Update project setup method

.github/release.yml

@@ -0,0 +1,32 @@
+# .github/release.yml
+
+changelog:
+  categories:
+    - title: "🚀 New Features"
+      labels:
+        - feature
+
+    - title: "🐛 Bug Fixes"
+      labels:
+        - bug
+
+    - title: "🔧 Improvements"
+      labels:
+        - refactor
+        - enhancement
+
+    - title: "⚠️ Breaking Changes"
+      labels:
+        - breaking
+
+    - title: "📚 Documentation"
+      labels:
+        - docs
+
+    - title: "🛠 Internal / CI"
+      labels:
+        - ci
+
+  exclude:
+    labels:
+      - skip-release-notes

.github/workflows/main.yml

@@ -25,7 +25,7 @@ jobs:
       options: --memory 100g --gpus device=1 --shm-size 53687091200
     steps:
       - uses: actions/checkout@v4
-      - name: (CI) Code Style check
+      - name: Code Style check
         run: |
           echo "Workspace: ${GITHUB_WORKSPACE}"
           ls
@@ -46,12 +46,14 @@ jobs:
     container: *container_template
     steps:
       - uses: actions/checkout@v4
-      - name: (CI) Build docs
+      - name: Build docs
         run: |
-          pip install -e .
+          pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
           pip install -r docs/requirements.txt
           cd ${GITHUB_WORKSPACE}/docs
           echo "Start Building docs..."
+          pip uninstall pymeshlab -y
+          pip install pymeshlab==2023.12.post3
           make html
       - name: Upload docs artifact
         if: github.event_name == 'push' && github.ref == 'refs/heads/main'
@@ -71,11 +73,13 @@ jobs:
     container: *container_template
     steps:
       - uses: actions/checkout@v4
-      - name: (CI) Run tests
+      - name: Run tests
         run: |
-          pip install -e .
+          pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
           echo "Unit test Start"
           export HF_ENDPOINT=https://hf-mirror.com
+          pip uninstall pymeshlab -y
+          pip install pymeshlab==2023.12.post3
           pytest tests
 
   publish:
@@ -92,11 +96,49 @@ jobs:
     container: *container_template
     steps:
       - uses: actions/checkout@v4
-      - name: (CI) Publish package
-        run: echo "start publish stage"
-      - name: (CI) Download docs artifact
+      - name: Download docs artifact
         uses: actions/download-artifact@v4
         with:
           name: github-pages
-      - name: (CI) Deploy GitHub Pages
-        uses: actions/deploy-pages@v4
+
+      - name: Deploy GitHub Pages
+        uses: actions/deploy-pages@v4
+
+
+  release:
+    if: startsWith(github.ref, 'refs/tags/v')
+    runs-on: Linux
+    permissions:
+      contents: write
+      id-token: write   # PyPI Trusted Publishing
+
+    container: *container_template
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0   
+
+      - name: (Release) Install build tools
+        run: |
+          python -m pip install --upgrade pip
+          pip install build
+
+      - name: (Release) Build sdist and wheel
+        run: |
+          python -m build --wheel
+
+      - name: (Release) Create GitHub Release (draft)
+        uses: softprops/action-gh-release@v2
+        with:
+          draft: true
+          generate_release_notes: true
+          files: |
+            dist/*
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: (Release) Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}

.gitignore

@@ -195,3 +195,5 @@ wandb/
 
 # vscode settings
 .vscode/
+
+embodichain/VERSION

MANIFEST.in

@@ -0,0 +1 @@
+include VERSION

docs/source/quick_start/install.md

@@ -53,7 +53,7 @@ git clone https://github.com/DexForce/EmbodiChain.git
 Install the project in development mode:
 
 ```bash
-pip install -e . 
+pip install -e . --extra-index-url http://pyp.open3dv.site:2345/simple/ --trusted-host pyp.open3dv.site
 ```
 
