XR-Robotics · louislelay · Sep 14, 2026 · Sep 14, 2026 · Sep 14, 2026
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
@@ -0,0 +1,50 @@
+name: Wheels
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    tags: ["v*"]
+
+jobs:
+  build_sdist:
+    name: Build sdist
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv build --sdist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  build_wheels:
+    name: Wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04-arm, windows-latest]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: pypa/cibuildwheel@v3.2
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  publish:
+    name: Publish to PyPI
+    needs: [build_sdist, build_wheels]
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v')
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/.gitignore b/.gitignore
@@ -201,9 +201,9 @@ Thumbs.db
 *.egg-info/
 .vscode/
 
-include/
-lib/
-
 tmp/
 
-*.pkl
+*.pkl
+
+# Vendored prebuilt SDK binaries are intentionally tracked
+!vendor/**
diff --git a/.python-version b/.python-version
@@ -0,0 +1 @@
+3.13
diff --git a/CLAUDE.md b/CLAUDE.md
@@ -23,41 +23,27 @@ Key components:
 
 ## Build Commands
 
-### Ubuntu/Linux Setup and Build
-```bash
-# Full setup (downloads dependencies and builds)
-bash setup_ubuntu.sh
-
-# Manual build after setup
-python setup.py install
-
-# Clean build artifacts
-python setup.py clean
-```
+The project is uv-first and uses scikit-build-core as its build backend.
+Prebuilt PXREARobotSDK binaries are vendored in `vendor/` (Linux x86_64,
+Linux aarch64, Windows amd64), so no SDK download or build step is needed.
+Building the extension is only possible on Linux and Windows; macOS is
+unsupported (no vendor binaries exist).
 
-### Windows Setup and Build
-```batch
-# Full setup (downloads dependencies and builds)
-setup_windows.bat
-
-# Manual build after setup
-python setup.py install
-```
-
-### Development Commands
 ```bash
-# Uninstall existing package
-pip uninstall -y xrobotoolkit_sdk
+# Create .venv (Python from .python-version), build and install the package
+uv sync
 
-# Install pybind11 dependency
-conda install -c conda-forge pybind11
-# or
-pip install pybind11
+# Run an example inside the project venv
+uv run examples/example.py
 
-# Build and install
-python setup.py install
+# Build sdist + wheel
+uv build
 ```
 
+Release wheels are built by cibuildwheel in `.github/workflows/wheels.yml`
+(manylinux_2_34 for both Linux arches, dictated by the vendored libraries'
+glibc requirements — see `vendor/README.md`).
+
 ## Data Flow and Threading
 
 The SDK uses a callback-based architecture:
@@ -84,13 +70,12 @@ The SDK uses a callback-based architecture:
 
 ## Dependencies
 
-### Required
-- pybind11 (Python binding framework)
-- CMake (build system)
-- XRoboToolkit-PC-Service SDK (automatically downloaded during setup)
+### Required (build time)
+- CMake >= 3.18 and a C++17 compiler
+- pybind11 and scikit-build-core (fetched automatically by the build backend)
 
-### Platform-specific Libraries
-- Linux: `libPXREARobotSDK.so`
+### Platform-specific Libraries (vendored in `vendor/`)
+- Linux: `libPXREARobotSDK.so` (x86_64 and aarch64 variants)
 - Windows: `PXREARobotSDK.dll` and `PXREARobotSDK.lib`
 
 ## Testing

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,54 +1,43 @@
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.18)
 
-project(MyPybind11Project LANGUAGES CXX)
+project(xrobotoolkit_sdk LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-cmake_host_system_information(RESULT ISA_NAME QUERY OS_PLATFORM) # Added: Important for UNIX specific logic
-message(STATUS "OS_PLATFORM (ISA_NAME): ${ISA_NAME}")
+find_package(pybind11 CONFIG REQUIRED)
 
