pyproject.toml

[build-system]
requires = ["setuptools>=77", "pybind11>=2.11"]
build-backend = "setuptools.build_meta"

[project]
# Single distribution for the whole repo. `GRiD-RBD` (the codegen toolkit) and
# `grid-rbd` (the runtime Python wrapper) normalize to the SAME PEP 503 name and
# the wrapper hard-imports the codegen tree at register_robot time, so they were
# always one distribution — now folded into one editable install.
name = "grid-rbd"
version = "0.5.1"
description = "GPU robot dynamics, kinematics and collisions with analytical derivatives"
readme = "README.md"
# 3.10 floor: the runtime wrapper + its pybind11 _core ext require it; codegen
# is 3.9-compatible but there is no reason to ship the split floor.
requires-python = ">=3.10"
license = "MIT"
license-files = ["LICENSE*"]
authors = [
    {name = "A2R Lab"},
]
keywords = ["robotics", "rigid-body-dynamics", "kinematics", "collision-checking", "analytical-derivatives", "cuda", "gpu", "code-generation", "trajectory-optimization", "jax", "pytorch", "mujoco", "pinocchio"]
classifiers = [
    "Development Status :: 3 - Alpha",
    "Intended Audience :: Science/Research",
    "Operating System :: POSIX :: Linux",
    "Programming Language :: Python :: 3 :: Only",
    "Programming Language :: Python :: 3.10",
    "Programming Language :: Python :: 3.11",
    "Programming Language :: Python :: 3.12",
    "Programming Language :: C++",
    "Topic :: Scientific/Engineering",
    "Topic :: Scientific/Engineering :: Physics",
    "Topic :: Software Development :: Code Generators",
    "Environment :: GPU :: NVIDIA CUDA",
    "Intended Audience :: Developers",
    "Programming Language :: Python :: Implementation :: CPython",
    "Typing :: Typed",
]

dependencies = [
    # codegen / reference toolkit
    "numpy>=1.23",
    "sympy>=1.7.1",
    "beautifulsoup4>=4.9.3",
    "lxml>=4.2.1",
    # collision codegen: mesh <collision> elements are voxel-filled into spheres
    # (grid_codegen/algorithms/_spherize.py); iiwa14 and most robot assets have them
    "trimesh>=4",
    "scipy>=1.9",  # mesh voxelization and bounded-bulge distance transforms
    # runtime wrapper (cache dirs; nvcc invoked at register_robot time)
    "platformdirs>=4.0",
]

[project.optional-dependencies]
# Backend extras mirror the jax-vs-jax[cuda] pattern: the user picks the GPU
# wheel (jax[cuda] / a torch cu1xx build) matching their arch; we only pin the
# minimum API version. No upper cap — an over-tight cap just blocks users.
jax = [
    "jax>=0.4.40",
]
torch = [
    "torch>=2.1",
]
# Both backend surfaces in one shot (recursive self-extras). NO dev/benchmark
# weight here, and NO cuRobo — cuRobo installs last via the bench channel.
all = [
    "grid-rbd[jax]",
    "grid-rbd[torch]",
]
# Test deps for the bindings suite (imports grid_rbd.jax / grid_rbd.torch to
# exercise the jax<->torch parity + autograd paths). The optional real-MuJoCo
# cross-check is importorskip-guarded, so `mujoco` stays optional. The heavy
# comparator/oracle stack (pinocchio/mjx/frax) lives in install/requirements-dev.txt.
dev = [
    "grid-rbd[all]",
    "pytest>=7.0",
]

[project.scripts]
grid-generate = "grid_codegen.cli:main"
grid-spherize = "grid_codegen.spherize:main"

[project.urls]
Homepage = "https://a2r-lab.org/GRiD/"
Repository = "https://github.com/A2R-Lab/GRiD"
Documentation = "https://a2r-lab.org/GRiD/"
Changelog = "https://github.com/A2R-Lab/GRiD/blob/main/CHANGELOG.md"
Issues = "https://github.com/A2R-Lab/GRiD/issues"
Paper = "https://a2r-lab.org/publication/grid/"

