pyproject.toml

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

[project]
name = "genesis-world"
version = "0.4.5"
description = "A universal and generative physics engine"
readme = "README.md"
requires-python = ">=3.10,<3.14"
dependencies = [
    "psutil",
    "quadrants==0.5.2",
    "pydantic>=2.11.0",
    "numpy>=1.26.4",
    "frozendict",
    "trimesh",
    # Used for preprocessing .urdf.xacro files into plain URDF
    "xacro",
    # * No pre-compiled wheels are distributed for LibIGL v2.6.2 on Windows OS
    "libigl!=2.6.2",
    # Cross-platform library to get various kind of CPU information such as model name
    "py-cpuinfo",
    "mujoco>=3.2.5",
    "moviepy>=2.0.0",
    # Used by `pyrender` to manage onscreen graphical windows
    # * 2.1.8 breaks headless windowing, which is used in unit tests of the interactive viewer.
    # * 2.0.15 <= 2.1.8 breaks old-style option overwrite for string literal.
    # * 2.1.10 changes default DPI scaling behavior.
    "pyglet>=1.5,!=2.1.8",
    # 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",
    # Used for decoding Draco-compressed `.glb` mesh files
    "DracoPy",
    # Use by `PBD3DEntity.sample` to tetrahedralize a mesh
    "tetgen==0.8.2",
    # Used for some advanced mesh processing such as `skeletonization`
    "PyGEL3D",
    # Used to convert VTK output to numpy when converting volume to particles for PBS
    "vtk",
    # Used here and there to load and export images
    # * 11.0 dramatically improves performance when exporting images to PNG
    "Pillow>11.0",
    # Use to display camera images and export 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.
    # * >= 4.15.5.0 does not provide pre-compiled wheels on Linux
    "z3-solver<4.15.5.0",
    # Used for loading raytracing special texture images used by LuisaRender
    "OpenEXR",
    # Native batch renderer specifically designed for Genesis
    "gs-madrona==0.0.7.post2; platform_system=='Linux' and (platform_machine=='x86_64' or platform_machine=='AMD64')",
    # Used for mesh simplification
    "fast_simplification>=0.1.12",
    # Surface reconstruction library for particle data from SPH simulations
    "pysplashsurf==0.14.*",
]

[project.optional-dependencies]
dev = [
    "black",
    "pytest",
    "pytest-xdist",
    "pytest-forked",
    "pytest-print",
    # Note that 'pytest-rerunfailures' is incompatible with 'pytest-forked'
    # - 16.0 is causing pytest-xdist to crash in case of failure or skipped tests
    # "pytest-rerunfailures!=16.0",
    "setproctitle", # allows renaming the test processes on the cluster
    "syrupy",
    "huggingface_hub[hf_xet]",
    "wandb",
    "ipython",
    # * Mujoco 3.3.6 made contact islands an opt-out option instead of opt-in,
    #   which requires setting the disableflags 'mjDSBL_ISLAND'.
    # * Mujoco 3.5.0 fixed computation of link invweight when degenerated.
    "mujoco>=3.5.0,<3.7.0",
    # Used internally by 'MPLPlotter'
    # * 3.7.0: introduces Button blitting and 'outside' keyword legend location
    "matplotlib>=3.7.0",
    # Used internally by 'VideoFileWriter'
    "av",
    # Used for validating polar decomposition in unit tests
    "scipy",
    # Used for code formatting during commits
    "pre_commit",
]
docs = [
    # Note that currently sphinx 7 does not work, so we must use v6.2.1. Once fixed we can use a later version.
    # See https://github.com/kivy/kivy/issues/8230 which tracks this issue.
    "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",
]
usd = [
    # Used for parsing `.usd` mesh files
    "usd-core==25.11",
]

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

[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.ruff]
line-length = 120

[tool.ruff.lint]
# Ignore the specific errors currently present in the codebase
ignore = [
    "F405", # undefined-local-with-import-star-usage
    "F401", # unused-import
    "F841", # unused-variable
    "E741", # ambiguous-variable-name
    "E402", # module-import-not-at-top-of-file
    "F403", # undefined-local-with-import-star
    "E712", # true-false-comparison
]

[tool.pytest.ini_options]
addopts = [
    "--verbose",
    "-r", "a",
    "--color=yes",
    "--import-mode=importlib",
    "--pdbcls=IPython.terminal.debugger:TerminalPdb",
    # "--exitfirst",
    "--numprocesses=auto",
    "--dist=worksteal",
    # "--max-worker-restart=0",
    "--durations=0",
    "--durations-min=100.0",
    # Note that the retry mechanism is not compatible with "--forked".
    "-m not (benchmarks or examples)",
]
filterwarnings = [
    "ignore::_pytest.warning_types.PytestUnknownMarkWarning",
    "ignore::DeprecationWarning",
]
markers = [
    "examples: example scripts.",
    "benchmarks: benchmarks for profiling and monitoring.",
    "required: minimal test set that must pass systematically on any environment before merging.",
    "slow: tests that are slow to run (> 100s).",
]
log_cli_level = "WARNING"

[tool.uv]
# uv respects the build-system and project tables
# PyTorch must be installed separately before Genesis due to platform-specific builds
# See README.md for installation instructions with different PyTorch backends