Update structure for better Python packaging (#74)

# Pull Request

### What change is being made

Implements the Python-related changes described in #65.

### Why this change is being made

Bring the repository in a state where packaging and distributing Python
code is easier.

### Tested

Waited CI to pass.

GitOrigin-RevId: 4cbdaf3d68375ed690c7b66c63113866f507b760

Author: diegoferigo-rai

.gitignore

@@ -10,6 +10,9 @@ dist/
 *.egg-info
 *.whl
 
+# dynamic versioning
+python/**/_version.py
+
 # IsaacLab & ONNX
 IsaacLab/
 *.onnx

.ruff.toml

@@ -2,6 +2,7 @@
 
 # Ruff configuration
 line-length = 100
+src = ["python/"]
 target-version = "py311"
 
 [lint]
@@ -42,4 +43,5 @@ exclude = [
     ".pixi",
     "IsaacLab",
     "*.egg-info",
+    "python/**/_version.py",
 ]

exploy/exporter/core/pyproject.toml

@@ -32,7 +32,7 @@ ruff = "*"
 pre-commit = "*"
 
 [feature.python.pypi-dependencies]
-exploy-exporter-core = { path = "./exploy/exporter/core", editable = true }
+exploy = { path = ".", editable = true }
 build = "*"
 
 [feature.python.tasks]
@@ -81,11 +81,11 @@ setup = { depends-on = ["configure"] }
 pytest = "*"
 
 [feature.core.pypi-dependencies]
-exploy-exporter-core = { path = "./exploy/exporter/core", editable = true }
+exploy = { path = ".", editable = true }
 pytest-gitignore = "*"
 
 [feature.core.tasks]
-test-python = "PYTHONPATH=$PIXI_PROJECT_ROOT:$PYTHONPATH pytest -s $PIXI_PROJECT_ROOT/exploy/exporter/core"
+test-python = "PYTHONPATH=$PIXI_PROJECT_ROOT:$PYTHONPATH pytest -s $PIXI_PROJECT_ROOT/python/exploy/exporter/core"
 test = { depends-on = ["test-python"] }
 
 [feature.isaaclab.dependencies]
@@ -103,7 +103,7 @@ libglu = "*"
 extra-index-urls = ["https://pypi.nvidia.com"]
 
 [feature.isaaclab.pypi-dependencies]
-exploy-frameworks-isaaclab = { path = "./exploy/exporter/frameworks/isaaclab", editable = true }
+exploy = { path = ".", editable = true }
 isaaclab = { version = ">=2,<3", extras = ["all"] }
 isaacsim = { extras = ["all", "extscache"], version = ">=5,<6" }
 
@@ -115,7 +115,7 @@ export-isaaclab = { depends-on = ["export-isaaclab-g1"] }
 export-isaaclab-ci = "python examples/exporter_scripts/isaaclab/export_isaaclab.py --task Isaac-Velocity-Rough-G1-Play-v0"
 test-import = "python -c \"import isaaclab; print('Isaac Lab installed:', isaaclab.__file__)\""
 test-torch = "python -c \"import torch; print('CUDA available:', torch.cuda.is_available())\""
-test-python = "PYTHONPATH=$PIXI_PROJECT_ROOT:$PYTHONPATH pytest -s $PIXI_PROJECT_ROOT/exploy/exporter/frameworks/isaaclab/tests"
+test-python = "PYTHONPATH=$PIXI_PROJECT_ROOT:$PYTHONPATH pytest -s $PIXI_PROJECT_ROOT/python/exploy/exporter/frameworks/isaaclab/tests"
 test = { depends-on = ["test-python", "verify"] }
 verify = { depends-on = ["test-import", "test-torch"] }
 
@@ -130,8 +130,7 @@ breathe = "*"
 myst-parser = "*"
 
 [feature.docs.pypi-dependencies]
-exploy-exporter-core = { path = "./exploy/exporter/core", editable = true }
-exploy-frameworks-isaaclab = { path = "./exploy/exporter/frameworks/isaaclab", editable = true }
+exploy = { path = ".", editable = true }
 
 [feature.docs.tasks]
 doxygen = "mkdir -p docs/_build/doxygen && doxygen Doxyfile"

exploy/exporter/frameworks/isaaclab/pyproject.toml

@@ -0,0 +1,95 @@
+# Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+[project]
+description = "EXport and dePLOY Reinforcement Learning policies."
+name = "exploy"
+requires-python = ">=3.11"
+
+# Version is determined dynamically from git tags.
+dynamic = ["version"]
+
+authors = [
+    { name = "Dario Bellicoso", email = "dbellicoso@rai-inst.com" },
+    { name = "Annika Wollschläger", email = "awollschlaeger@rai-inst.com" },
+]
+maintainers = [
+    { name = "Dario Bellicoso", email = "dbellicoso@rai-inst.com" },
+    { name = "Annika Wollschläger", email = "awollschlaeger@rai-inst.com" },
+]
+
+license = { file = "LICENSE" }
+readme = "README.md"
+
+classifiers = [
+    "Framework :: Robot Framework",
+    "Intended Audience :: Developers",
+    "Intended Audience :: Science/Research",
+    "Operating System :: POSIX :: Linux",
+    "Programming Language :: Python :: 3 :: Only",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Topic :: Games/Entertainment :: Simulation",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Topic :: Scientific/Engineering :: Physics",
+    "Topic :: Software Development",
+]
+keywords = [
+    "controllers",
+    "deploy",
+    "export",
+    "onnx",
+    "policy",
+    "rl",
+    "robot",
+    "robotics",
+    "sim-to-real",
+    "training",
+]
+
+dependencies = [
+    # Dependencies of the `exploy.core` subpackage.
+    "numpy",
+    "onnx",
+    "onnxruntime",
+    "torch",
+]
+
+[project.optional-dependencies]
+all = ["exploy[isaaclab,style,testing]"]
+isaaclab = ["gymnasium", "isaaclab", "rsl-rl-lib", "torch"]
+style = ["flake8", "pre-commit", "ruff"]
+testing = ["pytest"]
+
+[project.urls]
+Changelog = "https://github.com/bdaiinstitute/exploy/releases"
+Documentation = "https://bdaiinstitute.github.io/exploy"
+Source = "https://github.com/bdaiinstitute/exploy"
+Tracker = "https://github.com/bdaiinstitute/exploy/issues"
+
+# ===========
+# Build tools
+# ===========
+
+[build-system]
+build-backend = "hatchling.build"
+requires = ["hatchling", "hatch-vcs"]
+
+[tool.hatch.version]
+source = "vcs"
+
+[tool.hatch.version.raw-options]
+version_scheme = "no-guess-dev"
+
+[tool.hatch.build.hooks.vcs]
+version-file = "python/exploy/_version.py"
+
+[tool.hatch.build.targets.sdist]
+packages = ["python/exploy"]
+
+[tool.hatch.build.targets.wheel]
+packages = ["python/exploy"]
+
+[tool.hatch.metadata]
+allow-direct-references = true

pixi.lock

@@ -1 +1,6 @@
 # Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+from ._version import __version__
+
+__all__ = [
+    "__version__",
+]