-include(GNUInstallDirs) # Add this line
-find_package(pybind11 REQUIRED)
-
-# Python Bindings for py_bindings.cpp
-pybind11_add_module(xrobotoolkit_sdk MODULE bindings/py_bindings.cpp)
-
-# Link xrobotoolkit_sdk module against pybind11
-target_link_libraries(xrobotoolkit_sdk PRIVATE pybind11::module)
-
-# Add include directories and link libraries for PXREARobotSDK to xrobotoolkit_sdk target
+# --- Select the vendored prebuilt PXREARobotSDK for the target platform ---
+# Binaries are checked into vendor/ (see vendor/README.md for provenance).
 if(WIN32)
-  target_include_directories(xrobotoolkit_sdk PUBLIC
-      ${PROJECT_SOURCE_DIR}/include
-  )
-  target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib)
-  target_link_libraries(xrobotoolkit_sdk PUBLIC
-      PXREARobotSDK.dll # Assuming this is how PXREARobotSDK is linked, mirroring ConsoleDemo
-  )
-endif()
-
-if(UNIX)
-  # ISA_NAME is set by cmake_host_system_information above
-  if(ISA_NAME STREQUAL "aarch64")
-    target_include_directories(xrobotoolkit_sdk PUBLIC
-        ${PROJECT_SOURCE_DIR}/include/aarch64
-    )
-    target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib/aarch64)
+  set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/windows_amd64")
+  set(XRT_VENDOR_IMPLIB "${XRT_VENDOR_DIR}/PXREARobotSDK.lib")
+  set(XRT_VENDOR_RUNTIME "${XRT_VENDOR_DIR}/PXREARobotSDK.dll")
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+    set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/linux_aarch64")
   else()
-    target_include_directories(xrobotoolkit_sdk PUBLIC
-        ${PROJECT_SOURCE_DIR}/include
-    )
-    target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib)
+    set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/linux_x86_64")
   endif()
-  target_link_libraries(xrobotoolkit_sdk PUBLIC
-      PXREARobotSDK
-  )
+  set(XRT_VENDOR_IMPLIB "${XRT_VENDOR_DIR}/libPXREARobotSDK.so")
+  set(XRT_VENDOR_RUNTIME "${XRT_VENDOR_DIR}/libPXREARobotSDK.so")
+else()
+  message(FATAL_ERROR
+    "Unsupported platform '${CMAKE_SYSTEM_NAME}'. PXREARobotSDK ships prebuilt "
+    "binaries for Linux (x86_64, aarch64) and Windows (amd64) only.")
+endif()
+
+pybind11_add_module(_core MODULE bindings/py_bindings.cpp)
+
+target_include_directories(_core PRIVATE "${PROJECT_SOURCE_DIR}/vendor/include")
+target_link_libraries(_core PRIVATE "${XRT_VENDOR_IMPLIB}")
+
+# The extension and the vendored shared library are installed side by side in
+# the package directory; $ORIGIN makes the dynamic linker look there first.
+# (On Windows, __init__.py calls os.add_dll_directory instead.)
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  set_target_properties(_core PROPERTIES INSTALL_RPATH "$ORIGIN")
 endif()
 
-# Install the Python module
-install(TARGETS xrobotoolkit_sdk
-    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} # Installs to <prefix>/lib
-                                                # You might want a Python-specific path like:
-                                                # DESTINATION lib/python${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}/site-packages
-)
+install(TARGETS _core LIBRARY DESTINATION xrobotoolkit_sdk)
+install(FILES "${XRT_VENDOR_RUNTIME}" DESTINATION xrobotoolkit_sdk)
diff --git a/README.md b/README.md
@@ -4,49 +4,45 @@ This project provides a python interface to extract XR state using XRoboToolkit-
 
 ## Requirements
 
-- [`pybind11`](https://github.com/pybind/pybind11)
-- [`XRoboRoolkit PC Service`](https://github.com/XR-Robotics/XRoboToolkit-PC-Service#)
+- Linux (x86_64 or aarch64, e.g. NVIDIA Orin) or Windows (x64), Python >= 3.10
+- A running [XRoboToolkit PC Service](https://github.com/XR-Robotics/XRoboToolkit-PC-Service) with a connected PICO headset (at runtime)
 
-## Building the Project
-### Ubuntu 22.04
+The prebuilt `PXREARobotSDK` binaries are vendored in `vendor/`, so no manual
+SDK download or build is needed.
 
