Add UV/WSL2 build support for pip-based workflows

.github/scripts/patch-openexr.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+# Apply patches to OpenEXR submodule for modern C++ compiler compatibility
+
+set -e
+
+OPENEXR_DIR="src/deps/openexr/src/lib/OpenEXR"
+
+echo "Applying OpenEXR patches..."
+
+# Patch 1: ImfTiledMisc.h
+FILE1="${OPENEXR_DIR}/ImfTiledMisc.h"
+if ! grep -q "include <cstdint>" "$FILE1"; then
+    echo "Patching $FILE1"
+    sed -i '/^#include <ImathBox.h>/a #include <cstdint>' "$FILE1"
+else
+    echo "$FILE1 already patched"
+fi
+
+# Patch 2: ImfDeepTiledInputPart.h
+FILE2="${OPENEXR_DIR}/ImfDeepTiledInputPart.h"
+if ! grep -q "include <cstdint>" "$FILE2"; then
+    echo "Patching $FILE2"
+    sed -i '/^#include <ImathBox.h>/a #include <cstdint>' "$FILE2"
+else
+    echo "$FILE2 already patched"
+fi
+
+# Patch 3: ImfDeepTiledInputFile.h
+FILE3="${OPENEXR_DIR}/ImfDeepTiledInputFile.h"
+if ! grep -q "include <cstdint>" "$FILE3"; then
+    echo "Patching $FILE3"
+    sed -i '/^#include <ImathBox.h>/a #include <cstdint>' "$FILE3"
+else
+    echo "$FILE3 already patched"
+fi
+
+echo "OpenEXR patches applied successfully"

.github/workflows/publish-pypi.yml

@@ -0,0 +1,93 @@
+name: Publish to PyPI
+
+on:
+  workflow_dispatch:  # Allow manual trigger
+    inputs:
+      build_type:
+        description: 'Build type: full (compile from source) or quick (requires pre-built bindings)'
+        required: true
+        default: 'full'
+        type: choice
+        options:
+          - full
+          - quick
+  push:
+    tags:
+      - 'v*'  # Trigger on version tags like v0.2.2a1
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write  # Required for trusted publishing
+      contents: read
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Apply OpenEXR patches
+        run: |
+          chmod +x .github/scripts/patch-openexr.sh
+          ./.github/scripts/patch-openexr.sh
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.8'
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            cmake \
+            ninja-build \
+            libegl1-mesa-dev \
+            libgles2-mesa-dev \
+            libbullet-dev \
+            libxrandr-dev \
+            libxinerama-dev \
+            libxcursor-dev \
+            libxi-dev
+
+      - name: Install uv
+        run: |
+          curl -LsSf https://astral.sh/uv/install.sh | sh
+          echo "$HOME/.local/bin" >> $GITHUB_PATH
+
+      - name: Cache CMake build
+        uses: actions/cache@v4
+        with:
+          path: |
+            build
+            !build/bdist.*
+            !build/lib.*
+          key: cmake-build-${{ runner.os }}-py38-${{ hashFiles('src/**/*.cpp', 'src/**/*.h', 'src/CMakeLists.txt', 'cmake/**/*', 'src/deps/*/CMakeLists.txt') }}
+          restore-keys: |
+            cmake-build-${{ runner.os }}-py38-
+
+      - name: Full CMake build
+        if: github.event.inputs.build_type == 'full' || github.event_name == 'push'
+        run: |
+          python setup.py build_ext --inplace
+
+      - name: Copy compiled bindings to source tree
+        run: |
+          # Copy .so files from build dir to source tree for packaging
+          mkdir -p src_python/habitat_sim/_ext
+          cp -v build/RelWithDebInfo/lib/habitat_sim_bindings*.so src_python/habitat_sim/_ext/ || echo "Bindings already in place"
+          ls -lh src_python/habitat_sim/_ext/
+
+      - name: Build wheel
+        run: |
+          # Install wheel package for bdist_wheel command
+          pip install wheel
+          # Build wheel with bindings already in source tree
+          python setup.py bdist_wheel
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          password: ${{ secrets.PYPI_API_TOKEN }}

