[build-system]
requires = ["uv_build>=0.8.19,<0.9.0"]
build-backend = "uv_build"

[project]
name = "mjlab_husky"
version = "0.1.0"
license = "Apache-2.0"
description = "Humanoid Skateboarding System via Physics-Aware Whole-Body Control"
readme = "README.md"
requires-python = ">=3.12,<3.14"
dependencies = [
    "mjlab",
    "onnxruntime",
    "pybullet",
    "rsl-rl-lib",
    "pynput",
    "rerun-sdk"
]

[project.entry-points."mjlab.tasks"]
mjlab_husky = "mjlab_husky.tasks"

[project.scripts]
train = "mjlab_husky.scripts.train:main"
play = "mjlab_husky.scripts.play:main"
rerun-lerobot = "mjlab_husky.scripts.rerun_lerobot_dataset:main"
play-lerobot-rerun = "mjlab_husky.scripts.play_lerobot_rerun:main"

[tool.ruff]
src = ["src"]  # Helpful for recognizing first-party imports.
indent-width = 4

[tool.uv]
# py.mujoco.org 上的 3.7.0.dev* 预发布包会被撤下，wheel 404；强制使用 PyPI 稳定版。
override-dependencies = ["mujoco>=3.8.0,<3.9"]
# `mjlab` 声明的 mujoco-warp git rev（1dc288c）依赖 mjENBL_MULTICCD，PyPI 的 mujoco 3.8.x 尚无该枚举。
# `uv.lock` 将 mujoco-warp 固定为上游标签 v3.8.0（与 mujoco 3.8.0 对齐）；升级 mjlab / 跑 `uv lock` 后若冲突请复查该包。

[tool.uv.sources]
mjlab = { git = "https://github.com/mujocolab/mjlab.git", rev = "13212ad" }
rsl-rl-lib = { path = "rsl_rl" }