Isaac-GR00T/scripts/deployment/thor/pyproject.toml

# Thor platform pyproject.toml — Jetson AGX Thor (aarch64, CUDA 13, Python 3.12)
# This is a self-contained config with no platform markers needed.

[build-system]
requires = ["setuptools>=67", "wheel", "pip"]
build-backend = "setuptools.build_meta"

[project]
name = "gr00t"
version = "0.1.0"
requires-python = ">=3.12,<3.13"
dependencies = [
    "albumentations==1.4.18",
    "diffusers==0.36.0.dev0",
    "dm-tree==0.1.8",
    "huggingface-hub[cli]",
    "jsonlines==4.0.0",
    "lmdb==1.7.5",
    "msgpack==1.1.0",
    "msgpack-numpy==0.4.8",
    "opencv-python-headless>=4.5,<4.13",
    "pandas==2.2.3",
    "peft==0.17.1",
    "termcolor==3.2.0",
    "torch==2.10.0",
    "triton==3.5.0",
    "torchvision==0.25.0",
    "transformers==4.57.6",
    "tyro==0.9.17",
    "click==8.1.8",
    "datasets==3.6.0",
    "cryptography>=46.0.7",
    "einops==0.8.1",
    "gitpython==3.1.50",
    "gymnasium==1.2.2",
    "matplotlib==3.10.1",
    "numpy==1.26.4",
    "omegaconf==2.3.0",
    "scipy==1.15.3",
    "wandb==0.23.0",
    "pyzmq==27.0.1",
    "torchcodec==0.10.0",
    # Keep these as direct pins: the Jetson Thor torch wheel does not bundle these runtime libs,
    # and we want them installed even if torch's transitive dependency metadata changes upstream.
    # Revisit if the Jetson AI Lab torch packages start vendoring them or declaring them reliably.
    "nvidia-cudnn-cu13",
    "nvidia-cudss-cu13",
    "flash-attn==2.8.4",
    "onnx>=1.20.0",
    "onnxscript",
    "tensorrt>=10.14.1.48.post1",
]

[project.optional-dependencies]
dev = [
    "ruff",
    "ipython",
    "pytest",
    "pytest-timeout",
    "build",
    "pre-commit",
]

[tool.setuptools.packages.find]
where = ["."]
include = ["gr00t*"]

[tool.uv]

[tool.uv.extra-build-dependencies]
flash-attn = ["torch==2.10.0", "numpy==1.26.4", "triton==3.5.0"]

[tool.uv.sources]
torch = [{ index = "jetson-sbsa-cu130" }]
torchvision = [{ index = "jetson-sbsa-cu130" }]
torchcodec = [{ index = "jetson-sbsa-cu130" }]
triton = [{ index = "jetson-sbsa-cu130" }]
flash-attn = [{ index = "jetson-sbsa-cu130" }]
diffusers = [{ index = "jetson-sbsa-cu130" }]

[tool.pytest.ini_options]
addopts = "--import-mode=importlib"
markers = [
    "gpu: tests that require a GPU",
    "multigpu: tests that require multiple GPUs and use all visible GPUs",
]
# Include fixture setup/teardown in JUnit <testcase time="..."> so duration
# reports reflect real wall-clock time instead of call-only.
junit_duration_report = "total"

[tool.ruff]
line-length = 100
# Thor ships Python 3.12 (see requires-python above) — keep Ruff aligned
# so rule behaviour matches the interpreter actually used on device.
target-version = "py312"
src = ["gr00t"]
exclude = [
    "__pycache__",
    ".git",
    ".mypy_cache",
    ".pytest_cache",
    ".vscode",
    ".venv",
    "dist",
    "logs",
    "*.ipynb",
    "external_dependencies",
]

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
docstring-code-format = true

[tool.ruff.lint]
select = ["E", "F", "I"]
ignore = ["E501"]

[tool.ruff.lint.per-file-ignores]
"__init__.py" = ["F401"]

[tool.ruff.lint.isort]
case-sensitive = false
combine-as-imports = true
force-sort-within-sections = true
force-wrap-aliases = false
split-on-trailing-comma = false
lines-after-imports = 2
section-order = ["future", "standard-library", "third-party", "first-party", "local-folder"]

[[tool.uv.index]]
name = "nvidia-pypi"
url = "https://pypi.nvidia.com"
explicit = true

[[tool.uv.index]]
name = "jetson-sbsa-cu130"
url = "https://pypi.jetson-ai-lab.io/sbsa/cu130/+simple"
explicit = true