[project]
name = "toyblocks"
version = "0.0.1"
description = "ToyBlocks tasks"
readme = "README.md"
requires-python = ">=3.11"
dependencies = [
    "tyro>=1.0.13",
    "viser>=1.0.29",
    "yourdfpy",
    "wandb",
    "gymnasium",
    "molmospaces-resources==0.0.1b13",
    "usd-core",
    # cv2 for everyone (isaaclab imports it): the headless build lerobot pulls is overridden away
    # (see override-dependencies). <4.12: 4.12+ needs NumPy 2, numpy is pinned to 1.26.4.
    "opencv-python<4.12",
]

[build-system]
requires = ["uv_build>=0.8.22,<0.9.0"]
build-backend = "uv_build"

[project.optional-dependencies]
dev = [
    "ipython",
    "ipdb",
    "ruff",
    "ty",
    "pre-commit",
    "types-usd",
    "pytest",
]

isaac = [
    "isaaclab[isaacsim,all]==2.3.2.post1",
]

torch-cu128 = [
    "torch>=2.7.0",
    "torchvision>=0.22.0",
    "torchaudio>=2.7.0",
]

tamp = [
    "setuptools<81",
    "nvidia-curobo[cu12]",
    "rerun-sdk",
    "flask",
    "av",
    "lerobot==0.4.3",
]

# vecgen datagen (scripts/vecgen): the tamp extra without its debug viewers (rerun, flask)
vecgen = [
    "setuptools<81",
    "nvidia-curobo[cu12]",
    "av",
    "lerobot==0.4.3",
]

none = [] # just a hacky default for buildx arg when building docker image

maniflow = [
    "timm",
    "lerobot==0.4.3",
    "matplotlib",
    "scikit-image",
    "msgpack",
    "websockets",
    # <26: pyarrow 26.0.0 (2026-10-09) requires NumPy >= 2.0 at import, and this project
    # pins numpy==1.26.4 below. Unconstrained, every fresh install resolved 26 and died
    # with "pyarrow requires NumPy 2.0 or newer, found 1.26.4" -- it broke ci-unit
    # (2 collection errors in tests/eval) and ci-datagen (task gen crashed at import,
    # which then surfaced as a missing reset_states.pkl). Lift together with the numpy pin.
    "pyarrow<26",
    # <3 for the same reason: pandas 3.x (pulled in by `datasets`) needs NumPy >= 2.0.2, and a
    # fresh install resolved pandas 3.1.0, so every test importing it failed at collection
    # ("Please upgrade numpy to >= 2.0.2 to use this pandas version"). Lift with the numpy pin.
    "pandas<3",
    "huggingface_hub>=1.3.4",
    # <5.18: transformers 5.18.0 (2026-09-30) needs huggingface_hub >= 1.31, but the
    # huggingface_hub override below replaces that requirement and resolves 1.16.1, so a
    # fresh install died at import ("cannot import name 'ResolvedRevision'"), e.g. the
    # ManiFlow policy server. Lift once the hub override allows 1.31.
    "transformers<5.18",
    "maniflow-tb",
    "ai2-molmo2",
    "torchmetrics",
    "click==8.1.7",
    "deepspeed"
]

# Agentic robotics (the agentic_robotics submodule): a vision-language model drives the robot through
# MCP tools, one per skill (the scripted vecgen skills or ManiFlow); see
# docs/source/user_guide/workflows/agentic_robotics.md. Needs the vecgen extra for the scripted skills.
agentic = [
    "agentic-robotics[toyblocks]",
    # toyblocks.serving (reached by the scripted skills through toyblocks.eval.ll_oracle, and by
    # the ManiFlow skills' policy client); the maniflow extra has them too.
    "msgpack",
    "websockets",
]

docs = [
    "pydata-sphinx-theme==0.18.0",
    "sphinx==9.0.4",
    "sphinx-autobuild==2025.8.25",
    "myst-parser==5.1.0",
    "sphinx-copybutton>=0.5.2",
    "sphinx-design==0.7.0",
]

[tool.uv]
override-dependencies = [
    # jax 0.10.x, jaxlib, tensorstore and onnx all require ml_dtypes>=0.5; pinning 0.4.1 makes
    # `import jax` raise, which transformers 4.x hits via image_transforms when flax is present.
    "ml-dtypes>=0.5.1",
    "tensorstore==0.1.74",
    "typing-extensions>=4.13.0",
    "pywin32==306; sys_platform == 'win32'", # just for microslop and windowze

