[build-system]
requires = ["setuptools>=70", "wheel", "pybind11>=2.12"]
build-backend = "setuptools.build_meta"

[tool.setuptools]
include-package-data = false

[tool.setuptools.packages.find]
where = ["."]
include = ["dimos*"]
exclude = ["dimos.web.websocket_vis.node_modules*"]

[tool.setuptools.package-data]
"dimos" = ["*.html", "*.css", "*.js", "*.json", "*.txt", "*.yaml", "*.yml"]
"dimos.utils.cli" = ["*.tcss"]
"dimos.robot.unitree.go2" = ["*.urdf"]
"dimos.robot.unitree_webrtc.params" = ["*.yaml", "*.yml"]
"dimos.web.templates" = ["*"]
"dimos.rxpy_backpressure" = ["*.txt"]

[project]
name = "dimos"
authors = [
    {name = "Dimensional Team", email = "build@dimensionalOS.com"},
]
version = "0.0.11"
description = "Powering agentive generalist robotics"
requires-python = ">=3.10"
readme = {file = "README.md", content-type = "text/markdown"}
license = {text = "Apache-2.0"}
keywords = ["robotics", "ros", "agents", "dimos", "dimensional", "openclaw", "roboclaw", "humanoid", "unitree"]
classifiers = [
    "Development Status :: 3 - Alpha",
    "Intended Audience :: Developers",
    "Intended Audience :: Science/Research",
    "License :: OSI Approved :: Apache Software License",
    "Programming Language :: Python :: 3",
    "Programming Language :: Python :: 3 :: Only",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
    "Topic :: Software Development :: Libraries :: Application Frameworks",
    "Topic :: Scientific/Engineering :: Image Processing",
    "Topic :: Scientific/Engineering :: Visualization",
    "Operating System :: POSIX :: Linux",
    "Operating System :: MacOS",
]

dependencies = [
    # Transport Protocols
    "dimos-lcm",
    "PyTurboJPEG==1.8.2",
    # Core
    "numpy>=1.26.4",
    "scipy>=1.15.1",
    "pin>=3.3.0",  # Pinocchio IK library
    "reactivex",
    "sortedcontainers==2.4.0",
    "pydantic",
    "python-dotenv",
    "annotation-protocol>=1.4.0",
    "lazy_loader",
    "plum-dispatch==2.5.7",

    # Logging
    "structlog>=25.5.0,<26",
    "colorlog==6.9.0",
    # Core Msgs
    "opencv-python",
    "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
    "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
    # CLI
    "pydantic-settings>=2.11.0,<3",
    "textual==3.7.1",
    "terminaltexteffects==0.12.2",
    "typer>=0.19.2,<1",
    "plotext==5.3.2",
    # Used for calculating the occupancy map.
    "numba>=0.60.0",    # First version supporting Python 3.12
    "llvmlite>=0.42.0", # Required by numba 0.60+
    # TODO: rerun shouldn't be required but rn its in core (there is NO WAY to use dimos without rerun rn)
    # remove this once rerun is optional in core
    "rerun-sdk>=0.20.0",
    "dimos-viewer>=0.30.0a2",
    "toolz>=1.1.0",
    "protobuf>=6.33.5,<7",
    "psutil>=7.0.0",
]


[project.scripts]
lcmspy = "dimos.utils.cli.lcmspy.run_lcmspy:main"
foxglove-bridge = "dimos.utils.cli.foxglove_bridge.run_foxglove_bridge:main"
agentspy = "dimos.utils.cli.agentspy.agentspy:main"
humancli = "dimos.utils.cli.human.humanclianim:main"
dimos = "dimos.robot.cli.dimos:main"
rerun-bridge = "dimos.visualization.rerun.bridge:app"
doclinks = "dimos.utils.docs.doclinks:main"
dtop = "dimos.utils.cli.dtop:main"

[project.urls]
Homepage = "https://dimensionalos.com"
Repository = "https://github.com/dimensionalOS/dimos"
Issues = "https://github.com/dimensionalOS/dimos/issues"
Changelog = "https://github.com/dimensionalOS/dimos/releases"

[project.optional-dependencies]
misc = [
    # Core requirements
    "cerebras-cloud-sdk",
    "yapf==0.40.2",
    "typeguard",
    "empy==3.3.4",
    "catkin_pkg",
    "lark",
    "tiktoken>=0.8.0",
    "python-multipart==0.0.20",
    "tensorzero==2025.7.5",

    # Developer Specific
    "ipykernel",

    # Vector Embedding
    "sentence_transformers",

    # Perception Dependencies
    "scikit-learn",
    "timm>=1.0.15",
    "edgetam-dimos",
    "opencv-contrib-python==4.10.0.84",

