8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
78 lines
2.0 KiB
TOML
78 lines
2.0 KiB
TOML
[build-system]
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requires = ["setuptools>=77.0"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "better-actuator-models"
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version = "1.0.1"
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description = "BAM: Better Actuator Models is a Python library dedicated to the identification and simulation of advanced actuator models."
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readme = "README.md"
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requires-python = ">=3.12,<3.13"
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license = "Apache-2.0"
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authors = [
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{ name = "Marc Duclusaud" },
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{ name = "Grégoire Passault" },
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]
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keywords = ["robot", "robotics", "actuator", "simulation", "friction"]
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classifiers = [
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"Programming Language :: Python :: 3",
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"Operating System :: OS Independent",
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]
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dependencies = [
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"numpy",
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"colorama",
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]
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[project.optional-dependencies]
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# Use identified models in a MuJoCo (CPU) simulation.
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mujoco = [
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"mujoco",
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]
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# Use identified models in MuJoCo Warp via mjlab (GPU).
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mjlab = [
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"mjlab>=1.3,<1.4",
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# mjlab 1.3 targets the MuJoCo Warp 3.7 era: it uses `ls_parallel` (removed in
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# mujoco-warp 3.9.1) and `wp.context` (removed in warp-lang 1.15). Pin the
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# simulation stack to that compatible combo, otherwise Simulation() raises
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# "ls_parallel was removed" / "module 'warp' has no attribute 'context'".
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"mujoco-warp>=3.7,<3.8",
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"mujoco>=3.7,<3.8",
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"warp-lang>=1.12,<1.13",
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"scipy"
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]
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# Identify your own motors: hardware drivers, optimization, logging, plotting.
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identification = [
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"zmq",
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"protobuf>=3.20,<4.0",
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"dynamixel_sdk",
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"rustypot>=1.5.0",
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"optuna",
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"cmaes",
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"wandb",
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"matplotlib",
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"PyQt5"
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]
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# Everything at once.
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all = [
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"better-actuator-models[mujoco,mjlab,identification]",
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]
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[project.urls]
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Homepage = "https://github.com/Rhoban/bam"
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Repository = "https://github.com/Rhoban/bam"
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[tool.setuptools.packages.find]
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include = ["bam*"]
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[tool.setuptools.package-data]
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bam = ["params/**/*.json"]
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[tool.ruff]
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line-length = 88
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target-version = "py312"
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extend-exclude = ["docs/_build"]
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[tool.ruff.format]
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quote-style = "double"
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indent-style = "space"
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