.gitignore

@@ -46,6 +46,7 @@ __pycache__/
 # Distribution / packaging
 .Python
 build/
+build-headless/
 develop-eggs/
 dist/
 downloads/

CLAUDE.local.md

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+# Local Fork Context
+
+## Purpose
+
+This fork exists to build and publish **habitat-sim wheels** for the **Thousand Brains Project (TBP) Monty** (`/home/vaskin/projects/tbp/`).
+
+## Problem
+
+**Habitat-sim** is officially conda-only and not available as wheels on PyPI. TBP Monty is a sensorimotor learning system that uses habitat-sim for 3D environment simulation. This project demonstrates that TBP can run entirely with UV/pip (no conda) by building custom habitat-sim wheels.
+
+## Solution
+
+This fork (`feature/uv-wsl2-support` branch) provides:
+
+1. **UV/pip-compatible wheels** - Build habitat-sim as a wheel for UV/pip workflows
+2. **WSL2 GPU support** - Environment variables to bypass CUDA device enumeration, enabling D3D12 backend
+3. **Build flexibility** - Environment variables to control submodule updates and CMake builds
+4. **Documentation** - Complete guides for building and integrating with TBP
+
+## About TBP Monty
+
+**Thousand Brains Project Monty** is an open-source sensorimotor learning system following neocortex principles. Named after Vernon Mountcastle, it implements learning through active sensing and motor interaction with 3D environments.
+
+- **Project**: https://thousandbrainsproject.org
+- **Docs**: https://thousandbrainsproject.readme.io/
+- **Repo**: https://github.com/thousandbrainsproject/tbp.monty
+
+Monty uses habitat-sim for realistic 3D object recognition tasks with vision and touch sensors.
+
+## Built Wheels
+
+Pre-built wheels are stored in `dist/` directory:
+
+```bash
+# Habitat-sim wheel for Python 3.8 (WSL2/Linux)
+dist/habitat_sim-0.2.2-cp38-cp38-linux_x86_64.whl
+
+# Magnum bindings (editable install from build directory)
+build/deps/magnum-bindings/src/python/
+```
+
+TBP uses these via `pyproject.toml` configuration:
+```toml
+[tool.uv.sources]
+habitat-sim = { path = "../habitat-sim/dist/habitat_sim-0.2.2-cp38-cp38-linux_x86_64.whl" }
+magnum = { path = "../habitat-sim/build/deps/magnum-bindings/src/python", editable = true }
+```
+
+## Key Features (feature/uv-wsl2-support branch)
+
+### Build Environment Variables
+- `HSIM_NO_SUBMODULE_UPDATE=1` - Skip git submodule updates (preserve local patches)
+- `HSIM_SKIP_CMAKE_BUILD=1` - Reuse existing CMake build (faster wheel packaging)
+
+### WSL2 GPU Compatibility
+- `HSIM_DISABLE_CUDA_DEVICE=1` - Bypass CUDA device enumeration
+- Enables D3D12 backend rendering on WSL2 with NVIDIA RTX 4090
+
+### Documentation
+- `UV_WSL2_BUILD.md` - Complete build guide
+- `OPENEXR_PATCHES.md` - Required OpenEXR submodule patches
+- Cross-references TBP UV setup documentation
+
+## Repository Structure
+
+**Upstream**: `facebookresearch/habitat-sim` (v0.2.2)
+**Fork**: `killerapp/habitat-sim`
+**Branch**: `feature/uv-wsl2-support` (5 commits ahead)
+
+### Commits on feature branch
+1. `b0519a23` - feat: Add build environment variables for UV/pip workflow
+2. `d3f83f76` - feat: Add HSIM_DISABLE_CUDA_DEVICE env var for WSL2 compatibility
+3. `b22caa0e` - docs: Document required OpenEXR submodule patches
+4. `47d87f24` - docs: Add comprehensive UV/WSL2 build guide
+5. `d9ad079b` - chore: Add UV workflow files
+
+## Related Projects
+
+### TBP Monty (Main Project)
+- **Path**: `/home/vaskin/projects/tbp/`
+- **Fork**: https://github.com/killerapp/tbp
+- **Purpose**: Sensorimotor learning system using this habitat-sim fork
+- **Documentation**: See `../tbp/UV_PROJECT.md` for complete UV setup guide
+
+### Habitat-Sim (This Fork)
+- **Path**: `/home/vaskin/projects/habitat-sim/`
+- **Fork**: https://github.com/killerapp/habitat-sim
+- **Purpose**: Build UV/pip-compatible wheels for TBP
+
+## Quick Start (For TBP Users)
+
+If TBP is already set up with UV sources configured:
+
+```bash
+cd /home/vaskin/projects/tbp
+uv sync --extra dev  # Automatically installs habitat-sim wheel from this fork
+```
+
+See TBP's `UV_PROJECT.md` for full installation instructions.

