kinetic/Cargo.toml at main · softmata/kinetic · GitHub

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[workspace]
resolver = "2"
members = [
    "crates/kinetic",
    "crates/kinetic-core",
    "crates/kinetic-robot",
    "crates/kinetic-kinematics",
    "crates/kinetic-collision",
    "crates/kinetic-scene",
    "crates/kinetic-trajectory",
    "crates/kinetic-planning",
    "crates/kinetic-reactive",
    "crates/kinetic-task",
    "crates/kinetic-grasp",
    "crates/kinetic-gpu",
    "crates/kinetic-execution",
    "crates/kinetic-viewer",
    "crates/kinetic-dynamics",
    "crates/kinetic-perception",
]
exclude = [
    "crates/kinetic-python",
    "crates/horus-kinetic",
]

[workspace.package]
edition = "2021"
rust-version = "1.75"
license = "Apache-2.0"
repository = "https://github.com/softmata/kinetic"

[workspace.dependencies]
# Math
nalgebra = { version = "0.33", features = ["serde-serialize"] }

# Serialization
serde = { version = "1", features = ["derive"] }
serde_json = "1"
toml = "0.8"

# Error handling
thiserror = "2"
anyhow = "1"

# Parallelism
rayon = "1.10"
rand = "0.8"

# Collision detection (f64 precision)
parry3d-f64 = "0.17"

# URDF/SRDF parsing
urdf-rs = "0.8"
roxmltree = "0.20"

# GPU compute
wgpu = "24"
bytemuck = { version = "1", features = ["derive"] }

# Python bindings
pyo3 = { version = "0.23", features = ["extension-module"] }
numpy = "0.23"

# Spatial indexing
kiddo = "4"

# Mesh loading
stl_io = "0.7"

# Windowing & UI
winit = "0.30"
egui = "0.31"
egui-wgpu = "0.31"
egui-winit = "0.31"
pollster = "0.4"
clap = { version = "4", features = ["derive"] }
image = { version = "0.25", default-features = false, features = ["png"] }
log = "0.4"
env_logger = "0.11"

# Benchmarking
criterion = { version = "0.5", features = ["html_reports"] }