pyproject.toml

[build-system]
requires = []
build-backend = "scikit_build_core.build"

[project]
name = "rcs"
version = "0.5.2"
description="Python Interface for libfranka to control the Franka Research 3 Robot"
dependencies = ["websockets>=11.0",
    "requests~=2.31",
    "numpy",
    "typer~=0.9",
    "gymnasium~=0.29.1",
    "absl-py~=2.1",
    "etils[epath]>=1.7.0",
    "glfw~=2.7",
    "pyopengl==3.1.9",
    "pynput~=1.7.7",
    "pillow~=10.3",
    "python-dotenv==1.0.1",
    "opencv-python~=4.10.0.84",
    # NOTE: when changing the mujoco version, also change it in requirements.txt
    "mujoco==3.2.6",
    # NOTE: Same for pinocchio (pin)
    "pin==3.7.0",
    "tilburg-hand",
    "digit-interface",
    "pyopengl>=3.1.9",
    "ompl>=1.7.0",
    "rpyc==6.0.2",
    "pyarrow",
    "simplejpeg",
]
readme = "README.md"
maintainers = [
  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
]
authors = [
  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
  { name = "Pierre Krack", email = "pierre.krack@utn.de" },
]
requires-python = ">=3.10"
license = "AGPL-3.0-or-later"

[project.optional-dependencies]
dev = [
    "ruff==0.3.2",
    "black==24.1.1",
    "isort==5.13.2",
    "mypy==1.10.1",
    "types-requests~=2.31",
    # temporarily use fixed version until PR #275 is merged
    # pybind11-stubgen==2.5.5
    "pybind11-stubgen @ git+https://github.com/juelg/pybind11-stubgen@fix/class-sorting",
    "pytest==8.1.1",
    "commitizen~=3.28.0",
    "clang",
    "clang-format",
    "clang-tidy",
]


[tool.scikit-build]
build.verbose = true
build.targets = ["_core", "scenes", "rcs"]
logging.level = "INFO"
build-dir = "build"
wheel.packages = ["python/rcs"]
install.components = ["python_package"]

[tool.ruff]
line-length = 120

[tool.ruff.lint]
fixable = ["ALL"]
extend-select = [
  "B",           # flake8-bugbear
  # "I",           # isort
  "ARG",         # flake8-unused-arguments
  "C4",          # flake8-comprehensions
  "EM",          # flake8-errmsg
  "ICN",         # flake8-import-conventions
  "G",           # flake8-logging-format
  "PGH",         # pygrep-hooks
  "PIE",         # flake8-pie
  "PL",          # pylint
  "PT",          # flake8-pytest-style
#   "PTH",         # flake8-use-pathlib
  "RET",         # flake8-return
  "RUF",         # Ruff-specific
  "SIM",         # flake8-simplify
  "T20",         # flake8-print
#   "UP",          # pyupgrade
  "YTT",         # flake8-2020
  "EXE",         # flake8-executable
  "NPY",         # NumPy specific rules
  "PD",          # pandas-vet
]
ignore = [
  "PLR09",    # Too many X
  "PLR2004",  # Magic comparison
  "E741",    # ambiguous variable name
  "ICN001",  #  `numpy` should be imported as `np`
  "PGH003",  # Use specfic rule code when ignoring types issues
  # "RET504",
  "T201",    # print() used
  "PLR5501", # elif to reduce indentation
  "PT018",   # assertion should be broken down into multiple parts
  "NPY002",
  "G004",   # Logging format string does not contain any placeholders
  "ARG002",
]

[tool.pylint.format]
max-line-length = 120

[tool.pylint.messages_control]
disable = [
    "C",
    "R",
    "fixme",
    "logging-fstring-interpolation",
    "unspecified-encoding",
    "broad-exception-raised",
    "broad-exception-caught"
]

[tool.black]
line-length = 120
target-version = ["py310"]

[tool.isort]
profile = "black"

[tool.mypy]
ignore_missing_imports = true
check_untyped_defs = true
pretty = true

[tool.pytest.ini_options]
minversion = "6.0"
addopts = "-vv"
testpaths = [
    "python/tests",
]

[tool.commitizen]
name = "cz_conventional_commits"
tag_format = "v$version"
version_scheme = "pep440"
version_provider = "pep621"
update_changelog_on_bump = true
major_version_zero = true
version_files = [
    "CMakeLists.txt:VERSION",
    "python/rcs/_core/__init__.pyi:__version__",

    # --- FR3 Extension ---
    "extensions/rcs_fr3/CMakeLists.txt:VERSION",
    "extensions/rcs_fr3/src/rcs_fr3/_core/__init__.pyi:__version__",
    "extensions/rcs_fr3/pyproject.toml:version", 
    # The line below updates the dependency string "rcs>=x.y.z"
    "extensions/rcs_fr3/pyproject.toml:\"rcs>=(.*)\"",

    # --- Panda Extension ---
    "extensions/rcs_panda/CMakeLists.txt:VERSION",
    "extensions/rcs_panda/src/rcs_fr3/_core/__init__.pyi:__version__",
    "extensions/rcs_panda/pyproject.toml:version",
    "extensions/rcs_panda/pyproject.toml:\"rcs>=(.*)\"",

    # --- Robotics Library ---
    "extensions/rcs_robotics_library/CMakeLists.txt:VERSION",
    "extensions/rcs_robotics_library/src/rcs_robotics_library/_core/__init__.pyi:__version__",
    "extensions/rcs_robotics_library/pyproject.toml:version",
    "extensions/rcs_robotics_library/pyproject.toml:\"rcs>=(.*)\"",

    # --- SO101 ---
    "extensions/rcs_so101/CMakeLists.txt:VERSION",
    "extensions/rcs_so101/src/rcs_so101/_core/__init__.pyi:__version__",
    "extensions/rcs_so101/pyproject.toml:version",
    "extensions/rcs_so101/pyproject.toml:\"rcs>=(.*)\"",

    # --- Other Extensions ---
    "extensions/rcs_realsense/pyproject.toml:version",
    "extensions/rcs_realsense/src/rcs_realsense/__init__.py:__version__",
    "extensions/rcs_realsense/pyproject.toml:\"rcs>=(.*)\"",

    "extensions/rcs_xarm7/pyproject.toml:version",
    "extensions/rcs_xarm7/src/rcs_xarm7/__init__.py:__version__",
    "extensions/rcs_xarm7/pyproject.toml:\"rcs>=(.*)\"",

    "extensions/rcs_ur5e/pyproject.toml:version",
    "extensions/rcs_ur5e/src/rcs_ur5e/__init__.py:__version__",
    "extensions/rcs_ur5e/pyproject.toml:\"rcs>=(.*)\"",
]