pyproject.toml

[build-system]
requires = ["setuptools>=61.0.0", "wheel"]
build-backend = "setuptools.build_meta"

[project]
name = "crazyflow"
dynamic = ["version"]
description = "Fast, parallelizable simulations of drones with JAX and MuJoCo."
authors = [{ name = "Martin Schuck" }, { name = "Marcel Rath" }]
readme = "README.md"
license = { file = "LICENSE" }
classifiers = [
    "License :: OSI Approved :: MIT License",
    "Programming Language :: Python",
    "Programming Language :: Python :: 3",
    "Intended Audience :: Developers",
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
]

dependencies = [
    "numpy>=2.0.0",
    "scipy>=1.17.0",
    "jax>=0.7.0",        # 0.5.3 and 0.6.0 have a bug that causes resets to not work properly.
    "mujoco>=3.3.0",
    "mujoco-mjx>=3.3.0",
    "gymnasium[mujoco]>=1.2.0",
    "imageio",
    "einops",
    "flax",
    "ml_collections",
    "casadi",
    "drone-models",             # from PyPI (regular install) or submodules folder (pixi install)
    "drone-controllers",        # from PyPI (regular install) or submodules folder (pixi install)
]
requires-python = ">=3.11,<3.14" # MuJoCo has no wheels for python 14

[project.optional-dependencies]
gpu = ["jax[cuda12]"]
benchmark = ["fire", "matplotlib", "pandas"]

[project.urls]
Homepage = "https://github.com/utiasDSL/crazyflow"
Repository = "https://github.com/utiasDSL/crazyflow"

[tool.setuptools.packages]
find = {include = ["crazyflow*"]}

[tool.setuptools.dynamic]
version = { attr = "crazyflow.__version__" }

[tool.setuptools.package-data]
crazyflow = ["scene.xml"]

[tool.pytest.ini_options]
markers = ["unit", "integration", "render"]
addopts = "-m 'not render'"

[tool.ruff]
# Exclude a variety of commonly ignored directories.
exclude = [
    ".git",
    ".git-rewrite",
    ".ipynb_checkpoints",
    ".pyenv",
    ".pytest_cache",
    ".pytype",
    ".ruff_cache",
    ".venv",
    ".vscode",
    "__pypackages__",
    "_build",
    "build",
    "dist",
    "site-packages",
    "venv",
    "docs/conf.py",
]

line-length = 100
indent-width = 4
target-version = "py312"

[tool.ruff.lint]
select = ["E", "F", "I", "D", "TCH", "ANN"]
ignore = ["ANN401"]
fixable = ["ALL"]
unfixable = []

[tool.ruff.lint.isort]  # Prevent ruff from reporting conflicting settings with isort
split-on-trailing-comma = false

[tool.ruff.lint.per-file-ignores]
"benchmark/*" = ["D100", "D103"]
"tests/*" = ["D100", "D103", "D104"]
"examples/*" = ["D100", "D103"]
"tutorials/*" = ["D", "ANN"]
# TODO: Remove once everything is stable and document
"crazyflow/*" = ["D100", "D101", "D102", "D104", "D107"]

[tool.ruff.lint.pydocstyle]
convention = "google"

[tool.ruff.lint.flake8-annotations]
suppress-dummy-args = true
suppress-none-returning = true

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
skip-magic-trailing-comma = true
line-ending = "auto"
docstring-code-format = true
docstring-code-line-length = "dynamic"

[tool.pixi]
[tool.pixi.workspace]
channels = ["conda-forge"]
platforms = ["linux-64", "osx-arm64"]

[tool.pixi.dependencies]
pip = "*"
ruff = "*"

[tool.pixi.pypi-dependencies]
crazyflow = { path = "./", editable = true }
drone-models = { path = "./submodules/drone-models", editable = true }
drone-controllers = { path = "./submodules/drone-controllers", editable = true }

[tool.pixi.feature.gpu]
platforms = ["linux-64"]

[tool.pixi.feature.build.pypi-dependencies]
build = ">=1.3"
twine = ">=6.0"

[tool.pixi.environments]
default = { solve-group = "default" }
tests = { features = ["tests"], solve-group = "default" }
docs = { features = ["docs"], solve-group = "default" }
release = { features = ["build"], solve-group = "default" }
# GPU environments do not work on osx-arm64 
gpu = { features = ["gpu"], solve-group = "gpu" }
benchmark = { features = ["benchmark", "gpu"], solve-group = "gpu" }
gpu-tests = { features = ["tests", "gpu"], solve-group = "gpu" }

[tool.pixi.feature.tests.dependencies]
pytest = ">=8.4.1"
pytest-timeout = ">=2.1.0"
array-api-strict = ">=2.4.1"
matplotlib = "*"

[tool.pixi.feature.tests.tasks]
tests = { cmd = "pytest -v tests", description = "Run tests" }

[tool.pixi.feature.docs.dependencies]
python = ">=3.10"
mkdocs = ">=1.5.0"
mkdocs-material = ">=9.0.0"

[tool.pixi.feature.docs.pypi-dependencies]
mkdocs-autorefs = ">=1.2.0"
mkdocstrings = { extras = ["python"], version = ">=0.26.0" }
mkdocs-gen-files = ">=0.5.0"
mkdocs-literate-nav = ">=0.6.0"
mkdocs-section-index = ">=0.3.0"

[tool.pixi.feature.docs.tasks]
docs-build = { cmd = "mkdocs build", description = "Build docs" }
docs-serve = { cmd = "mkdocs serve --livereload", description = "Serve docs locally" }