 ### Verify Installation

embodichain/__init__.py

@@ -21,7 +21,7 @@
 
 # Read version from VERSION file
 def _get_version():
-    version_file = os.path.join(os.path.dirname(embodichain_dir), "VERSION")
+    version_file = os.path.join(embodichain_dir, "VERSION")
     try:
         with open(version_file, "r") as f:
             return f.read().strip()

embodichain/lab/sim/objects/articulation.py

@@ -71,10 +71,14 @@ def __init__(
 
         # get gpu indices for the entities.
         # only meaningful when using GPU physics.
-        self.gpu_indices = torch.as_tensor(
-            [np.int32(entity.get_gpu_index()) for entity in self.entities],
-            dtype=torch.int32,
-            device=self.device,
+        self.gpu_indices = (
+            torch.as_tensor(
+                [entity.get_gpu_index() for entity in self.entities],
+                dtype=torch.int32,
+                device=self.device,
+            )
+            if self.device.type == "cuda"
+            else None
         )
 
         self.dof = self.entities[0].get_dof()

embodichain/lab/sim/objects/rigid_object.py

@@ -60,10 +60,14 @@ def __init__(
         self.device = device
 
         # get gpu indices for the entities.
-        self.gpu_indices = torch.as_tensor(
-            [entity.get_gpu_index() for entity in self.entities],
-            dtype=torch.int32,
-            device=self.device,
+        self.gpu_indices = (
+            torch.as_tensor(
+                [entity.get_gpu_index() for entity in self.entities],
+                dtype=torch.int32,
+                device=self.device,
+            )
+            if self.device.type == "cuda"
+            else None
         )
 
         # Initialize rigid body data.

embodichain/lab/sim/objects/rigid_object_group.py

@@ -58,10 +58,17 @@ def __init__(
         self.device = device
 
         # get gpu indices for the rigid bodies with shape of (num_instances, num_objects)
-        self.gpu_indices = torch.as_tensor(
-            [[entity.get_gpu_index() for entity in instance] for instance in entities],
-            dtype=torch.int32,
-            device=self.device,
+        self.gpu_indices = (
+            torch.as_tensor(
+                [
+                    [entity.get_gpu_index() for entity in instance]
+                    for instance in entities
+                ],
+                dtype=torch.int32,
+                device=self.device,
+            )
+            if self.device.type == "cuda"
+            else None
         )
 
         # Initialize rigid body group data tensors. Shape of (num_instances, num_objects, data_dim)

embodichain/lab/sim/objects/soft_object.py

@@ -43,7 +43,7 @@ class SoftBodyData:
     """Data manager for soft body
 
     Note:
-        1. The pose data managed by dexsim is in the format of (qx, qy, qz, qw, x, y, z), but in EmbodySim, we use (x, y, z, qw, qx, qy, qz) format.
+        1. The pose data managed by dexsim is in the format of (qx, qy, qz, qw, x, y, z), but in EmbodiChain, we use (x, y, z, qw, qx, qy, qz) format.
     """
 
     def __init__(
@@ -171,7 +171,6 @@ def __init__(
 
         self._data = SoftBodyData(entities=entities, ps=self._ps, device=device)
 
-        # TODO: soft body physical attribute is already set in soft body creation(embodichain/lab/sim/utility/sim_utils.py load_soft_object_from_cfg)
         self._world.update(0.001)
 
         super().__init__(cfg=cfg, entities=entities, device=device)

embodichain/lab/sim/sim_manager.py

@@ -373,7 +373,7 @@ def init_gpu_physics(self) -> None:
         rigid_body_num = (
             0
             if self._get_non_static_rigid_obj_num() == 0
-            else len(self._ps.gpu_rigid_indices)
+            else len(self._ps.get_gpu_rigid_indices())
         )
         self._rigid_body_pose = torch.zeros(
             (rigid_body_num, 7), dtype=torch.float32, device=self.device
@@ -383,7 +383,7 @@ def init_gpu_physics(self) -> None:
         articulation_num = (
             0
             if len(self._articulations) == 0 and len(self._robots) == 0
-            else len(self._ps.gpu_articulation_indices)
+            else len(self._ps.get_gpu_articulation_indices())
         )
         max_link_count = self._ps.gpu_get_articulation_max_link_count()
         self._link_pose = torch.zeros(
@@ -452,14 +452,14 @@ def _sync_gpu_data(self) -> None:
             if len(self._rigid_body_pose) > 0:
                 self._ps.gpu_fetch_rigid_body_data(
                     data=CudaArray(self._rigid_body_pose),
-                    gpu_indices=self._ps.gpu_rigid_indices,
+                    gpu_indices=self._ps.get_gpu_rigid_indices(),
                     data_type=RigidBodyGPUAPIReadType.POSE,
                 )
 
             if len(self._link_pose) > 0:
                 self._ps.gpu_fetch_link_data(
                     data=CudaArray(self._link_pose),
-                    gpu_indices=self._ps.gpu_articulation_indices,
+                    gpu_indices=self._ps.get_gpu_articulation_indices(),
                     data_type=ArticulationGPUAPIReadType.LINK_GLOBAL_POSE,
                 )
 

pyproject.toml

@@ -4,7 +4,7 @@
 # is still executed during build. This is a minimal, non-opinionated pyproject
 # that modernizes the package while preserving the custom extension build steps.
 requires = ["setuptools>=61.0", "wheel"]
-build-backend = "setuptools.build_meta:__legacy__"
+build-backend = "setuptools.build_meta"
 
