pyproject.toml

[build-system]
# Use the legacy setuptools backend so the existing `setup.py` (which dynamically
# detects torch and builds C/CUDA extensions via torch.utils.cpp_extension)
# is still executed during build. This is a minimal, non-opinionated pyproject
# that modernizes the package while preserving the custom extension build steps.
requires = ["setuptools>=61.0", "wheel"]
build-backend = "setuptools.build_meta"


# Note:
# - Building the torch extensions requires a working PyTorch installation
#   available at build time (or FORCE_CUDA=1 for cross-compilation). We keep
#   the extension-building logic in `setup.py` because it needs to import
#   `torch` at build time to select CUDA/Cpp extension classes.
# - If you prefer a pure PEP 517 build without a legacy setup.py, we can
#   refactor the extension-building logic into a custom build backend plugin.

[project]
name = "embodichain"
description = "An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence."
readme = "README.md"
authors = [ { name = "EmbodiChain Developers" } ]
requires-python = ">=3.10"
dynamic = ["version"]

# Core install dependencies (kept from requirements.txt).
dependencies = [
  "dexsim_engine==0.4.3",
  "setuptools>=78.1.1",
  "gymnasium>=0.29.1",
  "langchain",
  "langchain-openai",
  "toppra==0.6.3",
  "pin",
  "pin-pink",
  "casadi",
  "qpsolvers[osqp]==4.8.1",
  "pytorch_kinematics==0.10.0",
  "polars==1.31.0",
  "PyYAML>=6.0",
  "wandb>=0.21.0",
  "tensorboard>=2.20.0",
  "ortools",
  "prettytable",
  "psutil>=5.9",
  "black==26.3.1",
  "fvcore",
  "h5py",
  "tensordict",
  "viser==1.0.21",
  "lerobot>=0.4.4,<0.5"
]

[project.optional-dependencies]
gensim = [
  "bpy",
  "pyrender==0.1.45",
  "requests",
  "Pillow",
  "scipy",
  "matplotlib",
]

[project.scripts]
# Unified EmbodiChain CLI with sub-commands (mirrors ``python -m embodichain``).
# ``embodichain run-env`` discovers all installed task packages (via the
# ``embodichain.tasks`` entry points) and runs their init hooks (via
# ``embodichain.init``) before building and launching the environment.
# Other commands cover data assets, SimReady generation, asset and LeRobot
# dataset preview, grasp annotation, RL training, URDF convex decomposition,
# benchmarks, and workspace cache management.
embodichain = "embodichain.__main__:main"

[project.entry-points."embodichain.tasks"]
embodichain_tasks = "embodichain_tasks"

[tool.uv.sources]
bpy = { index = "blender" }

[[tool.uv.index]]
name = "blender"
url = "https://download.blender.org/pypi/"

[tool.setuptools.dynamic]
version = { file = ["VERSION"] }

[tool.setuptools]
include-package-data = false

[tool.black]

[tool.pytest.ini_options]
addopts = ["-m", "not slow"]
filterwarnings = [
    "ignore:`torch\\.jit\\.script(_method)?` is deprecated.*:DeprecationWarning:torch\\.jit\\._script",
]
markers = [
    "slow: marks tests as slow (deselect with '-m \"not slow\"')",
    "requires_sim: marks tests that require a real simulation backend",
    "no_sim: marks mock-only tests that must not initialize a simulation backend",
    "requires_tasks: marks tests that require installed task-package discovery",
    "gpu: marks tests that execute CUDA/GPU code (run serially)",
    "renderer: marks tests that exercise a rendering backend",
    "xdist_group(name): keeps resource-sharing tests on one pytest-xdist worker",
]