pyproject.toml

[build-system]
requires = ["setuptools", "wheel", "cython>=3.0.0", "numpy>=1.26.4"]
build-backend = "setuptools.build_meta"

[project]
name = "genesis-world"
version = "0.3.3"
description = "A universal and generative physics engine"
readme = "README.md"
requires-python = ">=3.10,<3.14"
dependencies = [
    "psutil",
    "gstaichi==2.6.0",
    "pydantic>=2.11.0",
    "numpy>=1.26.4",
    "trimesh",
    "scipy>=1.14",
    "libigl",
    # Cross-platform library to get various kind of CPU information such as model name
    "py-cpuinfo",
    "mujoco>=3.2.5",
    "moviepy>=2.0.0",
    # Used by `pyrender` to manage onscreen graphical windows
    # * 2.1.8 breaks headless windowing, which is used in unit tests of the interactive viewer.
    "pyglet>=1.5,!=2.1.8",
    # Used by `pyrender` to load fonts
    "freetype-py",
    # Used by `pyrender` to write low-level OpenGL rendering pipeline
    "PyOpenGL>=3.1.4",
    # Use by `pyrender` to compile low-level OpenGL rendering pipeline
    "numba",
    # Use by `Mesh.remesh`, which is involve in `PBDTetEntity.sample`
    "pymeshlab",
    # Optional `trimesh` dependency for loading `.dae` mesh files
    "pycollada",
    # Used for parsing `.glb` mesh files
    "pygltflib==1.16.0",
    # Used for parsing `.usd` mesh files
    "usd-core",
    # Use by `PBD3DEntity.sample` to tetrahedralize a mesh
    "tetgen>=0.6.4",
    # Used for some advanced mesh processing such as `skeletonization`
    "PyGEL3D",
    # Used here and there to load and export images
    # * 11.0 dramatically improves performance when exporting images to PNG
    "Pillow>11.0",
    # Use to display camera images and export images
    "opencv-python",
    # Use by `RigidGeom.visualize_sdf` to render SDF as level 0 marching cubes
    "scikit-image",
    # Convex decomposition library
    "coacd",
    # Ray casting used in mesh to height field conversion
    "rtree",
    # Constraint Satisfaction Solver.
    # Used to compute contype and conaffinity bitmasks from complete list of excluded collision pairs.
    "z3-solver",
    # Used for loading raytracing special texture images used by LuisaRender
    "OpenEXR",
    # Native batch renderer specifically designed for Genesis
    "gs-madrona==0.0.5; platform_system=='Linux' and (platform_machine=='x86_64' or platform_machine=='AMD64')",
    # Used for mesh simplification
    "fast_simplification>=0.1.12",
    # Surface reconstruction library for particle data from SPH simulations.
    # 0.13.0.0 changes removes enable_multi_threading argument an enable it by default
    # and AttributeError: 'builtins.MeshWithData' object has no attribute 'get_point_attribute'.
    # Did you mean: 'add_point_attribute'?
    "pysplashsurf<=0.12.0.2",
]

[project.optional-dependencies]
dev = [
    "black",
    "pytest",
    "pytest-xdist",
    "pytest-forked",
    "pytest-random-order",
    "pytest-print",
    # - 16.0 is causing pytest-xdist to crash in case of failure or skipped tests
    "pytest-rerunfailures<16.0",
    "syrupy",
    "huggingface_hub[hf_xet]",
    "wandb",
    "ipython",
    # * Mujoco 3.3.6 made contact islands an opt-out option instead of opt-in,
    #   which requires setting the disableflags 'mjDSBL_ISLAND'.
    "mujoco>=3.3.6,<3.4.0",
    # Used internally by 'MPLPlotter'
    # * 3.7.0: introduces Button blitting and 'outside' keyword legend location
    "matplotlib>=3.7.0",
    # Used internally by 'VideoFileWriter'
    "av",
]
docs = [
    # Note that currently sphinx 7 does not work, so we must use v6.2.1. Once fixed we can use a later version.
    # See https://github.com/kivy/kivy/issues/8230 which tracks this issue.
    "sphinx==6.2.1",
    "sphinx-autobuild",
    "pydata_sphinx_theme",
    # For spelling
    "sphinxcontrib.spelling",
    # Type hints support
    "sphinx-autodoc-typehints",
    # Copy button for code snippets
    "sphinx_copybutton",
    # Markdown parser
    "myst-parser",
    "sphinx-subfigure",
    "sphinxcontrib-video",
    "sphinx-togglebutton",
    "sphinx_design",
]
render = [
    "pybind11[global]",
    "open3d",
]
usd = [
    # Used for parsing `.usd` mesh files
    "usd-core",
]

[project.scripts]
gs = "genesis._main:main"

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

[tool.setuptools.package-data]
genesis = [
    "assets/*",
    "ext/pyrender/fonts/*",
    "ext/pyrender/shaders/*",
    "ext/VolumeSampling",
]

[tool.black]
line-length = 120
force-exclude = '''
/(
    genesis/ext
)/
'''

[tool.pytest.ini_options]
addopts = [
    "--color=yes",
    "--import-mode=importlib",
    "--pdbcls=IPython.terminal.debugger:TerminalPdb",
    # "--exitfirst",
    "--numprocesses=auto",
    "--dist=worksteal",
    "--random-order-bucket=global",
    "--random-order-seed=0",
    # "--max-worker-restart=0",
    "--durations=0",
    "--durations-min=100.0",
    "-m not (benchmarks or examples)",
]
filterwarnings = [
    "ignore::_pytest.warning_types.PytestUnknownMarkWarning",
    "ignore::DeprecationWarning",
]
markers = [
    "examples: example scripts.",
    "benchmarks: benchmarks for profiling and monitoring.",
    "required: minimal test set that must pass systematically on any environment before merging.",
    "field_only: tests that are not compatible with gstaichi ndarrays."
]
log_cli_level = "WARNING"