pyproject.toml

[build-system]
requires = ["setuptools>=77", "wheel"]
build-backend = "setuptools.build_meta"

[project]
name = "embodirun"
version = "0.1.0"
description = "EmbodiRun: an efficient deployment and execution runtime for embodied AI"
readme = "README.md"
requires-python = ">=3.10"
license = "Apache-2.0"
license-files = ["LICENSE", "NOTICE"]
authors = [{ name = "EmbodiRun contributors" }]
keywords = [
    "embodied-ai",
    "robotics",
    "vla",
    "vln",
    "inference",
    "deployment",
    "runtime",
]
classifiers = [
    "Development Status :: 3 - Alpha",
    "Intended Audience :: Developers",
    "Intended Audience :: Science/Research",
    "Programming Language :: Python :: 3",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
    "Topic :: System :: Distributed Computing",
]
dependencies = []

[project.urls]
Homepage = "https://github.com/BUAA-CI-LAB/EmbodiRun"
Repository = "https://github.com/BUAA-CI-LAB/EmbodiRun"
Issues = "https://github.com/BUAA-CI-LAB/EmbodiRun/issues"
Documentation = "https://embodirun.readthedocs.io/"

[project.optional-dependencies]
# Compute-service integration only; never needed by Host or robot clients.
sglang = [
    "sglang[diffusion]==0.5.18; python_version >= '3.12' and sys_platform == 'linux'",
]
# Optional WirelessComm data plane. The transport is installed separately from
# its own repository and pinned to a tag, never to a branch; see
# docs/en/installation.md.
wireless = ["wireless-comm @ git+https://github.com/BUAA-CI-LAB/WirelessComm@v0.1.0"]

[dependency-groups]
dev = [
    { include-group = "host" },
    "numpy>=1.26,<3",
    "Pillow>=10,<13",
    "pytest>=8,<9",
    "ruff>=0.10",
]
host = [
    "paramiko>=3.4,<5",
    "PyYAML>=6,<7",
    "rich>=13,<15",
]
robot-so101 = ["feetech-servo-sdk>=1,<2", "opencv-python-headless>=4.10,<5"]
robot-fr3 = ["franky-control>=1.1.4,<2"]
robot-go2 = []
robot-xlerobot-external-owner = []
robot-arx5 = ["Pillow>=10,<13", "pyrealsense2>=2.54,<3", "opencv-python-headless>=4.10,<5"]
sim-libero = [
    "lerobot[libero]>=0.6,<0.7",
    "Pillow>=10,<13",
]
sim-habitat = [
    "habitat-sim @ git+https://github.com/facebookresearch/habitat-sim.git@acbe6f4922e68145e401e55c30f9dfea460a3f24",
    "opencv-python-headless>=4.10,<5",
    "Pillow>=10,<13",
]
sim-isaac = [
    "isaacsim[all,extscache]==6.0.1.0",
    "opencv-python-headless>=4.10,<5",
    "Pillow>=10,<13",
]
sim-vlabench = [
    "lerobot>=0.6,<0.7",
    "Pillow>=10,<13",
    "VLABench @ git+https://github.com/OpenMOSS/VLABench.git@cf588fe60c0c7282174fe979f5913170cfe69017",
]

[tool.uv]
required-version = ">=0.12.0,<0.13"
default-groups = ["dev"]
conflicts = [
    [{ extra = "sglang" }, { group = "sim-libero" }],
    [{ extra = "sglang" }, { group = "sim-vlabench" }],
    [{ extra = "sglang" }, { group = "sim-isaac" }],
    [
        { group = "sim-isaac" },
        { group = "sim-libero" },
    ],
    [
        { group = "sim-isaac" },
        { group = "sim-vlabench" },
    ],
]

[tool.uv.extra-build-variables]
egl-probe = { CMAKE_POLICY_VERSION_MINIMUM = "3.5" }
hf-egl-probe = { CMAKE_POLICY_VERSION_MINIMUM = "3.5" }
habitat-sim = { CMAKE_POLICY_VERSION_MINIMUM = "3.5", HEADLESS = "True" }

[tool.uv.dependency-groups]
robot-so101 = { requires-python = ">=3.12" }
sim-habitat = { requires-python = ">=3.11,<3.12" }
sim-isaac = { requires-python = ">=3.12,<3.13" }
sim-libero = { requires-python = ">=3.12" }
sim-vlabench = { requires-python = ">=3.12" }

[project.scripts]
embodirun = "embodirun.services.host.cli.cli:main"
embodirun-control-serve = "embodirun.services.control.server:main"
embodirun-simulation-serve = "embodirun.services.simulation.server:main"
embodirun-evaluate = "embodirun.services.simulation.evaluate:main"
embodirun-sglang-serve = "embodirun.services.inference.adapters.sglang.pi05:main"
embodirun-go2-streamvln = "embodirun.bindings.unitree.go2.streamvln.cli:main"

[tool.setuptools]

[tool.setuptools.packages.find]
where = ["src"]
include = ["embodirun*"]

[tool.pytest.ini_options]
testpaths = ["tests"]
pythonpath = ["."]
addopts = "-ra"

[tool.ruff]
line-length = 120
target-version = "py310"
src = ["src", "tests"]

[tool.ruff.lint]
# E/W pycodestyle, F pyflakes, I isort, UP pyupgrade, B bugbear, C4 comprehensions, SIM simplify.
select = ["E", "F", "W", "I", "UP", "B", "C4", "SIM"]
# E501 (line length) is left to the formatter; B905 (zip strict=) is noise for fixed-shape zips;
# C408 keeps the readable dict(key=value) form for configuration tables.
ignore = ["E501", "B905", "C408"]

[tool.ruff.lint.isort]
# The independently installed integration packages are first-party too.
known-first-party = ["embodirun", "embodirun_*"]