+## Installation
+
+### From PyPI (once published)
+
+```bash
+uv add xrobotoolkit-sdk
+# or
+pip install xrobotoolkit-sdk
 ```
-conda remove --name xr --all
-conda create -n xr python=3.10
-conda activate xr
-
-mkdir -p tmp
-cd tmp
-git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
-cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK 
-bash build.sh
-cd ../../../..
-
-mkdir -p lib
-mkdir -p include
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/PXREARobotSDK.h include/
-cp -r tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/nlohmann include/nlohmann/
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/
-# rm -rf tmp
-
-# Build the project
-conda install -c conda-forge pybind11
-
-pip uninstall -y xrobotoolkit_sdk
-python setup.py install
-```
-### Linux Ubuntu 22.04 arm64 version (Nvidia orin supported)
-```
-bash setup_orin.sh
-```
-### Windows
 
-**Ensure pybind11 is installed before running the following command.**
+### From source
 
+If you do not have [uv](https://docs.astral.sh/uv/) installed, run:
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
 ```
-setup_windows.bat
+
+Then (requires CMake and a C++17 compiler):
+
+```bash
+git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind.git
+cd XRoboToolkit-PC-Service-Pybind
+uv sync
 ```
 
+`uv sync` creates `.venv/` with the Python version pinned in `.python-version`,
+builds the extension, and installs the package into it. Run scripts with e.g.
+`uv run examples/example.py`.
+
+To build distributable artifacts locally: `uv build` (wheels for Linux/Windows
+are also built in CI via cibuildwheel, see `.github/workflows/wheels.yml`).
+
 ## Using the Python Bindings
 
 **1. Get Controller and Headset Poses**

diff --git a/bindings/py_bindings.cpp b/bindings/py_bindings.cpp
@@ -495,7 +495,7 @@ int SendBytesToDeviceWrapper(const std::string& dev_id, pybind11::bytes blob) {
 }
 
 
-PYBIND11_MODULE(xrobotoolkit_sdk, m) {
+PYBIND11_MODULE(_core, m) {
     m.def("init", &init, "Initialize the PXREARobot SDK.");
     m.def("close", &deinit, "Deinitialize the PXREARobot SDK.");
     m.def("get_left_controller_pose", &getLeftControllerPose, "Get the left controller pose.");

diff --git a/pyproject.toml b/pyproject.toml
@@ -0,0 +1,53 @@
+[build-system]
+requires = ["scikit-build-core>=0.11", "pybind11>=2.13"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "xrobotoolkit-sdk"
+version = "1.1.0"
+description = "Python bindings for the XRoboToolkit PC Service SDK (PICO XR controller, hand, and body tracking)."
+readme = "README.md"
+license = "MIT"
+license-files = ["LICENSE"]
+authors = [{ name = "Zhigen Zhao", email = "zhigen.zhao@bytedance.com" }]
+requires-python = ">=3.10"
+classifiers = [
+  "Programming Language :: Python :: 3",
+  "Programming Language :: C++",
+  "Operating System :: POSIX :: Linux",
+  "Operating System :: Microsoft :: Windows",
+  "Topic :: Scientific/Engineering",
+]
+
+[project.urls]
+Homepage = "https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind"
+Upstream = "https://github.com/XR-Robotics/XRoboToolkit-PC-Service"
+
+[tool.scikit-build]
+minimum-version = "build-system.requires"
+wheel.packages = ["src/xrobotoolkit_sdk"]
+
+# Rebuild the extension when any of these change (uv caches builds otherwise).
+[tool.uv]
+cache-keys = [
+  { file = "pyproject.toml" },
+  { file = "CMakeLists.txt" },
+  { file = "bindings/**" },
+  { file = "vendor/**" },
+]
+
+[tool.cibuildwheel]
+archs = ["auto64"]
+# Skip musl (no vendored musl lib) and free-threaded CPython (pybind11
+# free-threading support is experimental; Windows link also fails on it).
+skip = "*-musllinux* cp3*t-*"
+test-command = 'python -c "import xrobotoolkit_sdk"'
+
+[tool.cibuildwheel.linux]
+# The vendored aarch64 libPXREARobotSDK.so requires glibc >= 2.34, the x86_64
+# one glibc >= 2.29, so manylinux_2_34 is the oldest tag both can claim.
+manylinux-x86_64-image = "manylinux_2_34"
+manylinux-aarch64-image = "manylinux_2_34"
+# libPXREARobotSDK.so is already bundled in the package with rpath $ORIGIN;
+# exclude it so auditwheel does not graft a second copy into .libs.
+repair-wheel-command = "auditwheel repair --exclude libPXREARobotSDK.so -w {dest_dir} {wheel}"