 
 # Note:
@@ -17,17 +17,16 @@ build-backend = "setuptools.build_meta:__legacy__"
 
 [project]
 name = "embodichain"
-version = "0.0.1"
 description = "An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence."
 readme = "README.md"
 authors = [ { name = "EmbodiChain Developers" } ]
 requires-python = ">=3.10"
-
+dynamic = ["version"]
 
 # Core install dependencies (kept from requirements.txt). Some VCS links are
 # specified using PEP 508 direct references where present.
 dependencies = [
-  "dexsim_engine @ http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.7-cp310-cp310-manylinux_2_31_x86_64.whl",
+  "dexsim_engine",
   "setuptools>=78.1.1",
   "gymnasium==0.29.1",
   "casadi==3.7.1",
@@ -45,14 +44,16 @@ dependencies = [
   "transformers>=4.53.0",
   "diffusers>=0.32.1",
   "deepspeed>=0.16.2",
-  "cvxpy==1.4.0",
   "ortools",
   "prettytable",
   "black==24.3.0",
   "fvcore",
   "h5py",
 ]
 
+[tool.setuptools.dynamic]
+version = { file = ["VERSION"] }
+
 [tool.setuptools.packages.find]
 where = ["."]
 exclude = ["docs"]

setup.py

@@ -19,6 +19,7 @@
 import os
 import shutil
 import sys
+import argparse
 from os import path as osp
 from pathlib import Path
 
@@ -94,30 +95,44 @@ def get_data_files_of_a_directory(source_dir, target_dir=None, ignore_py=False):
     return filelist
 
 
-# Extract version
-here = osp.abspath(osp.dirname(__file__))
-version = None
-with open(os.path.join(os.path.dirname(__file__), "VERSION")) as f:
-    full_version = f.read().strip()
-    version = ".".join(full_version.split(".")[:3])
-
-ignore_py = sys.argv[1] == "bdist_nuitka" if len(sys.argv) > 1 else False
-data_files = []
-data_files += get_data_files_of_a_directory("embodichain", ignore_py=ignore_py)
-
-cmdclass = {"clean": CleanCommand}
-if BuildExtension is not None:
-    cmdclass["build_ext"] = BuildExtension.with_options(no_python_abi_suffix=True)
-
-setup(
-    name="embodichain",
-    version=version,
-    url="https://github.com/DexForce/EmbodiChain",
-    author="EmbodiChain Developers",
-    description="An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence.",
-    packages=find_packages(exclude=["docs"]),
-    data_files=data_files,
-    entry_points={},
-    cmdclass=cmdclass,
-    include_package_data=True,
-)
+def get_version():
+    with open(os.path.join(os.path.dirname(__file__), "VERSION")) as f:
+        full_version = f.read().strip()
+        version = ".".join(full_version.split(".")[:3])
+    return version
+
+
+def main():
+    # Extract version
+    version = get_version()
+
+    data_files = []
+    data_files += get_data_files_of_a_directory("embodichain", ignore_py=False)
+
+    cmdclass = {"clean": CleanCommand}
+    if BuildExtension is not None:
+        cmdclass["build_ext"] = BuildExtension.with_options(no_python_abi_suffix=True)
+
+    setup(
+        name="embodichain",
+        version=version,
+        url="https://github.com/DexForce/EmbodiChain",
+        author="EmbodiChain Developers",
+        description="An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence.",
+        packages=find_packages(exclude=["docs"]),
+        data_files=data_files,
+        entry_points={},
+        cmdclass=cmdclass,
+        include_package_data=True,
+    )
+
+    # Copy VERSION file into the package directory for wheel/sdist
+    src_version = os.path.join(THIS_DIR, "VERSION")
+    dst_version = os.path.join(THIS_DIR, "embodichain", "VERSION")
+    if os.path.exists(src_version):
+        shutil.copyfile(src_version, dst_version)
+        logger.info(f"Copied VERSION to {dst_version}")
+
+
+if __name__ == "__main__":
+    main()