pyproject.toml

[build-system]
requires = ["setuptools>=61.0", "wheel"]
build-backend = "setuptools.build_meta"

[project]
name = "discoverse"
dynamic = ["version"]
description = "DISCOVERSE: 一个基于3DGS的高效机器人仿真框架，用于复杂高保真环境中的机器人学习"
readme = "README_zh.md"
requires-python = ">=3.8"
license = {text = "MIT"}
keywords = ["robotics", "simulation", "gaussian-splatting", "mujoco", "real2sim"]
authors = [
    {name = "Yufei Jia", email = "jyf23@mails.tsinghua.edu.cn"},
]
maintainers = [
    {name = "Yufei Jia", email = "jyf23@mails.tsinghua.edu.cn"},
]
classifiers = [
    "Development Status :: 4 - Beta",
    "Intended Audience :: Developers",
    "Intended Audience :: Science/Research",
    "License :: OSI Approved :: MIT License",
    "Operating System :: OS Independent",
    "Programming Language :: Python :: 3",
    "Programming Language :: Python :: 3.8",
    "Programming Language :: Python :: 3.9",
    "Programming Language :: Python :: 3.10", 
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
    "Topic :: Scientific/Engineering :: Robotics",
]

# 核心依赖 - 基础仿真功能
dependencies = [
    "numpy>=1.20.0",
    "scipy>=1.7.0", 
    "opencv-python>=4.6.0",
    "mujoco>=3.2.0",
    "psutil>=5.8.0",
    "matplotlib>=3.5.0",
    "screeninfo",
    "mediapy",
    "tqdm",
]

[project.optional-dependencies]
# 激光雷达仿真模块 - 包含taichi依赖
lidar = [
    "taichi>=1.6.0",
    "pynput>=1.7.0",
]

# 3D Gaussian Splatting渲染模块
gs = [
    "torch>=2.0.0",
    "torchvision>=0.14.0", 
    "huggingface_hub",
    "gaussian_renderer >= 0.1.3",
]

# XML场景编辑器
xml-editor = [
    "PyQt5>=5.15.0",
    "PyOpenGL>=3.1.0",
    "PyOpenGL_accelerate>=3.1.0",
]

# ACT策略学习
act = [
    "torch>=2.0.0",
    "torchvision>=0.14.0",
    "pyquaternion",
    "pyyaml",
    "einops>=0.8.0",
    "packaging",
    "h5py>=3.10.0",
    "ipython",
    "dm_env",
    "OneEuroFilter",
    "omegaconf>=2.3.0",
    "hydra-core>=1.3.2",
]

# Diffusion Policy策略学习
diffusion-policy = [
    "torch>=2.0.0",
    "torchvision>=0.14.0",
    "wandb",
    "numba>=0.59.0",
    "zarr>=2.17.0",
    "hydra-core>=1.3.2",
    "omegaconf>=2.3.0",
    "einops>=0.8.0",
    "clip-by-openai",
]

# RDT (Robotics Diffusion Transformer)策略学习
rdt = [
    "torch>=2.0.0",
    "torchvision>=0.14.0",
    "packaging>=24.0",
    "wandb>=0.17.0",
    "deepspeed>=0.14.2",
    "accelerate>=0.30.1",
    "diffusers>=0.27.2",
    "timm>=1.0.3",
    "transformers>=4.41.0",
    "sentencepiece>=0.2.0",
    "h5py>=3.11.0",
    "imgaug>=0.4.0",
    "pytz>=2020.1",
]

# 数据收集模块
data-collection = [
    "termcolor>=2.4.0",
    "omegaconf>=2.3.0",
    "hydra-core>=1.3.2",
    "einops>=0.8.0",
    "imagecodecs",
    "pillow>=10.2.0",
    "h5py>=3.10.0",
    "av"
]

# RealSense相机支持
realsense = [
    "pyrealsense2>=2.55.0",
]

# ROS支持
ros = [
    "rospkg",
    "pexpect",
]

# 数据增强和AI生成模块
randomain = [
    "safetensors",
    "transformers>=4.28.1",
    "pillow>=10.0.0",
    "params_proto",
]

# 可视化和分析工具
visualization = [
    "imageio>=2.34.0",
    "imageio-ffmpeg>=0.4.9",
]

# 开发和测试工具
dev = [
    "pytest>=8.1.0",
    "pytest-cov>=5.0.0",
    "pre-commit>=3.7.0",
    "debugpy>=1.8.1",
    "cmake>=3.29.0",
]

# 完整安装 - 包含所有功能模块（除了dev）
full = [
    "discoverse[lidar]",
    "discoverse[gs]", 
    "discoverse[xml-editor]",
    "discoverse[act]",
    "discoverse[diffusion-policy]",
    "discoverse[rdt]",
    "discoverse[data-collection]",
    "discoverse[realsense]",
    "discoverse[ros]",
    "discoverse[randomain]",
    "discoverse[visualization]",
]

# 机器学习相关依赖组合
ml = [
    "discoverse[act]",
    "discoverse[diffusion-policy]", 
    "discoverse[rdt]",
    "discoverse[data-collection]",
    "discoverse[visualization]",
]

act_full = [
    "discoverse[act]",
    "discoverse[data-collection]",
    "discoverse[visualization]",    
]

dp_full = [
    "discoverse[diffusion-policy]", 
    "discoverse[data-collection]",
    "discoverse[visualization]",    
]

rdt_full = [
    "discoverse[rdt]",
    "discoverse[data-collection]",
    "discoverse[visualization]",    
]

# 硬件集成相关依赖组合
hardware = [
    "discoverse[realsense]",
    "discoverse[ros]",
]

[project.urls]
Homepage = "https://air-discoverse.github.io/"
Repository = "https://github.com/TATP-233/DISCOVERSE"
Documentation = "https://air-discoverse.github.io/"
"Bug Tracker" = "https://github.com/TATP-233/DISCOVERSE/issues"

[project.scripts]
# 命令行工具入口点
discoverse-check = "check_installation:main"

[tool.setuptools.packages.find]
include = ["discoverse*"]
exclude = ["tests*", "submodules*", "policies*"]

[tool.setuptools.dynamic]
version = {attr = "discoverse.__version__"}

[tool.setuptools.package-data]
discoverse = ["*.xml", "*.yaml", "*.yml", "*.json"]

# 项目特定的配置
[tool.black]
line-length = 88
target-version = ['py38']
include = '\.pyi?$'
extend-exclude = '''
/(
  submodules
  | policies
)/
'''

[tool.isort] 
profile = "black"
skip_gitignore = true
extend_skip = ["submodules", "policies"]

[tool.pytest.ini_options]
testpaths = ["tests"]
python_files = "test_*.py"
python_classes = "Test*"
python_functions = "test_*"
addopts = "--verbose --tb=short"