pyproject.toml

[project]
name = "motrix-lab"
version = "0.4.0b1"
description = "A general-purpose machine learning architecture designed for robot training"
authors = [{ name = "Motphys", email = "developers@motphys.com" }]
requires-python = ">=3.10,<3.14"
dependencies = [
    "motrix-deploy==0.4.0b1",
    "motrix-deploy-mujoco==0.4.0b1",
    "motrix-deploy-motrixsim==0.4.0b1",
    "motrix-deploy-tasks==0.4.0b1",
    "motrix-env-motrixsim==0.4.0b1",
    "motrix-env-mujoco==0.4.0b1",
    "motrix-envs==0.4.0b1",
    "motrix-rl==0.4.0b1",
    "motrix-rl-builtin==0.4.0b1",
    "motrix-rl-skrl==0.4.0b1",
]

[project.optional-dependencies]
rslrl = ["motrix-rl-rslrl==0.4.0b1"]
skrl-jax = ["motrix-rl-skrl[jax]==0.4.0b1"]
unitree = [
    "motrix-deploy-unitree==0.4.0b1",
]
docs = [
    "sphinx",
    "autodocsumm",
    "pydata-sphinx-theme",
    "myst-parser",
    "sphinx-copybutton",
    "sphinx-subfigure",
    "sphinxcontrib-video",
    "sphinx-togglebutton",
    "sphinx-design",
    "tensorboard==2.20.0",
]
# Mutually exclusive GPU wheel profiles: `cuda` pulls the NVIDIA wheels from
# the pytorch-cu128 index, `rocm` the AMD wheels from the pytorch-rocm72
# index. Select exactly one with `uv sync --extra cuda` or
# `uv sync --extra rocm`; the extras are declared conflicting so uv keeps
# both branches in the single uv.lock. Without any extra, torch resolves
# from the default index (PyPI).
cuda = [
    "torch==2.7.0; sys_platform == 'linux' or sys_platform == 'win32'",
    "torchvision==0.22.0; sys_platform == 'linux' or sys_platform == 'win32'",
    "torchaudio==2.7.0; sys_platform == 'linux' or sys_platform == 'win32'",
]
# TBB threading layer for numba parallel manager kernels on many-core
# machines (see motrix-env-core's tbb extra); optional, combines with any
# GPU profile.
tbb = [
    "motrix-env-core[tbb]==0.4.0b1",
]
# ROCm wheels only exist for Linux x86_64; the markers keep other platforms
# from resolving these requirements against the default (PyPI) index.
rocm = [
    "amdsmi; sys_platform == 'linux' and platform_machine == 'x86_64'",
    "torch==2.11.0; sys_platform == 'linux' and platform_machine == 'x86_64'",
    "triton-rocm==3.6.0; sys_platform == 'linux' and platform_machine == 'x86_64'",
]

[dependency-groups]
dev = [
    "commitizen>=4,<5",
    "dprint-py>=0.57.0.0",
    "mypy>=1.15,<2",
    "pytest>=8.3.3,<8.4.0",
    "pytest-cov",
]
test = [
    { include-group = "dev" },
    "hydra-core>=1.3,<1.4",
    "motrix-deploy-unitree==0.4.0b1",
]

[tool.uv.workspace]
members = [
    "motrix_robots",
    "motrix_deploy",
    "motrix_deploy_mujoco",
    "motrix_deploy_motrixsim",
    "motrix_deploy_unitree",
    "motrix_deploy_tasks",
    "motrix_env_core",
    "motrix_env_motrixsim",
    "motrix_env_mujoco",
    "motrix_envs",
    "motrix_rl",
    "motrix_rl_builtin",
    "motrix_rl_skrl",
    "motrix_rl_rslrl",
]

[tool.uv]
package = false
prerelease = "if-necessary-or-explicit"
# `cuda` and `rocm` resolve torch from different indexes and can never be
# installed together; declaring them conflicting lets uv keep both branches
# (as separate forks) in the same uv.lock.
conflicts = [
    [
        { extra = "cuda" },
        { extra = "rocm" },
    ],
]

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

[[tool.uv.index]]
name = "pytorch-rocm72"
url = "https://download.pytorch.org/whl/rocm7.2"
explicit = true

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

[tool.uv.sources]
motrix-robots = { workspace = true }
motrix-env-core = { workspace = true }
motrix-deploy = { workspace = true }
motrix-deploy-mujoco = { workspace = true }
motrix-deploy-motrixsim = { workspace = true }
motrix-deploy-unitree = { workspace = true }
motrix-deploy-tasks = { workspace = true }
motrix-env-motrixsim = { workspace = true }
motrix-env-mujoco = { workspace = true }
motrix-envs = { workspace = true }
motrix-rl = { workspace = true }
motrix-rl-builtin = { workspace = true }
motrix-rl-skrl = { workspace = true }
motrix-rl-rslrl = { workspace = true }
# The `extra = "rocm"` entry routes torch requirements declared in the rocm
# extra to the ROCm index; the `extra = "cuda"` entry does the same for the
# cuda extra. Requirements outside both extras (bare sync) fall back to the
# default index.
torch = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' or sys_platform == 'win32'", extra = "cuda" },
    { index = "pytorch-rocm72", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'", extra = "rocm" },
]
torchvision = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
]
torchaudio = [
    { index = "pytorch-cu128", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
]
triton-rocm = [
    { index = "pytorch-rocm72", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
]

[tool.commitizen]
name = "cz_conventional_commits"
version_provider = "uv"
version_scheme = "pep440"
tag_format = "v$version"
version_files = [
    'pyproject.toml:"motrix-[a-z0-9-]+(?:\[[^"\]]+\])?==',
    '*/pyproject.toml:^version = |"motrix-[a-z0-9-]+(?:\[[^"\]]+\])?==',
]

[tool.pytest.ini_options]
markers = [
    "slow: tests with substantial compilation or runtime cost",
    "numba: dedicated Numba kernel regression tests",
    "integration: full-environment or subprocess integration tests",
]

[tool.mypy]
files = [
    "motrix_env_core/tests/typecheck/configclass.py",
    "motrix_env_core/tests/typecheck/numba_env.py",
]
mypy_path = "motrix_env_core/src"
python_version = "3.10"
strict = true
warn_unused_ignores = true