pyproject.toml

[project]
name = "teleoperation"
version = "0.5.8"
description = "Teleoperation for Fourier Robots"
authors = [{ name = "Yuxiang Gao", email = "yuxiang.gao@fftai.com" }]
dependencies = [
    "numpy~=1.26.4",
    "h5py>=3.11.0",
    "pytransform3d>=3.6.2",
    "vuer[all]==0.0.32rc8",
    "tqdm>=4.66.5",
    "rich>=13.8.1",
    "opencv-python>=4.10.0.84",
    "opencv-contrib-python>=4.10.0.84",
    "pynput>=1.7.7",
    # "loguru>=0.7.2",
    # "typer>=0.12.5",
    "omegaconf>=2.3.0",
    "torch~=2.4.1",
    "torchvision~=0.19.1",
    "dex-retargeting==0.4.5",
    "pin-pink>=3.0.0",
    "rerun-sdk>=0.18.2",
    "meshcat>=0.3.2",
    "meshcat-shapes>=0.3.0",
    "numba>=0.60.0",
    "pillow>=11.0.0",
    "hydra-core>=1.3.2",
    "hydra-colorlog>=1.2.0",
]
requires-python = "~=3.10,<3.12"
readme = "README.md"
license = { text = "MIT" }


[project.optional-dependencies]
webrtc = [
    "aiortc>=1.9.0",
    "aiohttp>=3.10.5",
    "aiohttp-cors>=0.7.0",
    "av>=12.3.0",
]
realsense = ["pyrealsense2>=2.55.1.6486"]
fourier = ["fourier-grx-client==0.2.0a8", "fourier-dhx>=0.0.2"]
depthai = ["depthai-sdk>=1.15.0", "av>=13.1.0"]

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

[tool.ruff]
include = ["**/*.py", "**/*.pyi", "**/pyproject.toml"]
exclude = [".venv", "build", "dist", "scripts", "src/teleoperation/webrtc"]
line-length = 120

[tool.ruff.lint]
select = [
    "A",   # flake8-builtins
    "B",   # flake8-bugbear
    "C4",  # flake8-comprehensions
    "E",   # pycodestyle - Error
    "W",   # pycodestyle - Warning
    "F",   # Pyflakes
    'PLC',
    'PLE',
    'PLW', # Pylint
    "I",   # isort
    "UP",  # pyupgrade
    "NPY", # numpy
]
ignore = [
    "E501", # line-too-long
    # "F401", # unused import
    "F841", # unused variable,
    "E741", # ambiguous variable name
]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401"]

[tool.ruff.lint.isort]
known-first-party = ["teleoperation"]


[tool.pyright]
include = ["src/**/*.py"]
pythonVersion = "3.11"
pythonPlatform = "Linux"

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

[tool.pdm]
distribution = true

[tool.pdm.scripts]
doc = { cmd = "mkdocs serve", help = "Start the dev server for docs preview" }
lint = "pre-commit run --all-files"
publish = "pdm publish -v -u __token__"
publish_doc = "mike deploy --push --update-aliases"


[tool.pdm.resolution]
respect-source-order = true


# [[tool.pdm.source]]
# name = "torch-cpu"
# url = "https://download.pytorch.org/whl/cpu"
# include_packages = ["torch", "torchvision", "torchaudio"]


[[tool.pdm.source]]
url = "https://pypi.tuna.tsinghua.edu.cn/simple"
name = "tuna"


[tool.pdm.dev-dependencies]
dev = [
    "mkdocs>=1.6.0",
    "ruff>=0.6.3",
    "pyright>=1.1.378",
    "mkdocs-material>=9.5.33",
    "mkdocstrings[python]>=0.25.2",
    "mkdocs-version-annotations>=1.0.0",
    "mike>=2.1.3",
    "markdown-exec>=1.9.3",
    "pre-commit>=3.5.0",
    "pytest>=8.3.3",
]