pyproject.toml

[build-system]
requires = ["setuptools", "wheel", "cython>=3.0.0", "numpy>=1.26.4"]
build-backend = "setuptools.build_meta"

[project]
# name = "genesis-world-nightly"
# version = "0.0.3"
name = "genesis-world"
version = "0.2.1"
description = "A universal and generative physics engine"
readme = "README.md"
requires-python = ">=3.10,<3.13"
dependencies = [
    "psutil",
    "taichi >= 1.7.2",
    "pydantic == 2.7.1",
    "numpy >= 1.26.4",
    "trimesh",
    "scipy >= 1.14",
    "libigl",
    # Cross-platform library to get various kind of CPU information such as model name
    "py-cpuinfo",
    # * Mujoco 3.3 made Native CCD an opt-out option instead of opt-in,
    #   which requires setting the disableflags 'mjDSBL_NATIVECCD'.
    "mujoco >= 3.3.0, < 3.4.0",
    "moviepy >= 2.0.0",
    # Used by `pyrender` to manage onscreen graphical windows
    "pyglet>=1.5",
    # Used by `pyrender` to load fonts
    "freetype-py",
    # Used by `pyrender` to write low-level OpenGL rendering pipeline
    "PyOpenGL>=3.1.4",
    # Use by `pyrender` to compile low-level OpenGL rendering pipeline
    "numba",
    # Use by `Mesh.remesh`, which is involve in `PBDTetEntity.sample`
    "pymeshlab",
    # Optional `trimesh` dependency for loading `.dae` mesh files
    "pycollada",
    # Used for parsing `.glb` mesh files
    "pygltflib == 1.16.0",
    # Use by `PBD3DEntity.sample` to tetrahedralize a mesh
    "tetgen >= 0.6.4",
    # Used for some advanced mesh processing such as `skeletonization`
    "PyGEL3D",
    # Use to display camera images
    "opencv-python",
    # Use by `RigidGeom.visualize_sdf` to render SDF as level 0 marching cubes
    "scikit-image",
    # Convex decomposition library
    "coacd",
    # Ray casting used in mesh to height field conversion
    "rtree",
    # Constraint Satisfaction Solver.
    # Used to compute contype and conaffinity bitmasks from complete list of excluded collision pairs.
    "z3-solver",
    # Used for loading raytracing special texture images used by LuisaRender
    "OpenEXR",
    # Motion Planning library
    # * 1.7.0: First version distributed on PyPI (no pre-compiled binaries for Windows OS).
    #          Fix OMPL DLL search directory.
    "ompl>=1.7.0; platform_system != 'Windows'"
]

[tool.setuptools.packages.find]
where = ["."]
include = ["genesis", "genesis.*"]

[tool.setuptools.package-data]
genesis = [
    "assets/*",
    "ext/pyrender/fonts/*",
    "ext/pyrender/shaders/*",
    "ext/VolumeSampling",
]

[tool.black]
line-length = 120
force-exclude = '''
/(
    genesis/ext
)/
'''

[tool.pytest.ini_options]
addopts = [
    "--import-mode=importlib",
    "--pdbcls=IPython.terminal.debugger:TerminalPdb",
    # "--exitfirst",
    "--numprocesses=auto",
    "--dist=loadgroup",
    "--random-order-bucket=global",
    "--random-order-seed=0",
    "--max-worker-restart=0",
    "--durations=0",
    "--durations-min=40.0",
    "-m not benchmarks",
]
filterwarnings = [
    "ignore::_pytest.warning_types.PytestUnknownMarkWarning",
    "ignore::DeprecationWarning",
]
markers = [
    "benchmarks: marks benchmarks (executed independently and sequentially).",
]
log_cli_level = "WARNING"

[project.scripts]
gs = "genesis._main:main"

[project.optional-dependencies]
dev = [
    "black",
    "pytest",
    "pytest-xdist",
    "pytest-forked",
    "pytest-random-order",
    "huggingface_hub",
]
docs = [
    # Note that currently sphinx 7 does not work, so we must use v6.2.1. See https://github.com/kivy/kivy/issues/8230 which tracks this issue. Once fixed we can use a later version
    "sphinx==6.2.1",
    "sphinx-autobuild",
    "pydata_sphinx_theme",
    # For spelling
    "sphinxcontrib.spelling",
    # Type hints support
    "sphinx-autodoc-typehints",
    # Copy button for code snippets
    "sphinx_copybutton",
    # Markdown parser
    "myst-parser",
    "sphinx-subfigure",
    "sphinxcontrib-video",
    "sphinx-togglebutton",
    "sphinx_design",
]
render = [
    "pybind11[global]",
    "open3d",
]