pyproject.toml

[build-system]
requires = ["setuptools >= 65.0", "wheel"]
build-backend = "setuptools.build_meta"

[project]
name = "yam"
version = "0.1.0"
description = "YAM: Bimanual Robot System with LeRobot Integration for Data Collection, Training, and Inference"
readme = "README.md"
requires-python = ">=3.10"
license = {text = "Apache-2.0"}
authors = [
    {name = "Thomas", email = "ycl0829@uw.edu"}
]

dependencies = [
    # Core dependencies
    "numpy>=1.26.4",
    "torch>=2.2.1,<2.8.0",
    "pillow",
    "omegaconf>=2.3.0",
    "tyro",
    "pyyaml",
    "termcolor",
    
    # LeRobot dependencies for training/inference
    "transformers>=4.36.0",
    "diffusers>=0.25.0",
    "accelerate>=0.25.0",
    "datasets>=2.16.0",
    "huggingface-hub>=0.20.0",
    "safetensors>=0.4.0",
    "peft>=0.8.0",
    "tensorboard",
    "wandb",
    "einops",
    "h5py",
    "imageio[ffmpeg]",
    "opencv-python",
    "gym>=0.26.0",
    
    # Gello/Robot control
    "dm_control",
    "pyrealsense2",
    "pyzmq",
    "zmq",
    "pygame",
    "pyquaternion",
    "quaternion",
    "numpy-quaternion",
    # "PyQt6",  # Install separately: conda install pyqt6 or pip install PyQt6 (requires qmake)
    "setuptools",
    "dynamixel-sdk @ file:./teleop_and_inference/third_party/DynamixelSDK/python",
    
    # Hardware interfaces
    "pyspacemouse",
    "pure-python-adb",
    "ur-rtde",
    
    # Robot arms
    "xarm",
    "xarm-python-sdk",
    
    # YAM Realtime dependencies
    "viser",
    "portal",
    "dm-env==1.6",
    "dotdict==0.1",
    "robot_descriptions",
    "pyroki @ git+https://github.com/chungmin99/pyroki.git",
    
    # Training dependencies
    "torchvision>=0.21.0,<0.23.0",
    "torchaudio",
    "torch-optimizer",
    "mujoco==3.3.5",
    
    # OpenPI/Orbax dependencies for model conversion
    "orbax-checkpoint",
    "jax",
    "jaxlib",
    "gsutil",
    
    # Development tools
    "pytest>=7.0.0",
    "pytest-cov",
    "black>=23.0.0",
    "ruff>=0.1.0",
    "mypy>=1.0.0",
    "pre-commit",
]

[project.optional-dependencies]
# All dependencies are included by default
# Optional groups kept for backwards compatibility
dev = []
training = []
all = []

[project.urls]
Repository = "https://github.com/thomas0829/YAM"
Homepage = "https://github.com/thomas0829/YAM"

[tool.setuptools.packages.find]
where = ["src", "teleop_and_inference", "."]
include = [
    "lerobot*",
    "i2rt*",
    "gello*",
    "yam_realtime*",
    "oculus_reader*",
]
exclude = [
    "tests*",
    "*.egg-info*",
]

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

# Ruff configuration for linting
[tool.ruff]
line-length = 119
target-version = "py310"

lint.select = [
    "E",    # pycodestyle errors
    "W",    # pycodestyle warnings
    "F",    # Pyflakes
    "I",    # isort
    "B",    # flake8-bugbear
    "C4",   # flake8-comprehensions
    "UP",   # pyupgrade
]

lint.ignore = [
    "E501",   # line too long (handled by black)
    "B008",   # do not perform function calls in argument defaults
    "C901",   # too complex
    "W191",   # indentation contains tabs
    "B904",   # Allow raising exceptions without from e
]

exclude = [
    ".git",
    "__pycache__",
    "*.egg-info",
    ".venv",
    "venv",
    "build",
    "dist",
    ".pytest_cache",
    "third_party",
]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401"]  # Allow unused imports in __init__.py

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
skip-magic-trailing-comma = false
line-ending = "auto"

# Black configuration
[tool.black]
line-length = 119
target-version = ['py310']
include = '\.pyi?$'
exclude = '''
/(
    \.git
  | \.venv
  | \.pytest_cache
  | __pycache__
  | build
  | dist
  | third_party
)/
'''

# MyPy configuration
[tool.mypy]
python_version = "3.10"
warn_return_any = true
warn_unused_configs = true
ignore_missing_imports = true
exclude = [
    "third_party/",
    "build/",
    ".venv/",
]

# Pytest configuration
[tool.pytest.ini_options]
testpaths = ["tests"]
python_files = "test_*.py"
python_classes = "Test*"
python_functions = "test_*"
addopts = [
    "--strict-markers",
    "--disable-warnings",
    "-v",
]
markers = [
    "slow: marks tests as slow (deselect with '-m \"not slow\"')",
    "requires_hardware: marks tests that require hardware",
]

[tool.coverage.run]
source = ["src", "teleop_and_inference", "yam_realtime", "oculus_reader"]
omit = [
    "*/tests/*",
    "*/third_party/*",
    "*/__pycache__/*",
]

[tool.coverage.report]
exclude_lines = [
    "pragma: no cover",
    "def __repr__",
    "raise AssertionError",
    "raise NotImplementedError",
    "if __name__ == .__main__.:",
    "if TYPE_CHECKING:",
    "@abstractmethod",
]