MANIFEST.in

@@ -1 +1,4 @@
 graft src_python/habitat_sim/sensors/noise_models/data
+graft src_python/habitat_sim/_ext
+include README_PYPI.md
+include README_TBP_USERS.md

OPENEXR_PATCHES.md

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+# OpenEXR Submodule Patches
+
+## Overview
+
+The OpenEXR submodule (`src/deps/openexr`) requires patches to compile with modern C++ compilers due to missing `<cstdint>` includes.
+
+## Required Changes
+
+Add `#include <cstdint>` to the following files in the OpenEXR submodule:
+
+### File 1: `src/deps/openexr/openexr-2.3.0/IlmImf/ImfTiledMisc.h`
+
+```cpp
+// After existing includes (around line 19):
+#include <ImathBox.h>
+
+#include <cstdint>  // ADD THIS LINE
+#include <stdio.h>
+#include <vector>
+```
+
+### File 2: `src/deps/openexr/openexr-2.3.0/IlmImf/ImfDeepTiledInputPart.h`
+
+```cpp
+// After existing includes (around line 13):
+#include <ImathBox.h>
+#include <cstdint>  // ADD THIS LINE
+
+OPENEXR_IMF_INTERNAL_NAMESPACE_HEADER_ENTER
+```
+
+### File 3: `src/deps/openexr/openexr-2.3.0/IlmImf/ImfDeepTiledInputFile.h`
+
+```cpp
+// After existing includes (around line 22):
+#include <ImathBox.h>
+#include <cstdint>  // ADD THIS LINE
+
+OPENEXR_IMF_INTERNAL_NAMESPACE_HEADER_ENTER
+```
+
+## Why This Is Needed
+
+Modern C++ compilers (GCC 11+, Clang 13+) require explicit inclusion of `<cstdint>` for types like `int64_t` and `uint64_t`. The OpenEXR 2.3.0 headers used in this submodule predate this requirement.
+
+## Application
+
+These patches must be applied manually after initializing submodules:
+
+```bash
+git submodule update --init --recursive
+cd src/deps/openexr
+# Apply patches to the three files listed above
+cd ../../..
+```
+
+Alternatively, set `HSIM_NO_SUBMODULE_UPDATE=1` when building if you've already applied the patches:
+
+```bash
+HSIM_NO_SUBMODULE_UPDATE=1 python -m build --wheel
+```
+
+## Upstream Status
+
+These changes are local patches. The OpenEXR submodule points to an older version (2.3.0) that is no longer maintained. Newer versions of OpenEXR (3.x+) have fixed these issues but would require significant integration work.
+
+## Related
+
+- Part of the UV/WSL2 support effort
+- See `UV_PROJECT.md` in the tbp.monty repository for full build instructions