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openpi
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[project]
name = "openpi"
version = "0.1.0"
description = "Physical Intelligence open source repo"
readme = "README.md"
requires-python = ">=3.11"
license = { file = "LICENSE" }
dependencies = [
    "augmax>=0.3.4",
    "dm-tree>=0.1.8",
    "einops>=0.8.0",
    "equinox>=0.11.8",
    "flatbuffers>=24.3.25",
    "flax==0.10.2",
    "fsspec[gcs]>=2024.6.0",
    "gym-aloha>=0.1.1",
    "imageio>=2.36.1",
    "jax[cuda12]==0.5.3",
    "jaxtyping==0.2.36",
    "lerobot",
    "ml_collections==1.0.0",
    "numpy>=1.22.4,<2.0.0",
    "numpydantic>=1.6.6",
    "opencv-python>=4.10.0.84",
    "openpi-client",
    "orbax-checkpoint==0.11.13",
    "pillow>=11.0.0",
    "sentencepiece>=0.2.0",
    "torch==2.7.1",
    "tqdm-loggable>=0.2",
    "typing-extensions>=4.12.2",
    "tyro>=0.9.5",
    "wandb>=0.19.1",
    "filelock>=3.16.1",
    "beartype==0.19.0",
    "treescope>=0.1.7",
    "transformers==4.53.2",
    "rich>=14.0.0",
    "polars>=1.30.0",
]


[project.urls]
Repository = "https://github.com/Physical-Intelligence/openpi"

[dependency-groups]
dev = [
    "pytest>=8.3.4",
    "ruff>=0.8.6",
    "pre-commit>=4.0.1",
    "ipykernel>=6.29.5",
    "ipywidgets>=8.1.5",
    "matplotlib>=3.10.0",
    "pynvml>=12.0.0",
]
rlds = [
    "dlimp",
    "tensorflow-cpu==2.15.0",
    "tensorflow-datasets==4.9.9",
]

[tool.uv]
override-dependencies = ["ml-dtypes==0.4.1", "tensorstore==0.1.74"]

[tool.uv.sources]
openpi-client = { workspace = true }
lerobot = { git = "https://github.com/huggingface/lerobot", rev = "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5" }
dlimp = { git = "https://github.com/kvablack/dlimp", rev = "ad72ce3a9b414db2185bc0b38461d4101a65477a" }

[tool.uv.workspace]
members = ["packages/*"]

[tool.ruff]
line-length = 120
target-version = "py311"
extend-exclude = ["docker", "third_party", "src/openpi/models_pytorch/transformers_replace/*"]

[tool.ruff.lint]
# https://docs.astral.sh/ruff/rules/
select = [
    "B",
    "C4",
    "DTZ",
    "E4",
    "E7",
    "E9",
    "F",
    "FBT",
    "FURB",
    "I",
    "ICN",
    "ISC",
    "LOG",
    "N",
    "PD",
    "PERF",
    "PIE",
    "PLC",
    "PLE",
    "PLR1",
    "PLR5",
    "PLW",
    "PT",
    "Q",
    "RET",
    "RUF",
    "SIM",
    "SLF",
    "T10",
    "T20",
    "UP",
    "W",
]
ignore = [
    "F722",   # Conflicts with array typing.
    "T201",   # We use print statements.
    "PD008",  # Lots of false positives.
    "ISC001", # Disabling to support ruff format.
    "LOG015", # Use logger.info.
]
unfixable = [
    "B905", # Fix defaults to strict=False, which is not what we want.
]

[tool.ruff.lint.isort]
force-single-line = true
force-sort-within-sections = true
single-line-exclusions = ["collections.abc", "typing", "typing_extensions"]
known-third-party = ["wandb"]

[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"

[tool.pytest.ini_options]
markers = ["manual: should be run manually."]
testpaths = ["src", "scripts", "packages"]