pyproject.toml

[build-system]
requires = ["setuptools>=61.0", "setuptools-git-versioning<2", "libclang==11.0.1"]
build-backend = "setuptools.build_meta"

[project]
name = "mplib"
dynamic = ["version"]
dependencies = ["numpy<2.0", "toppra >= 0.4.0", "transforms3d >= 0.3.1"]
requires-python = ">=3.8"
authors = [
  {name="Minghua Liu", email = "minghua@ucsd.edu"},
  {name="Jiayuan Gu", email="jigu@ucsd.edu"},
  {name="Kolin Guo", email="ruguo@ucsd.edu"},
  {name="Xinsong Lin", email="x8lin@ucsd.edu"},
]
maintainers = [
  {name="Kolin Guo", email="ruguo@ucsd.edu"},
  {name="Xinsong Lin", email="x8lin@ucsd.edu"},
]
description = "A lightweight motion planning library"
readme = "README.md"
license = {file = "LICENSE"}
keywords = ["robotics", "motion planning"]
classifiers=[
  "Operating System :: POSIX :: Linux",
  "Intended Audience :: Developers",
  "Intended Audience :: Education",
  "Intended Audience :: Other Audience",
  "Intended Audience :: Science/Research",
  "License :: OSI Approved :: MIT License",
  "Natural Language :: English",
  "Framework :: Robot Framework :: Tool",
  "Programming Language :: C++",
  "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 :: Education",
  "Topic :: Software Development :: Libraries :: Python Modules",
  "Topic :: Utilities",
]

[tool.setuptools-git-versioning]
enabled = true
version_file = "VERSION"
count_commits_from_version_file = true
dev_template = "{tag}.dev{timestamp:%Y%m%d}+git.{sha}"
dirty_template = "{tag}.dev{timestamp:%Y%m%d}+git.{sha}.dirty"
tag_filter = "v.*"

[tool.ruff]
line-length = 88
preview = true  # for certain rules and black preview behavior
exclude = ["third_party"]

[tool.ruff.lint]
select = [
  "F",  # Flake8
  "E", "W",  # pycodestyle
  "I",  # isort
  "UP",  # pyupgrade
  "B",  # flake8-bugbear
  "C4",  # flake8-comprehensions
  "EXE",  # flake8-executable
  "G",  # flake8-logging-format
  "SIM",  # flake8-simplify
  "NPY",  # NumPy
  "PERF",  # Perflint
  "PGH004",  # no bare noqa
  "PIE794",
  "PIE800",
  "PIE804",
  "PIE807",
  "PIE810",
  "PLC0131",  # type bivariance
  "PLC0132",  # type param mismatch
  "PLC0205",  # string as __slots__
  "PLE",
  "PLR0133",  # constant comparison
  "PLR0206",  # property with params
  "PLR1722",  # use sys exit
  "PLW0129",  # assert on string literal
  "PLW0406",  # import self
  "PLW0711",  # binary op exception
  "PLW1509",  # preexec_fn not safe with threads
  "PLW3301",  # nested min max
  "PT006",  # flake8-pytest-style
  "PT022",
  "PT023",
  "PT024",
  "PT025",
  "PT026",
  "PYI",  # flake8-pyi
  "TRY302",
  "RUF008",  # mutable dataclass default
  "RUF013",  # implicit typing.Optional is disallowed
  "RUF015",  # access first ele in constant time
  "RUF016",  # type error non-integer index
  "RUF017",  # avoid quadratic list summation
]
ignore = [
  "UP007",   # allow typing.Optional[int], instead of forcing int | None
  "EXE002",  # ntfs has no executable bit
  "SIM105",  # allow try-except-pass blocks
]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = [
  "F401",  # unused import
]
"*.pyi" = [
  "F821",  # allow undefined name
  "E501",  # line too long
  "PYI001",  # allow TypeVar name without '_' prefix
  "PYI021",  # allow docstrings in stub files
  "PYI029",  # allow __str__ and __repr__ in stubs
  "PYI032",  # allow typing.Any annotations for __eq__ and __ne__
  "PYI054",  # allow long numeric literals
]
# TODO: might be fixable
# related to fixed_joints, constraint_function, constraint_jacobian
"mplib/pymp/ompl.pyi" = [
  "B006",
  "PYI011",
  "RUF013",
]
# TODO: might be fixable
# related to compute_IK_CLIK() input argument mask = []
"mplib/pymp/pinocchio.pyi" = [
  "B006",
]

[tool.ruff.format]
docstring-code-format = true

[tool.cibuildwheel]
skip = ["*-musllinux_*", "pp*"]
build-frontend = "build"
manylinux-x86_64-image = "kolinguo/mplib-build:latest"
container-engine = { name = "docker", create-args = ["--rm"]}
# only run tests on python3.10
test-requires = ["trimesh", "transforms3d"]
test-command = "python3.10 -m pip install sapien==3.0.0.dev2 && python3.10 -m unittest discover -s {project}/tests -v"
test-skip = ["cp37-*", "cp38-*", "cp39-*", "cp311-*", "cp312-*"]

[tool.cibuildwheel.linux]
archs = ["x86_64"]