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Vibe coded prototype of cibuildwheel
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‎.github/scripts/build_roboplan_deps.sh‎

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#!/bin/bash
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# Runs as CIBW_BEFORE_ALL inside the manylinux container.
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# Installs C++ dependencies via micromamba and builds all roboplan sub-packages
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# so that the bindings wheel can find them via CMAKE_PREFIX_PATH.
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set -euxo pipefail
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PROJECT_DIR="${1:-/project}"
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CONDA_ENV="/opt/cibw_env"
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INSTALL_PREFIX="/opt/roboplan_deps"
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# ---------------------------------------------------------------------------
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# 1. Install micromamba (static binary, works in any Linux container)
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# ---------------------------------------------------------------------------
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curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest \
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| tar -xvj -C /usr/local bin/micromamba
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# ---------------------------------------------------------------------------
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# 2. Create conda environment with all C++ build + runtime dependencies.
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# - osqp-eigen / libtoppra are NOT listed here; roboplan_oink and
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# roboplan_toppra fall back to FetchContent when they are absent, so
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# cmake will download and build them automatically.
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# ---------------------------------------------------------------------------
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/usr/local/bin/micromamba create \
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--prefix "$CONDA_ENV" \
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--channel conda-forge \
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--yes \
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"cmake>=3.22" ninja \
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"gcc>=11,<12" "gxx>=11,<12" \
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"eigen>=3.4" \
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"pinocchio>=3.9.0,<4" \
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"yaml-cpp>=0.8"
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CMAKE="$CONDA_ENV/bin/cmake"
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GCC="$CONDA_ENV/bin/gcc"
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GXX="$CONDA_ENV/bin/g++"
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# ---------------------------------------------------------------------------
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# 3. Build and install every roboplan sub-package.
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# Order mirrors pixi.toml build_all task.
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# ---------------------------------------------------------------------------
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build_and_install() {
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local NAME="$1"
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"$CMAKE" \
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-GNinja \
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-S "$PROJECT_DIR/$NAME" \
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-B "/tmp/build/$NAME" \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_TESTING=OFF \
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"-DCMAKE_INSTALL_PREFIX=$INSTALL_PREFIX" \
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"-DCMAKE_PREFIX_PATH=$CONDA_ENV;$INSTALL_PREFIX" \
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"-DCMAKE_C_COMPILER=$GCC" \
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"-DCMAKE_CXX_COMPILER=$GXX"
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"$CMAKE" --build "/tmp/build/$NAME" --parallel "$(nproc)"
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"$CMAKE" --install "/tmp/build/$NAME"
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}
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build_and_install roboplan_example_models
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build_and_install roboplan
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build_and_install roboplan_simple_ik
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build_and_install roboplan_oink
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build_and_install roboplan_toppra
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build_and_install roboplan_rrt

‎.github/workflows/publish_wheels.yml‎

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name: Build and publish wheels
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on:
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# Build (smoke-test) on pushes to main; build + publish on version tags.
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push:
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# branches: [main]
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# tags: ["v*"]
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# Manual trigger
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workflow_dispatch:
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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build_wheels:
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name: Build wheels (Linux x86_64)
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runs-on: ubuntu-22.04
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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with:
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submodules: true
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- name: Build wheels
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uses: pypa/cibuildwheel@v2.22.0
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with:
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# Build the bindings sub-package, not the repo root.
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package-dir: bindings/
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output-dir: wheelhouse/
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- name: Upload wheels as artifact
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uses: actions/upload-artifact@v4
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with:
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name: wheels
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path: wheelhouse/*.whl
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publish:
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name: Publish to PyPI
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needs: build_wheels
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runs-on: ubuntu-22.04
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# Only publish on version tags.
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if: startsWith(github.ref, 'refs/tags/v')
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environment:
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name: pypi
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url: https://pypi.org/p/roboplan
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permissions:
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id-token: write # Required for PyPI trusted publishing (OIDC)
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steps:
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- name: Download wheels
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uses: actions/download-artifact@v4
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with:
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name: wheels
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path: dist/
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- name: Publish to PyPI
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uses: pypa/gh-action-pypi-publish@release/v1

‎bindings/pyproject.toml‎

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# Setuptools-style build caching in a local directory
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build-dir = "build/{wheel_tag}"
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# ---------------------------------------------------------------------------
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# cibuildwheel — produces manylinux_2_28 wheels for PyPI
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#
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# Only one Python version is built because the extension uses nanobind's
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# STABLE_ABI + NB_STATIC flags, which produce a cp310-abi3 wheel that is
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# compatible with Python 3.10 and all later versions.
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#
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# The before-all script:
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# 1. Installs micromamba and creates a conda-forge environment with the
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# C++ build tools and runtime libraries (eigen, pinocchio, yaml-cpp …).
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# 2. Builds every roboplan sub-package and installs them to
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# /opt/roboplan_deps so cmake can find them via CMAKE_PREFIX_PATH.
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# roboplan_oink and roboplan_toppra use FetchContent fallbacks for
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# osqp-eigen and libtoppra, so those are not listed in the conda env.
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#
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# auditwheel repair (run automatically by cibuildwheel) bundles all
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# non-manylinux shared libraries into the wheel, making it self-contained.
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# ---------------------------------------------------------------------------
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[tool.cibuildwheel]
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build = ["cp310-manylinux_x86_64"]
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manylinux-x86_64-image = "manylinux_2_28"
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before-all = "bash {project}/.github/scripts/build_roboplan_deps.sh {project}"
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[tool.cibuildwheel.environment]
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CMAKE_PREFIX_PATH = "/opt/roboplan_deps:/opt/cibw_env"
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LD_LIBRARY_PATH = "/opt/roboplan_deps/lib:/opt/cibw_env/lib:$LD_LIBRARY_PATH"

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