    # embedding models
    "open_clip_torch==3.2.0",
    "torchreid==0.2.5",
    "gdown==5.2.0",
    "tensorboard==2.20.0",

    # Mapping
    "googlemaps>=4.10.0",

    # Inference
    "onnx",
    "einops==0.8.1",

    # Hardware SDKs
    "xarm-python-sdk>=1.17.0",
    "portal",
]

visualization = [
    "rerun-sdk>=0.20.0",
    "dimos-viewer>=0.30.0a4",
]

agents = [
    "langchain==1.2.3",
    "langchain-chroma>=1,<2",
    "langchain-core==1.2.3",
    "langchain-openai>=1,<2",
    "langchain-text-splitters>=1,<2",
    "langchain-huggingface>=1,<2",
    "langchain-ollama>=1,<2",
    "bitsandbytes>=0.48.2,<1.0; sys_platform == 'linux'",
    "ollama>=0.6.0",
    "anthropic>=0.19.0",

    # Audio
    "openai",
    "openai-whisper",
    "sounddevice",
]

web = [
    "fastapi>=0.115.6",
    "sse-starlette>=2.2.1",
    "uvicorn>=0.34.0",
    "ffmpeg-python",
    "soundfile",
]

perception = [
    "ultralytics>=8.3.70",
    "filterpy>=1.4.5",
    "Pillow",
    "lap>=0.5.12",
    "transformers[torch]==4.49.0",
    "moondream",
    "omegaconf>=2.3.0",
    "hydra-core>=1.3.0",
]

unitree = [
    "dimos[base]",
    "unitree-webrtc-connect-leshy>=2.0.7"
]

manipulation = [
    # Planning (Drake)
    "drake==1.45.0; sys_platform == 'darwin' and platform_machine != 'aarch64'",
    "drake>=1.40.0; sys_platform != 'darwin' and platform_machine != 'aarch64'",

    # Hardware SDKs
    "piper-sdk",
    "pyrealsense2",
    "xarm-python-sdk>=1.17.0",

    # Visualization (Optional)
    "kaleido>=0.2.1",
    "plotly>=5.9.0",
    "xacro",

    # Other
    "matplotlib>=3.7.1",
    "pyyaml>=6.0",
]


cpu = [
    # CPU inference backends
    "onnxruntime",
    "ctransformers==0.2.27",
]

cuda = [
    "cupy-cuda12x==13.6.0; platform_machine == 'x86_64'",
    "nvidia-nvimgcodec-cu12[all]; platform_machine == 'x86_64'",
    "onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12
    "ctransformers[cuda]==0.2.27",
    "xformers>=0.0.20; platform_machine == 'x86_64'",
]

dev = [
    "ruff==0.14.3",
    "mypy==1.19.0",
    "pre_commit==4.2.0",
    "pytest==8.3.5",
    "pytest-asyncio==0.26.0",
    "pytest-mock==3.15.0",
    "pytest-env==1.1.5",
    "pytest-timeout==2.4.0",
    "coverage>=7.0",
    "requests-mock==1.12.1",
    "terminaltexteffects==0.12.2",
    "watchdog>=3.0.0",

    # docs
    "md-babel-py==1.1.1",

    # LSP
    "python-lsp-server[all]==1.14.0",
    "python-lsp-ruff==2.3.0",

    # Types
    "lxml-stubs>=0.5.1,<1",
    "pandas-stubs>=2.3.2.250926,<3",
    "types-PySocks>=1.7.1.20251001,<2",
    "types-PyYAML>=6.0.12.20250915,<7",
    "types-colorama>=0.4.15.20250801,<1",
    "types-defusedxml>=0.7.0.20250822,<1",
    "types-gevent>=25.4.0.20250915,<26",
    "types-greenlet>=3.2.0.20250915,<4",
    "types-jmespath>=1.0.2.20250809,<2",
    "types-jsonschema>=4.25.1.20251009,<5",
    "types-networkx>=3.5.0.20251001,<4",
    "types-protobuf>=6.32.1.20250918,<7",
    "types-psutil>=7.0.0.20251001,<8",
    "types-pytz>=2025.2.0.20250809,<2026",
    "types-simplejson>=3.20.0.20250822,<4",
    "types-tabulate>=0.9.0.20241207,<1",
    "types-tensorflow>=2.18.0.20251008,<3",
    "types-tqdm>=4.67.0.20250809,<5",
    "types-psycopg2>=2.9.21.20251012",
    "types-psutil>=7.2.2.20260130,<8",

    # Tools
    "py-spy",
]

psql = [
    "psycopg2-binary>=2.9.11"
]

sim = [
    # Simulation
    "mujoco>=3.3.4",
    "playground>=0.0.5",
    "pygame>=2.6.1",
]

