[build-system]
requires = ["uv_build>=0.8.19,<0.9.0"]
build-backend = "uv_build"

[project]
name = "mjlab"
version = "1.4.0"
license = "Apache-2.0"
license-files = ["LICENSE"]
readme = { file = "README.md", content-type = "text/markdown" }
authors = [
  {name = "The MjLab Developers"},
]
keywords = ["mujoco", "mujoco-warp", "simulation", "reinforcement-learning", "robotics"]
classifiers = [
  "Development Status :: 5 - Production/Stable",
  "Intended Audience :: Developers",
  "Intended Audience :: Science/Research",
  "License :: OSI Approved :: Apache Software License",
  "Programming Language :: Python :: 3",
  "Programming Language :: Python :: 3.10",
  "Programming Language :: Python :: 3.11",
  "Programming Language :: Python :: 3.12",
  "Programming Language :: Python :: 3.13",
  "Programming Language :: Python :: 3 :: Only",
  "Typing :: Typed",
  "Environment :: GPU :: NVIDIA CUDA",
  "Topic :: Scientific/Engineering",
  "Natural Language :: English",
]
description = "Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research."
requires-python = ">=3.10,<3.14"
dependencies = [
  "prettytable",
  "tqdm",
  "tyro>=1.0.1",
  "torch>=2.7.0",
  "torchrunx>=0.3.4",
  "warp-lang>=1.12.0",
  "mujoco-warp>=3.8.0.3,~=3.8.0",
  "mujoco~=3.8.0",
  "trimesh>=4.8.3",
  "scipy>=1.15",
  "viser>=1.0.27",
  "mjviser>=0.0.14",
  "mediapy>=1.2.6",
  "imageio-ffmpeg",
  "tensordict",
  "rsl-rl-lib==5.4.0",
  "tensorboard>=2.20.0",
  "onnxscript>=0.5.4",
  "wandb>=0.22.3",
]

[project.urls]
  "Bug Reports" = "https://github.com/mujocolab/mjlab/issues"
  "Source" = "https://github.com/mujocolab/mjlab"

[project.scripts]
train = "mjlab.scripts.train:main"
play = "mjlab.scripts.play:main"
demo = "mjlab.scripts.demo:main"
list-envs = "mjlab.scripts.list_envs:main"
viz-nan = "mjlab.scripts.nan_viz:main"
export-scene = "mjlab.scripts.export_scene:main"

[dependency-groups]
dev = [
  "ipdb>=0.13.13",
  "pre-commit>=4.3.0",
  "pyright>=1.1.408",
  "onnxruntime>=1.19.0; python_version >= '3.11'",
  "pytest>=v9.0.3",
  "ruff>=v0.14.14",
  "ty>=v0.0.14",
]
docs = [
  "myst-parser>=4.0.1",
  "sphinx>=8.1.3",
  "sphinx-autodoc-typehints>=3.0.1",
  "sphinx-autobuild>=2024.10.3",
  "sphinx-book-theme>=1.1.4",
  "sphinx-copybutton>=0.5.2",
  "sphinx-design>=0.6.1",
  "autodocsumm",
  "sphinxemoji",
  "sphinxcontrib.bibtex",
  "sphinx-icon",
  "sphinx-tabs",
  "sphinx_multiversion",
]

[project.optional-dependencies]
cu128 = ["torch>=2.7.0"]
cpu = ["torch>=2.7.0"]

[tool.uv]
conflicts = [
  [{extra = "cu128"}, {extra = "cpu"}],
]
# The nightly index (py.mujoco.org) only has dev builds, and PEP 440 ranks
# 3.8.0.devN < 3.8.0, so the ~=3.8.0 floor in [project.dependencies] would
# reject them. This override loosens the constraint for uv resolution only.
override-dependencies = ["mujoco>=3.8.0.dev0"]
constraint-dependencies = [
  "GitPython>=3.1.49",
  "lxml>=6.1.0",
]
required-environments = [
  "sys_platform == 'darwin' and platform_machine == 'arm64'",
  "sys_platform == 'linux' and platform_machine == 'x86_64'",
]

[[tool.uv.index]]
url = "https://pypi.org/simple"

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

[[tool.uv.index]]
name = "mujoco"
url = "https://py.mujoco.org"
explicit = true

[tool.uv.sources]
warp-lang = { index = "nvidia", marker = "sys_platform != 'darwin'" }
torch = [
  { index = "pytorch-cu128", extra = "cu128", marker = "sys_platform != 'darwin'" },
  { index = "pytorch-cpu", extra = "cpu", marker = "sys_platform != 'darwin'" },
]
mujoco = { index = "mujoco" }
mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp", rev = "88b55fc2696960b927bc12584994bb8412b36558" }

[tool.ruff]
src = ["src"]  # Helpful for recognizing first-party imports.
indent-width = 2
exclude = [
  "src/mjlab/utils/lab_api",
  "typings",
]

[tool.ruff.lint]
select = ["E4", "E7", "E9", "F", "I", "B"]
ignore = ["B011"]

[tool.pyright]
pythonVersion = "3.10"
venvPath = "."
venv = ".venv"
ignore = ["./typings", "./src/mjlab/utils/lab_api", "./docs"]
stubPath = "typings"

[tool.ty.environment]
extra-paths = ["typings"]

[tool.ty.src]
include = ["src", "tests"]
exclude = ["src/mjlab/utils/lab_api", "typings"]

[tool.pytest.ini_options]
markers = [
  "slow: marks tests as slow (deselect with '-m \"not slow\"')",
]
addopts = "--strict-markers"