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pyproject.toml
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[project]
name = "roboverse-py"
version = "0.1.17"
requires-python = ">=3.8,<3.11"
dependencies = [
"gymnasium",
"huggingface-hub",
"imageio[ffmpeg]",
"loguru",
"opencv-python",
"rich",
"rootutils",
"torch",
"torchvision",
"tqdm",
"tyro",
]
[project.optional-dependencies]
isaaclab = [
"protobuf<5",
"pyglet<2",
"torch==2.4.0+cu118",
"torchvision==0.19.0+cu118",
"isaacsim==4.2.0.2",
"isaacsim-extscache-physics==4.2.0.2",
"isaacsim-extscache-kit==4.2.0.2",
"isaacsim-extscache-kit-sdk==4.2.0.2",
]
isaaclab2 = [
"torch==2.5.1+cu118",
"torchvision==0.20.1+cu118",
"isaacsim[all,extscache]==4.5.0",
]
isaacgym = [
"numpy<2",
"fsspec<=2025.3.0", # fsspec==2025.3.1 has bug with python 3.8
]
mujoco = ["mujoco", "dm-control"]
sapien2 = ["mani-skill2 @ git+https://github.com/haosulab/ManiSkill.git@v0.5.3"]
sapien3 = ["sapien>=3.0.0.b1"]
pybullet = ["numpy<2", "pybullet"]
genesis = ["genesis-world"]
[tool.uv]
index-strategy = "unsafe-best-match"
[tool.uv.pip]
extra-index-url = [
"https://pypi.org/simple",
"https://download.pytorch.org/whl/cu118",
"https://pypi.nvidia.com",
]
[tool.ruff]
line-length = 120
format.preview = true
lint.preview = false
target-version = "py38"
lint.select = [
"B", # flake8: bugbear
"E", # pycodestyle
"F", # pyflakes
"FA", # flake8: future annotations
"I", # isort
"PLC", # pylint
"PLE", # pylint
"PLW", # pylint
"UP", # pyupgrade
"NPY", # numpy-specific rules
"RUF", # ruff-defined rules
"T20", # flake8: check prints
"D", # pydocstyle
]
lint.ignore = [
"B007", # allow used loop control variable without leading underscore
"E266", # allow multiple leading # in comments
"E402", # allow imports not at the top of the file
"E501", # allow long lines
"E722", # allow bare except
"F403", # allow `from module import *`
"F841", # allow unused variable
"PLC0206", # allow directly iterating over a dict
"PLC0415", # allow imports not at the top of the file
"PLC1901", # allow `if some_string == ""`
"PLW1514", # allow open without encoding argument
"PLW2901", # allow for loop variable overwriting
"PLW0602", "PLW0603", "PLW0604", # allow global variables, TODO: add docstring and remove this
"UP031", # allow `%` to be used to format strings
"NPY002", # allow legacy `numpy.random` functions
"RUF003", # allow ambiguous characters in comments
"RUF005", # allow using `+` to concatenate collections
"RUF009", # allow function calls in dataclass default values
"RUF012", # allow mutable class attributes
]
extend-exclude = [
"roboverse_learn/algorithms/act",
"roboverse_learn/algorithms/diffusion_policy",
"roboverse_learn/algorithms/rdt",
"roboverse_learn/rlds_utils",
"roboverse_learn/rl/algos/dreamer",
"roboverse_learn/rl/algos/ppo",
"roboverse_learn/rl/algos/sac",
"wandb",
"third_party",
"tmp",
"roboverse_data",
"assets",
"docker"
]
[tool.setuptools.packages.find]
where = ["."]
include = ["metasim*"]
[tool.ruff.lint.per-file-ignores]
"metasim/sim/isaaclab/**.py" = ["D", "FA"] # since isaaclab only supports Python 3.10; FIXME: Feishi remove D
## For normal scripts, allow print statements, allow no docstrings
"scripts/**.py" = ["T20", "D"]
"metasim/scripts/_private/**.py" = ["T20", "D"]
"metasim/scripts/RL/**.py" = ["T20", "D"]
"metasim/scripts/gpt_gen.py" = ["T20", "D"]
"metasim/cfg/tasks/open6dor/utils/**.py" = ["T20", "D"]
"metasim/cfg/tasks/maniskill/utils/**.py" = ["T20", "D"]
## For long-term-support scripts, allow no docstrings
"metasim/scripts/**.py" = ["D"]
## For unit test, allow no docstrings
"metasim/test/**.py" = ["D"]
## For special tasks, allow no docstrings
"metasim/cfg/tasks/maniskill/{pick_single_egad,pick_single_ycb,peg_insertion_side}.py" = ["D"]
"metasim/cfg/tasks/open6dor/task/**.py" = ["D"]
## For python files in docs and dashboard folder, allow no docstrings
"docs/**.py" = ["D"]
"dashboard/**.py" = ["D"]
## For tasks, allow no docstrings in public modules
"metasim/cfg/tasks/**/*.py" = ["D100"]
## For roboverse_learn, allow no docstrings, allow print
"roboverse_learn/**.py" = ["D", "T20"]
## Temporary disable linting for quick testing
"metasim/cfg/checkers/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/cfg/robots/**.py" = ["D"] # FIXME: whoever in charge of the robot add docstring and remove this
"metasim/cfg/scenes/**.py" = ["D"] # FIXME: Charlie add docstring and remove this
"metasim/cfg/tasks/arnold/**.py" = ["D"] # FIXME: Steven add docstring and remove this
"metasim/cfg/tasks/calvin/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/cfg/tasks/debug/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/cfg/tasks/dmcontrol/**.py" = ["D"] # FIXME: Charlie add docstring and remove this
"metasim/cfg/tasks/fetch/**.py" = ["D"] # FIXME: Haoran add docstring and remove this
"metasim/cfg/tasks/gapartnet/**.py" = ["D"] # FIXME: Haoran add docstring and remove this
"metasim/cfg/tasks/isaacgym_envs/**.py" = ["D"] # FIXME: Charlie add docstring and remove this
"metasim/cfg/tasks/libero/**.py" = ["D"] # FIXME: Peihao add docstring and remove this
"metasim/cfg/tasks/open6dor/**.py" = ["D"] # FIXME: Haoran and Yufei add docstring and remove this
"metasim/cfg/tasks/rlbench/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/cfg/tasks/robosuite/**.py" = ["D"] # FIXME: Jiangran add docstring and remove this
"metasim/cfg/tasks/simpler_env/**.py" = ["D"] # FIXME: Boshi add docstring and remove this
"metasim/cfg/tasks/skillblender/**.py" = ["D"] # FIXME: Haoran add docstring and remove this
"metasim/cfg/tasks/metaworld/**.py" = ["D"] # FIXME: Siheng add docstring and remove this
"metasim/double_sim/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/sim/blender/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/sim/genesis/**.py" = ["D"] # FIXME: Haoran add docstring and remove this
"metasim/sim/isaacgym/**.py" = ["D"] # FIXME: Haoran add docstring and remove this
"metasim/sim/mujoco/**.py" = ["D"] # FIXME: Charlie add docstring and remove this
"metasim/sim/pyrep/**.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/sim/gym_env.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/sim/*.py" = ["D"] # FIXME: Feishi add docstring and remove this
"metasim/utils/teleop_utils.py" = ["D"] # FIXME: Chaoyi add docstring and remove this
[tool.ruff.lint.isort]
known-first-party = ["metasim"]
known-third-party = ["wandb", "isaacsim"]
[tool.ruff.lint.pydocstyle]
convention = "google"