pyproject.toml

# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# scikit-build-core backend for `pip install .` / `pip install -e .` / sdist from
# source. Drives the same top-level CMakeLists.txt as the classic `cmake -B build`
# flow (both coexist). See docs: getting_started/build_from_source.
[build-system]
requires = ["scikit-build-core>=1.0", "numpy>=2.0"]
build-backend = "scikit_build_core.build"

[project]
name = "isaaccapture"
dynamic = ["version"]
description = "Isaac Teleop"
readme = "README.md"
requires-python = ">=3.11"
license = "Apache-2.0"
authors = [
    { name = "NVIDIA" },
]

# Mirror of src/core/python/requirements*.txt (keep in sync); see those files for
# the rationale behind the retargeters/grounding version pins.
dependencies = [
    "isaacteleop>=1!1.6.dev0,<1!1.9",
    "numpy>=1.23.0",
    "pyyaml>=6.0.3",
]

[project.optional-dependencies]
dev = [
    "pytest>=7.0.0",
    "pytest-cov>=4.0.0",
    "pybind11-stubgen>=2.5",
    "types-PyYAML",
    "scipy-stubs",
]
ui = [
    "imgui[glfw]>=2.0.0",
]
retargeters = [
    "dex-retargeting>=0.4.6,<0.6.0",
    "scipy>=1.15.0",
    "pyyaml>=6.0.3",
    "torch>=2.7.0",
    "nlopt>=2.6.2",
    "pin>=2.7.0",
    "cmeel-urdfdom<5",
    "cmeel-tinyxml2<11",
]
retargeters-lite = [
    "scipy>=1.15.0",
]
grounding = [
    "scipy>=1.15.0",
    "torch>=2.7.0",
    "trimesh",
    "viser",
    "pin>=2.7.0",
    "pin-pink>=4.0.0",
    "loop-rate-limiters>=1.0.0",
    "daqp>=0.5.0",
    "cmeel-urdfdom<5",
    "cmeel-tinyxml2<11",
]
wuji = [
    "wuji-sdk[retarget]==2026.7.14",
    "pin>=2.7.0",
    "cmeel-urdfdom<5",
    "cmeel-tinyxml2<11",
]
cloudxr = [
    "cryptography>=3.0",
    "websockets>=14.0",
]

# Derive the version from the VERSION file (MAJOR.MINOR.x) as MAJOR.MINOR+local,
# matching what the classic flow (cmake/IsaacTeleopVersion.cmake) emits for a
# non-CI/local build. The pip path is a from-source/dev build, so it is always
# tagged `+local`; release versioning (tags, a1/rc1/.devN) stays with the classic
# flow. scikit-build-core finalizes metadata before CMake runs, so it cannot reuse
# the CMake-computed version directly.
[[tool.dynamic-metadata]]
provider = "scikit_build_core.metadata.regex"
field = "version"
input = "VERSION"
regex = '^(?P<major>\d+)\.(?P<minor>\d+)'
result = "{major}.{minor}+local"

# uv-only: don't let `uv run` / `uv sync` implicitly build + install this project
# into their managed environment. Without this, every `uv run` executed from the
# repo (e.g. CI steps that just want a downloaded wheel) triggers a full
# scikit-build-core source build. Explicit builds -- pip install ., pip install -e .,
# python -m build, uv build, uv pip install -- are unaffected (they use
# [build-system], not [tool.uv]).
[tool.uv]
package = false

[tool.uv.sources]
isaacteleop = { path = "src/compat" }

[tool.scikit-build]
# Floor matches CMakeLists' cmake_minimum_required (3.24, for `cmake --fresh`).
# Ubuntu 22.04's apt CMake is 3.22 and no longer satisfies it, so scikit-build-core
# fetches CMake from PyPI there; the <4 cap keeps that fetch on the 3.x line rather
# than silently jumping to 4.x.
cmake.version = ">=3.24,<4"
cmake.build-type = "Release"

# Keep the CMake build tree under build-wheel/<cache-tag>/ (e.g.
# build-wheel/cpython-312/) rather than a temp dir: re-installs are incremental,
# and different Python versions never share one configured CMake cache (which
# would silently reuse the wrong interpreter). It sits outside build/ so it never
# collides with a classic `cmake -B build` tree. Both are gitignored.
build-dir = "build-wheel/{cache_tag}"

# No cmake.define overrides: BUILD_EXAMPLES, BUILD_TESTING, BUILD_PLUGINS and the
# Linux clang-format gate all stay at their CMake defaults. So a `pip install`
# builds the full default (ALL) target -- every extension, the staged
# python_package, examples, tests, and plugins (plugins without their SDK skip
# gracefully). It also ENFORCES clang-format: the build fails if clang-format-14
# is missing or any C++ file is unformatted. The classic python_wheel ALL target
# is gated to non-SKBUILD (src/core/python/CMakeLists.txt) so ALL doesn't trigger a
# nested `uv build`; python_stubs isn't part of ALL, so the pip wheel omits .pyi.

