mink/pyproject.toml at main · jaikr-dev/mink · GitHub

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[build-system]
requires = ["scikit-build-core>=0.10", "numpy"]
build-backend = "scikit_build_core.build"

[project]
name = "mink"
version = "1.1.0"
license = "Apache-2.0"
license-files = ["LICENSE"]
readme = { file = "README.md", content-type = "text/markdown" }
authors = [
    {name = "Kevin Zakka", email = "zakka@berkeley.edu"},
]
keywords = ["inverse", "kinematics", "mujoco"]
classifiers = [
    "Development Status :: 5 - Production/Stable",
    "Framework :: Robot Framework :: Library",
    "Intended Audience :: Developers",
    "Intended Audience :: Science/Research",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Programming Language :: Python :: 3.13",
    "Topic :: Scientific/Engineering",
]
description = "Python inverse kinematics based on MuJoCo"
requires-python = ">=3.10,<3.14"
dependencies = [
    "mujoco >= 3.3.6",
    "qpsolvers[daqp] >= 4.3.1",
    "typing_extensions",
]

[dependency-groups]
dev = [
    "ipdb>=0.13.13",
    "pyright>=1.1.408",
    "pytest>=8.4.2",
    "absl-py",
    "coveralls",
    "robot_descriptions>=1.14.0",
    "ruff>=0.14.3",
    "ty>=0.0.1a23",
    "loop-rate-limiters >= 0.1.0",
]
doc = [
    "sphinx>=7.2.6",
    "sphinx-autobuild",
    "sphinx-copybutton",
    "sphinx-design",
    "sphinx-favicon",
    "sphinx-mathjax-offline",
    "toml>=0.10.2",
    "sphinx-book-theme>=1.1.4",
]

[project.urls]
Source = "https://github.com/kevinzakka/mink"
Tracker = "https://github.com/kevinzakka/mink/issues"
Changelog = "https://github.com/kevinzakka/mink/blob/main/CHANGELOG.md"
Homepage = "https://kevinzakka.github.io/mink/"
Documentation = "https://kevinzakka.github.io/mink/"

[tool.ruff]
src = ["src"]  # Helpful for recognizing first-party imports.
exclude = [
  "typings",
]
lint.select = [
    "E",    # pycodestyle errors.
    "F",    # Pyflakes rules.
    "PLC",  # Pylint convention warnings.
    "PLE",  # Pylint errors.
    "PLR",  # Pylint refactor recommendations.
    "PLW",  # Pylint warnings.
    "I",    # Import sorting.
]
lint.ignore = [
    "E741",     # Ambiguous variable name. (l, O, or I)
    "E501",     # Line too long.
    "PLR2004",  # Magic value used in comparison.
    "PLR0915",  # Too many statements.
    "PLR0913",  # Too many arguments.
    "PLC0414",  # Import alias does not rename variable.
    "PLC1901",  # Use falsey strings.
    "PLR5501",  # Use `elif` instead of `else if`.
    "PLR0911",  # Too many return statements.
    "PLR0912",  # Too many branches.
    "PLW0603",  # Global statement updates are discouraged.
    "PLW2901",  # For loop variable overwritten.
]

[tool.pyright]
pythonVersion = "3.10"
ignore = ["typings", "scripts", "docs"]
stubPath = "typings"

[tool.ty.environment]
extra-paths = ["typings"]

[tool.ty.src]
include = ["src", "tests"]
exclude = ["typings"]

[tool.coverage.report]
exclude_also = [
    "raise NotImplementedError",
    "if __name__ == .__main__.:",
    "class .*\\bProtocol\\):",
    "@(abc\\.)?abstractmethod",
    "def __repr__",
    "if use_taylor:",
    "if t2 < get_epsilon",
    "if norm < get_epsilon",
    "MINK_DISABLE_NATIVE",
    "except ImportError:",
    "def ljac",
    "def rjac",
]
omit = [
    "*exceptions.py",
    "*/contrib/*",
]

[tool.scikit-build]
wheel.packages = ["src/mink"]
sdist.exclude = ["examples", "benchmarks", "docs", "tests", "typings", "uv.lock"]

[tool.cibuildwheel]
build-frontend = "build[uv]"

[tool.cibuildwheel.macos]
archs = ["x86_64", "arm64"]

[[tool.scikit-build.overrides]]
if.failed = true
wheel.cmake = false
wheel.packages = ["src/mink"]