rh56_controller/pyproject.toml at main · correlllab/rh56_controller · GitHub

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[build-system]
requires = ["setuptools>=61"]
build-backend = "setuptools.build_meta"

[project]
name = "rh56_controller"
version = "0.0.1"
requires-python = ">=3.10"
dependencies = [
    "numpy>=1.26",
    "scipy",
    "matplotlib",
    "mujoco>=3.3.6",
    "PyYAML",
]

[project.optional-dependencies]
test = [
    "pytest>=8",
]

# RH56 hardware serial stack (real hand)
hand = [
    "pyserial",
]
real-hand = [
    "pyserial",
]

# UR5 + RTDE bridge stack
ur5 = [
    "magpie_control",
    "spatialmath-python",
]

# Mink differential IK planner/comparison
mink = [
    "mink",
]

# H1-2 simulation stack (Pinocchio + PINK + Meshcat)
h12 = [
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]

# Optional telemetry/logging
telemetry = [
    "rerun-sdk>=0.21",
]

# ROS2 Python dependencies are provided by the ROS distro (apt/rosdep),
# but this extra is kept as a semantic selector for install profiles/docs.
ros = []

# Convenience bundles
sim-hand = [
    "mink",
]
sim-ur5 = [
    "mink",
]
sim-h12 = [
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]
sim-h12-ur5 = [
    "mink",
    "magpie_control",
    "spatialmath-python",
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]

# Real-world profiles
real-robot = [
    "pyserial",
    "mink",
    "magpie_control",
    "spatialmath-python",
]
real-ur5 = [
    "pyserial",
    "mink",
    "magpie_control",
    "spatialmath-python",
]
real-ur5-ros = [
    "pyserial",
    "mink",
    "magpie_control",
    "spatialmath-python",
]
real-h12-ros = [
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]
real-h12-hand-ros = [
    "pyserial",
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]
full = [
    "pyserial",
    "mink",
    "magpie_control",
    "spatialmath-python",
    "rerun-sdk>=0.21",
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]
dev-full = [
    "pyserial",
    "mink",
    "magpie_control",
    "spatialmath-python",
    "rerun-sdk>=0.21",
    "pin>=3.7.0",
    "pin-pink>=4.1.0",
    "qpsolvers[daqp]>=4.3.1",
    "meshcat>=0.3.2",
    "meshcat-shapes>=1.0.0",
]

[tool.uv.sources]
mink = { path = "mink" }
magpie_control = { path = "magpie_control", editable = true }

[tool.pytest.ini_options]
testpaths = ["tests/unit"]
python_files = ["test_*.py"]