    # In some cases, it install the latest one, that breaks things
    "warp-lang<1.13",

    # NOTE: if using isaacsim|lab from nvidia's index, we need to force to use our version
    # as the isaacsim|lab packages will require to install an old version of tyro, viser, and websockets
    "tyro>=1.0.13",
    "viser>=1.0.29",
    "websockets>=13.1",
    "lerobot==0.4.3",
    # isaaclab pins gymnasium 1.2.0 and lerobot needs >=1.1.1.
    "gymnasium==1.2.0",
    # lerobot pulls opencv-python-headless, which overwrites the same cv2/ directory as the
    # opencv-python every install gets (see dependencies), breaking cv2.imshow (no GTK backend).
    # A never-true marker drops the headless requirement entirely.
    "opencv-python-headless; sys_platform == 'never'",
    "huggingface_hub>=1.3.4",
    "numpy==1.26.4",
    # pyarrow 26+ and pandas 3+ require NumPy 2.x; keep aligned with the numpy pin above.
    "pyarrow<26",
    "pandas<3",
    "packaging==23.0",
    # The agentic extra's MCP SDK needs newer web-server packages than Isaac Sim pins (isaaclab:
    # starlette==0.45.3; isaacsim-kernel: fastapi==0.115.7, uvicorn==0.29.0, idna==3.10). Those pins
    # only serve Isaac's livestream / web services, which headless runs do not load. The floors are
    # the MCP SDK's (sse-starlette, uvicorn, httpx2); starlette stays below 0.51 and fastapi moves
    # to the releases that accept it (0.115.7 breaks on starlette 1.x). uv applies overrides to
    # every install, extra or not.
    "starlette>=0.49.1,<0.51",
    "fastapi>=0.123,<0.126",
    "uvicorn>=0.31.1",
    "idna>=3.18",
    # NOTE: these overrides are needed for molmo2
    "fsspec==2024.6.1",
    # molmo2 pins transformers<5.0; keep molmo_flow's >=4.37.1 floor (plus the maniflow <5.18 cap) instead.
    "transformers>=4.37.1,<5.18",
]

[tool.uv.sources]
# NOTE: uhmmm, seems this lerobot version is way too old (from 2025 T_T)
# lerobot = { git = "https://github.com/huggingface/lerobot", rev = "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5" }
dlimp = { git = "https://github.com/kvablack/dlimp", rev = "ad72ce3a9b414db2185bc0b38461d4101a65477a" }

isaacsim = { index = "nvidia" }
isaaclab = { index = "nvidia" }
nvidia-curobo = { editable = true, path = "./curobo/" }
maniflow-tb = { editable = true, path = "./maniflow-tb/" }
ai2-molmo2 = { editable = true, path = "./molmo2/" }
agentic-robotics = { editable = true, path = "./agentic_robotics/" }

torch = [
    { index = "pytorch-cu128", extra = "torch-cu128" },
]
torchvision = [
    { index = "pytorch-cu128", extra = "torch-cu128" },
]
torchaudio = [
    { index = "pytorch-cu128", extra = "torch-cu128" },
]

[[tool.uv.index]]
name = "nvidia"
url = "https://pypi.nvidia.com/"
explicit = true

[[tool.uv.index]]
name = "pytorch-cu128"
url = "https://download.pytorch.org/whl/cu128"
explicit = true

[tool.ruff]
target-version = "py311"
line-length = 100
exclude = []

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
line-ending = "auto"
docstring-code-format = false

[tool.ruff.lint]
select = [
    # pycodestyle
    "E",
    # Pyflakes
    "F",
    # pyupgrade
    "UP",
    # flake8-bugbear
    "B",
    # flake8-simplify
    "SIM",
    # isort
    "I",
    # PEP8
    "W",
    # flake8-annotations
    "ANN",
]
ignore = [
    "C408", # don't complain about usage of dict() calls
    "C901", # don't complain about function complexity
    "E501", # don't complain about line-length (handled by line-length setting)
    "B006", # defaults shouldn't be mutable
    "UP015", # redundant mode arguments in open should be fine for now
    "SIM117", # allow nested with statements for now
    "SIM102", # don't be picky about nested if statements
    "SIM114", # don't be picky about merging if branches using or
    "B905", # allow zip() without `strict` parameter
    "B026", # allow star-arg after keyword argument for now
    "ANN001", #	missing-type-function-argument
    "ANN201", # missing-return-type-undocumented-public-function
    "ANN202", # missing-return-type-private-function
    "ANN003", # missing-type-kwargs
    "E402", # module-import-not-at-top-of-file
    "ANN204", # don't complain about return statements in special methods (e.g. __init__)
    "ANN401", # allow typing.Any in function signatures
]