repository = "https://github.com/unilabsim/UniLab"
Issues = "https://github.com/unilabsim/UniLab/issues"

[project.optional-dependencies]
# Drake C++ is an external toolchain; the native extension is built against
# the local DRAKE_HOME after sync. mujoco provides the playback renderer.
drake = [
    "drake-uni==0.1.0",
    "mujoco>=3.5",
]
# mjbatch is built and version-checked against mujoco==3.11.0; switching
# MuJoCo versions requires an mjbatch rebuild.
mujoco = [
    "mujoco~=3.11.0",
    "mjbatch-uni~=0.2.4",
]
# Shares the MuJoCo 3.11 / warp-lang 1.16 line with the mujoco/newton extras.
mjwarp = [
    "mujoco-warp~=3.11.0",
    "warp-lang==1.16.0",
]
newton = [
    "newton==1.5.1",
    "mujoco-warp==3.11.0",
    "mujoco==3.11.0",
    "warp-lang==1.16.0",
    # ViewerGL playback renderer GUI stack.
    "pyglet>=2.1.6,<3",
    "imgui-bundle>=1.92.0",
]
motrix = ["unisim-core[motrix]>=1.7.8"]
genesis = ["genesis-world==1.3.3"]
uni_rl = ["unilab-rl==1.4.3"]
# Wheels are CPython 3.12/3.13 Linux x86_64 only; the marker keeps uv lock
# resolvable for the other required-environments.
superdex = [
    "unisim-core[superdex]>=1.7.8 ; python_version >= '3.12' and sys_platform == 'linux' and platform_machine == 'x86_64'",
]

[dependency-groups]
# Dev/CI exercises the APPO/off-policy/multi-GPU paths, so the optional
# unilab-rl runtime stays installed in the dev environment.
dev = ["pytest", "pytest-cov", "ruff", "mypy", "pyright>=1.1.408", "unilab-rl==1.4.3"]

[[tool.uv.index]]
name = "r2-cu130"
url = "https://download-r2.pytorch.org/whl/cu130"
explicit = true

[tool.uv.sources]
# cu130 carries torch>=2.12 CUDA wheels for linux/win; macOS resolves from PyPI.
torch = [
    { index = "r2-cu130", marker = "sys_platform=='linux' or sys_platform=='win32'" },
]

[tool.uv]
exclude-dependencies = ["torchvision"]
required-environments = [
    "sys_platform == 'darwin' and platform_machine == 'arm64'",
    "sys_platform == 'linux' and platform_machine == 'x86_64'",
    "sys_platform == 'linux' and platform_machine == 'aarch64'",
]

[tool.ruff]
line-length = 100
target-version = "py310"
src = ["src"]
extend-exclude = [".history"]

[tool.ruff.lint]
select = ["E", "F", "I", "N", "W"]
ignore = [
    "E501",
    "N806",
    "E402",
    "F401",
    "N801",
    "F821",
    "E741",
    "N802",
    "N803",
    "N812",
]

[tool.mypy]
python_version = "3.10"
warn_return_any = true
warn_unused_configs = true
ignore_missing_imports = true
no_site_packages = true

[tool.pytest.ini_options]
testpaths = ["tests"]
markers = [
    "slow: long-running training or script smoke tests, or cumulatively expensive backend matrices",
]
addopts = "--tb=short -m 'not slow'"

[tool.coverage.run]
source = ["src/unilab"]

[tool.coverage.report]
exclude_lines = ["pragma: no cover", "if TYPE_CHECKING:"]

[tool.pyright]
pythonVersion = "3.10"
venvPath = "."
venv = ".venv"
include = ["src/unilab"]
exclude = [
    "src/unilab/envs/",                     # lazy optional `mujoco` import; not installed in the pyright env
    "src/unilab/visualization/",            # direct mujoco C bindings; not installed in the pyright env
]
reportMissingImports = "warning"
reportMissingModuleSource = "none"