[project]
name = "iiwa-genesis"
version = "0.1.0"
requires-python = ">=3.12,<3.14"
dependencies = [
    "genesis-world==1.4.1", 
    "torch>=2.8", 
    "numpy>=2", 
    "scipy>=1.14", 
    "pyyaml>=6", 
    "pillow>=11", 
    "opencv-python>=4.10"
]

[tool.uv]
exclude-dependencies = ["xacro"]
conflicts = [
    [{ extra = "cpu" }, { extra = "cuda" }]
]

[project.optional-dependencies]
cpu = ["torch>=2.8"]
cuda = ["torch>=2.8"]

[tool.uv.sources]
torch = [
    { index = "pytorch-cpu", extra = "cpu" }, 
    { index = "pytorch-cuda", extra = "cuda" }
]

[[tool.uv.index]]
name = "pytorch-cpu"
url = "https://download.pytorch.org/whl/cpu"
explicit = true

[[tool.uv.index]]
name = "pytorch-cuda"
url = "https://pypi.org/simple"
explicit = true

[dependency-groups]
dev = ["pytest>=8.4"]

[tool.pytest.ini_options]
addopts = "--disable-plugin-autoload"
pythonpath = ["src"]
testpaths = ["tests"]