[tool.setuptools]
# The runtime wrapper ships a C++ extension (grid_rbd._core); a minimal root
# setup.py owns the Extension declaration. Explicit package-data patterns ship
# the templates/markers; build hooks add the pinned resource bundle.
include-package-data = false

[tool.setuptools.packages.find]
# grid_codegen at ./, grid_rbd under ./bindings, peer products under ./external.
where = [".", "bindings", "external"]
include = ["grid_codegen*", "grid_rbd*", "URDFParser", "RBDReference"]
namespaces = false

[tool.setuptools.package-data]
# py.typed (PEP 561): ship inline type annotations so consumers' type checkers /
# IDEs honor them (grid_rbd is a typed package, no separate .pyi).
grid_rbd = ["wrapper_template.cu", "wrapper_common.cuh", "py.typed"]
"grid_rbd.jax" = ["py.typed"]
"grid_rbd.torch" = ["py.typed"]
grid_codegen = ["collision/*.cuh", "collision/assets/*.urdf", "_data/**/*", "_data/provenance.json"]

[tool.black]
line-length = 88  # Sets the maximum line length; default is 88, but you can adjust it if needed.
target-version = ['py39']  # Specify the Python version(s) you're targeting, e.g., 'py39' for Python 3.9.
skip-string-normalization = true  # Optional: keep existing string quotes instead of converting to double quotes
exclude = '''
/(
    \.eggs
  | \.git
  | \.hg
  | \.mypy_cache
  | \.nox
  | \.tox
  | \.venv
  | _build
  | source
  | buck-out
  | build
  | dist
)/
'''

[tool.pytest.ini_options]
# pytest's defaults plus the gitignored local scratch dir at the repo root (a stray
# scratchpad/*/_test.py produced 10 collection errors in a full-tree run, 2026-09-24).
norecursedirs = ["*.egg", ".*", "_darcs", "build", "CVS", "dist", "node_modules", "venv", "{arch}", "scratchpad"]
markers = [
    "pinocchio_equivalence: Pinocchio equivalence coverage for GRiD reference code.",
    "developer_only: Optional developer-only tests that require extra dependencies.",
    "floating_base: Tests that exercise floating-base model paths.",
    "robot_smoke: Smoke-tier robot coverage.",
    "robot_curated: Curated-tier robot coverage.",
    "robot_nightly: Nightly-tier robot coverage.",
    "cuda_equivalence: CUDA executable equivalence coverage for generated GRiD code.",
    "python_wrappers: grid-rbd Python wrapper coverage; requires CUDA + grid-rbd installed.",
    "notebooks: Executable example notebooks (run via nbval-lax); requires CUDA + grid-rbd installed.",
    "gpu_proof: Test outcomes recorded in the signed pytest-gpu-proof receipt (auto-applied to cuda_equivalence + python_wrappers by test/conftest.py).",
]

[tool.gpu_proof]
# GPU tests run locally on a real GPU; the signed receipt (gpu-proof.json) is
# verified in CPU-only CI via github.com/plancherb1.keys. See test/run_gpu_proof.sh.
mode = "local"
output = "gpu-proof.json"
github_username = "plancherb1"     # org remotes (A2R-Lab) carry no SSH keys — sign as the keyholder
required_marker = "gpu_proof"
# Bind evidence to correctness inputs, including peer gitlinks. Commit ancestry
# alone does NOT detect changed code. Docs/figures stay outside this scope so
# presentation-only descendant commits can reuse a completed receipt.
fingerprint_paths = [
    "grid_codegen", "bindings/grid_rbd", "bindings/src",
    "external/GLASS", "external/RBDReference", "external/URDFParser",
    "config", "pyproject.toml", "setup.py", "_build_resources.py", "MANIFEST.in",
    "test/cuda_equivalents", "test/python_wrappers", "test/conftest.py",
    "test/helpers.py", "test/run_gpu_proof.sh", "test/run_split_suite.py",
    "test/compile_sched.py", "test/prewarm_cuda_flagship.py",
    "test/codegen_neutrality.py", "test/header_key_replay.py",
    "test/receipt_integrity.py", "test/gpu-proof-tests.txt", "test/run_validation.py",
    "tools/check_installed_package.py",
]
max_age_days = 30
require_gpu = true