# NOTE: jetson-jp6-cuda126 extra is disabled due to 404 errors from wheel URLs
# The pypi.jetson-ai-lab.io URLs are currently unavailable. Update with working URLs when available.
# jetson-jp6-cuda126 = [
#     # Jetson Jetpack 6.2 with CUDA 12.6 specific wheels (aarch64 Linux only)
#     "torch @ https://pypi.jetson-ai-lab.io/jp6/cu126/+f/.../torch-2.8.0-cp310-cp310-linux_aarch64.whl ; platform_machine == 'aarch64' and sys_platform == 'linux'",
#     "torchvision @ https://pypi.jetson-ai-lab.io/jp6/cu126/+f/.../torchvision-0.23.0-cp310-cp310-linux_aarch64.whl ; platform_machine == 'aarch64' and sys_platform == 'linux'",
#     "onnxruntime-gpu @ https://pypi.jetson-ai-lab.io/jp6/cu126/+f/.../onnxruntime_gpu-1.23.0-cp310-cp310-linux_aarch64.whl ; platform_machine == 'aarch64' and sys_platform == 'linux'",
#     "xformers @ https://pypi.jetson-ai-lab.io/jp6/cu126/+f/.../xformers-0.0.33-cp39-abi3-linux_aarch64.whl ; platform_machine == 'aarch64' and sys_platform == 'linux'",
# ]

drone = [
    "pymavlink"
]

dds = [
    "dimos[dev]",
    "cyclonedds>=0.10.5",
]

# Minimal dependencies for Docker modules that communicate with the DimOS host
docker = [
    "dimos-lcm",
    "numpy>=1.26.4",
    "scipy>=1.15.1",
    "reactivex",
    "plum-dispatch==2.5.7",
    "structlog>=25.5.0,<26",
    "pydantic",
    "pydantic-settings>=2.11.0,<3",
    "typer>=0.19.2,<1",
    "requests>=2.28",
    "opencv-python-headless",
    "lcm",
    "sortedcontainers",
    "PyTurboJPEG",
    "rerun-sdk",
    "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
    "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
]

base = [
    "dimos[agents,web,perception,visualization,sim]",
]

[tool.ruff]
line-length = 100
exclude = [
    ".git",
    ".pytest_cache",
    ".ruff_cache",
    ".venv",
    ".vscode",
    "__pypackages__",
    "_build",
    "build",
    "dist",
    "node_modules",
    "site-packages",
    "venv",
    "libs",
    "external",
    "src"
]

[tool.ruff.lint]
extend-select = ["E", "W", "F", "B", "UP", "N", "I", "C90", "A", "RUF", "TCH"]
# TODO: All of these should be fixed, but it's easier commit autofixes first
ignore = ["A001", "A002", "B008", "B017", "B019", "B024", "B026", "B904", "C901", "E402", "E501", "E721", "E722", "E741", "F811", "F821", "F821", "F821", "N801", "N802", "N803", "N806", "N817", "N999", "RUF003", "RUF009", "RUF012", "RUF034", "RUF043", "RUF059", "UP007"]

[tool.ruff.lint.per-file-ignores]
"dimos/models/Detic/*" = ["ALL"]

[tool.ruff.lint.isort]
known-first-party = ["dimos"]
combine-as-imports = true
force-sort-within-sections = true

[tool.ruff.lint.flake8-type-checking]
runtime-evaluated-base-classes = ["dimos.core.module.Module"]

[tool.mypy]
python_version = "3.12"
incremental = true
strict = true
warn_unused_ignores = false
exclude = "^dimos/models/Detic(/|$)|^dimos/rxpy_backpressure(/|$)|.*/test_.|.*/conftest.py*"

[[tool.mypy.overrides]]
module = [
    "annotation_protocol",
    "cyclonedds",
    "cyclonedds.*",
    "dimos_lcm.*",
    "etils",
    "geometry_msgs.*",
    "lazy_loader",
    "mujoco",
    "mujoco_playground.*",
    "nav_msgs.*",
    "open_clip",
    "pinocchio",
    "piper_sdk.*",
    "plotext",
    "plum.*",
    "portal",
    "pycuda",
    "pycuda.*",
    "pydrake",
    "pydrake.*",
    "pyzed",
    "pyzed.*",
    "rclpy.*",
    "sam2.*",
    "sensor_msgs.*",
    "std_msgs.*",
    "tf2_msgs.*",
    "torchreid",
    "ultralytics.*",
    "unitree_webrtc_connect.*",
    "xarm.*",
]
ignore_missing_imports = true

[[tool.mypy.overrides]]
module = ["dimos.rxpy_backpressure", "dimos.rxpy_backpressure.*"]
follow_imports = "skip"

[[tool.mypy.overrides]]
module = ["pydrake", "pydrake.*"]
follow_imports = "skip"

[tool.pytest.ini_options]
testpaths = ["dimos"]
env = [
  "GOOGLE_MAPS_API_KEY=AIzafake_google_key",
  "PYTHONWARNINGS=ignore:cupyx.jit.rawkernel is experimental:FutureWarning",
]
addopts = "-v -r a -p no:warnings --color=yes -m 'not (tool or slow or mujoco)'"
asyncio_mode = "auto"
asyncio_default_fixture_loop_scope = "function"

[tool.coverage.run]
source = ["dimos"]
parallel = true
sigterm = true
concurrency = ["multiprocessing", "thread"]

[tool.coverage.report]
show_missing = true
skip_empty = true

[tool.largefiles]
max_size_kb = 50
ignore = [
    "uv.lock",
    "*/package-lock.json",
    "dimos/dashboard/dimos.rbl",
    "dimos/web/dimos_interface/themes.json",
    "dimos/manipulation/manipulation_module.py",
]