| set -e | |
| SELF_DIR="$(dirname "$(realpath "$0")")" | |
| cd "$SELF_DIR/../.." | |
| VERSION=$(cat VERSION) | |
| BUILD_DIR=$SELF_DIR/build/stage | |
| DIST_DIR=$SELF_DIR/build/dist | |
| # Compose a PEP 440 local version when CI metadata is provided so the wheel is | |
| # traceable to a specific build and commit. With both env vars set the version | |
| # becomes e.g. "3.0.0+build123.abc1234" (build number is monotonic, sha slug | |
| # pins the source). If either is missing, fall back to the plain VERSION so | |
| # local dev builds stay simple. | |
| WHEEL_BUILD_NUMBER="${WHEEL_BUILD_NUMBER:-}" | |
| WHEEL_SHA="${WHEEL_SHA:-}" | |
| if [ -n "$WHEEL_BUILD_NUMBER" ] && [ -n "$WHEEL_SHA" ]; then | |
| SHA_SLUG="${WHEEL_SHA:0:7}" | |
| WHEEL_VERSION="${VERSION}+build${WHEEL_BUILD_NUMBER}.${SHA_SLUG}" | |
| else | |
| WHEEL_VERSION="${VERSION}" | |
| fi | |
| echo "[WHEEL VERSION] $WHEEL_VERSION" | |
| # Platform tags matching the official IsaacLab wheel | |
| PYTHON_TAG="${PYTHON_TAG:-cp312}" | |
| ABI_TAG="${ABI_TAG:-cp312}" | |
| # Auto-detect platform | |
| ARCH=$(uname -m) | |
| case "$ARCH" in | |
| x86_64|AMD64) PLATFORM_TAG="${PLATFORM_TAG:-manylinux_2_35_x86_64}" ;; | |
| aarch64|arm64) PLATFORM_TAG="${PLATFORM_TAG:-manylinux_2_35_aarch64}" ;; | |
| *) PLATFORM_TAG="${PLATFORM_TAG:-linux_$ARCH}" ;; | |
| esac | |
| rm -rf "$BUILD_DIR" "$DIST_DIR" | |
| mkdir -p "$BUILD_DIR/src/isaaclab" | |
| # 1. Copy inventory (same as python_packages.toml inventory.includes.all) | |
| cp -r apps "$BUILD_DIR/src/isaaclab/" | |
| cp -r source "$BUILD_DIR/src/isaaclab/" | |
| # Ensure apps/ is discovered as a Python sub-package (it has no __init__.py) | |
| find "$BUILD_DIR/src/isaaclab/apps" -type d -exec touch {}/__init__.py \; | |
| # Promote sub-packages (isaaclab_assets, isaaclab_rl, etc.) to top-level | |
| # so they are importable as e.g. `import isaaclab_assets`. | |
| # Each extension has the structure: source/isaaclab_FOO/isaaclab_FOO/ (Python pkg) | |
| # plus sibling dirs like config/, data/. The __init__.py references ../config etc. | |
| # We copy the inner Python package to src/ and also copy sibling resource dirs | |
| # (config, data) into it so the relative-path lookups in __init__.py work. | |
| for ext_dir in "$BUILD_DIR"/src/isaaclab/source/isaaclab_*; do | |
| pkg=$(basename "$ext_dir") | |
| inner="$ext_dir/$pkg" | |
| if [ -d "$inner" ] && [ -f "$inner/__init__.py" ]; then | |
| cp -r "$inner" "$BUILD_DIR/src/$pkg" | |
| # Copy resource dirs (config/, data/) into the Python package | |
| for res_dir in config data; do | |
| if [ -d "$ext_dir/$res_dir" ]; then | |
| cp -r "$ext_dir/$res_dir" "$BUILD_DIR/src/$pkg/$res_dir" | |
| fi | |
| done | |
| # Patch EXT_DIR: change '../' to '.' so __init__.py finds config/ inside | |
| # the package dir rather than one level up. | |
| sed -i 's|os\.path\.join(os\.path\.dirname(__file__), "\.\./"|os.path.join(os.path.dirname(__file__), ""|g' \ | |
| "$BUILD_DIR/src/$pkg/__init__.py" | |
| # Keep the extension discoverable by Kit under source/. The .kit experience | |
| # files in apps/ register "${app}/../source" as an extension search folder, | |
| # so each extension's config/extension.toml must remain there or the Kit | |
| # dependency solver fails with "isaaclab_assets ... (none found)". We drop | |
| # the inner Python package (imported from the promoted top-level copy above) | |
| # and the duplicated data/ to avoid a second copy on sys.path and bloat, | |
| # but leave config/extension.toml in place for discovery. | |
| rm -rf "$inner" "$ext_dir/data" | |
| fi | |
| done | |
| # Clean build artifacts that shouldn't be in the wheel | |
| find "$BUILD_DIR/src" -type d -name "__pycache__" -exec rm -rf {} + 2>/dev/null || true | |
| find "$BUILD_DIR/src" -type d -name "*.egg-info" -exec rm -rf {} + 2>/dev/null || true | |
| find "$BUILD_DIR/src" -name "*.pyc" -delete 2>/dev/null || true | |
| # 2. Copy the custom res __init__.py and __main__.py | |
| cp "$SELF_DIR/res/__init__.py" "$BUILD_DIR/src/isaaclab/" | |
| cp "$SELF_DIR/res/__main__.py" "$BUILD_DIR/src/isaaclab/" | |
| # 3. Generate pyproject.toml with dependencies from python_packages.toml | |
| python3 "$SELF_DIR/gen_pyproject.py" "$SELF_DIR/res/python_packages.toml" "$BUILD_DIR/pyproject.toml" "$WHEEL_VERSION" | |
| # 4. Build the wheel | |
| cd "$BUILD_DIR" | |
| # Prefer --user to avoid polluting system Python; fall back to --break-system-packages | |
| # for environments where --user is unsupported (e.g. Docker, ephemeral CI runners). | |
| python3 -m pip install --user build wheel 2>/dev/null || python3 -m pip install --break-system-packages build wheel | |
| python3 -m build --wheel --outdir "$DIST_DIR/" | |
| # 5. Retag the wheel to match official platform tags | |
| # cd "$DIST_DIR" | |
| # GENERIC_WHL=$(ls isaaclab-*.whl) | |
| # echo "Retagging $GENERIC_WHL -> $PYTHON_TAG-$ABI_TAG-$PLATFORM_TAG" | |
| # python3 -m wheel tags --python-tag "$PYTHON_TAG" --abi-tag "$ABI_TAG" --platform-tag "$PLATFORM_TAG" "$GENERIC_WHL" | |
| # # Remove the generic wheel (wheel tags creates a new file) | |
| # TAGGED_WHL=$(ls isaaclab-*"$PLATFORM_TAG"*.whl 2>/dev/null) | |
| # if [ "$GENERIC_WHL" != "$TAGGED_WHL" ] && [ -n "$TAGGED_WHL" ]; then | |
| # rm -f "$GENERIC_WHL" | |
| # fi | |
| echo "" | |
| echo "[WHEEL BUILT]" | |
| ls -lh $DIST_DIR/isaaclab-*.whl | |