i2rt/pyproject.toml at main · i2rt-robotics/i2rt · GitHub

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[build-system]
requires = ["flit_core >= 3.4"]
build-backend = "flit_core.buildapi"

[project]
name = "i2rt"
version = "1.1.2"
readme = "README.md"
requires-python = ">=3.10"
dynamic = ["description"]
dependencies = [
    "click<8.2.0",
    # crcmod-plus is a maintained fork that installs into the `crcmod` namespace, so code still does `import crcmod`.
    "crcmod-plus>=2.3.1",
    "dm-env==1.6",
    "mink>=0.0.13",
    "mujoco>=3.3.5",
    "numpy==2.2.6",
    "portal==3.7.3",
    "pydantic>=2.0",
    "pygame==2.6.1",
    "python-can==4.5.0",
    "pyyaml>=6.0.0",
    "qpsolvers[quadprog]==4.7.1",
    "rerun-sdk>=0.32.2",
    "ruckig==0.15.3",
    "threadpoolctl==3.6.0",
    "tyro>=1.0.0",
    "viser>=0.2.0",
    # USB-to-GPIO converter for the linear-rail brake + limit switches on x86/non-Pi hosts.
    "pyserial>=3.5",
    # Raspberry Pi GPIO (linear-rail brake + limit switches). Pi-only via PEP 508 markers.
    # rpi-lgpio is a drop-in for `from RPi import GPIO` that works on Pi 5 (BCM2712);
    # legacy RPi.GPIO fails with "cannot determine peripheral soc base addr" on Pi 5.
    "rpi-lgpio>=0.6; sys_platform == 'linux' and (platform_machine == 'aarch64' or platform_machine == 'armv7l' or platform_machine == 'armv6l')",
]

[project.optional-dependencies]
dev = [
    "pyright>=1.1.408",
    "pytest>=8.4.0",
    "pytest-xdist>=3.8.0",
    "ruff>=0.15.6",
]

[tool.uv]
# ruckig 0.15.3 publishes only an sdist, so it is compiled from source on a fresh
# install (e.g. CI). Its build fails under scikit-build-core >= 0.10, which rejects the
# package's deprecated `cmake.targets`. Pin the build backend below that so it builds.
build-constraint-dependencies = ["scikit-build-core<0.10"]

[tool.flit.module]
name = "i2rt"

[tool.ruff]
line-length = 119 # Set the max line length to 119 characters.
lint.select = [
    "ANN", # Annotations.
    "B",   # bugbear rules
    # "D",   # docstring rules.
    "E",   # pycodestyle errors.
    "F",   # Pyflakes rules.
    "I",   # Import sorting.
    "PLC", # Pylint convention warnings.
    "PLE", # Pylint errors.
    "PLR", # Pylint refactor recommendations.
    "PLW", # Pylint warnings.
    "RUF", # Ruff rules.
]
lint.ignore = [
    "ANN204",
    "ANN401",
    "E741",    # Ambiguous variable name. (l, O, or I)
    "F841",
    "E402",
    "E501",
    "PLR1722",
    "PLR2004", # Magic value used in comparison.
    "PLR0915", # Too many statements.
    "PLR0913", # Too many arguments.
    "PLC0414", # Import alias does not rename variable. (this is used for exporting names)
    "PLC0415", # Import not at top level (conditional and __main__ imports are standard).
    "PLC1901", # Use falsey strings.
    "PLR0911", # Too many return statements.
    "PLR0912", # Too many branches.
    "PLW0603", # Global statement updates are discouraged.
    "PLW2901", # For loop variable overwritten.
    "RUF005",
    "RUF009",
    "RUF012",
]
lint.extend-select = ["E501"]
lint.exclude = ["*.ipynb"]

[tool.ruff.format]
docstring-code-format = true
skip-magic-trailing-comma = false

[tool.mypy]
python_version = "3.12"
ignore_missing_imports = true
warn_unused_configs = true
exclude = ["scripts/"]

[tool.coverage.report]
exclude_also = [
    "raise NotImplementedError",
    "if __name__ == .__main__.:",
    "class .*\\bProtocol\\):",
    "@(abc\\.)?abstractmethod",
    "def __repr__",
]
omit = ["*exceptions.py"]

[dependency-groups]
dev = [
    "pre-commit>=4.5.1",
    "pyright>=1.1.408",
    "pytest>=8.4.0",
    "pytest-xdist>=3.8.0",
    "ruff>=0.15.6",
]