# Install the staged Python tree (isaacteleop_wheel component) plus every built
# executable -- examples, C++ test binaries, plugin tools -- on the venv PATH
# (isaacteleop_binaries -> the venv's bin/ via SKBUILD_SCRIPTS_DIR; see the
# executable-install loop in the root CMakeLists.txt). Plugin/extension .so are not
# executables and are not placed in bin/. Restricting to these two components keeps
# the project's C++ library/header install() rules out of the wheel.
install.components = ["isaacteleop_wheel", "isaacteleop_binaries"]

# Ownership rule: `wheel.packages` owns every authored .py; the `isaacteleop_wheel`
# install component owns only build-produced files. Their intersection must stay
# empty -- the editable finder consults `known_wheel_files` BEFORE
# `known_source_files`, so a stray .py in the component silently shadows this
# mapping. Hence the *.py exclusion on install(DIRECTORY) in src/core/python.
# Both import names ship in this wheel, matching the classic flow: `pip install .`
# and `pip install -e .` must agree about whether `import isaacteleop` resolves.
# TODO(1.9): drop the isaacteleop entry.
[tool.scikit-build.wheel]
packages = { isaaccapture = "src/python/isaaccapture", "isaacteleop.py" = "src/compat/isaacteleop.py" }

# `rebuild = false`: no recompile on import, so build products (.so, .pyi, py.typed,
# the vendored CloudXR runtime) are frozen until a rebuild + re-install. Authored .py
# is the exception -- `mode = "redirect"` resolves it live from src/python/isaaccapture.
[tool.scikit-build.editable]
mode = "redirect"
rebuild = false

# ==============================================================================
# Ruff
# ==============================================================================
# The ruff + ruff-format pre-commit hooks previously ran with no configuration at
# all, i.e. only ruff's built-in default rules (E4/E7/E9 + F). The `select` below
# widens that to the correctness-oriented rule groups; formatting stays on
# ruff-format's defaults (88 cols), which is what the tree is already formatted to.
#
# Everything in `select` is currently clean, so the hook is enforceable as-is.
# Each `ignore` is a deliberate call, not a backlog marker -- see its comment.
[tool.ruff]
target-version = "py311"

[tool.ruff.lint]
select = [
    "E4", "E7", "E9",  # pycodestyle errors (ruff's default subset)
    "F",               # pyflakes
    "B",               # flake8-bugbear -- real bug shapes
    "C4",              # flake8-comprehensions
    "PIE",             # flake8-pie
    "PERF",            # perflint
    "PLE", "PLW",      # pylint errors + warnings
    "LOG", "G",        # logging correctness
    "ASYNC",           # async pitfalls
    "RUF",             # ruff-specific
]

ignore = [
    # Adding strict= to a zip() converts a silent truncation into a runtime
    # exception, so it is a behaviour change per call site, not a mechanical fix.
    # Worth adopting deliberately (15 sites) rather than in a lint sweep.
    "B905",
    # Style-only rewrites of code that is already correct and readable:
    # RUF005 turns `a + [b]` into `[*a, b]`, C408 turns dict(a=1) into {"a": 1},
    # and RUF007 turns zip(x[:-1], x[1:]) into itertools.pairwise(x). Enforcing
    # any of them means churning working call sites for no behaviour change, so
    # they are left to author preference.
    "RUF005", "C408", "RUF007",
    # Sorting __all__ alphabetically destroys the semantic grouping comments the
    # package __init__ files use ("# Hand types.", "# Controller types.", ...).
    "RUF022",
    # RUF100 is evaluated against `select` above, so it flags every noqa written
    # for a rule this config does not (yet) enable -- BLE001, PLC0415, N803 and
    # friends. Re-enable once those groups are adopted.
    "RUF100",
    # The tree deliberately uses en/em dashes and arrows in prose and comments.
    "RUF001", "RUF002", "RUF003",
    # Module-level singletons (EnvConfig, the CloudXR runtime handles) are an
    # intentional design choice here.
    "PLW0603",
    # Rebinding a loop variable to its normalized form, and small wrapper lambdas,
    # both read better than the suggested rewrites in the places they occur.
    "PLW2901", "PLW0108",
    # The suggested comprehensions inline filtering logic that is clearer as an
    # explicit loop (see EnvConfig._merge_env).
    "PERF401", "PERF403",
    # Targets trio/anyio. The one flagged call is a sub-millisecond os.path.isfile
    # in an asyncio poll loop that already sleeps between iterations; routing it
    # through an executor would cost more than the stat it replaces.
    "ASYNC240",
    # Flags any async def taking a `timeout` parameter; that is the established
    # signature for the adb/runtime helpers and their callers.
    "ASYNC109",
]

[tool.ruff.lint.per-file-ignores]
# Tests legitimately assert on private state and re-import inside test bodies.
"**/tests/**" = ["SLF001"]