Get pin from pypi

Author: sea-bass

.github/scripts/repair_wheel.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+# Repair a wheel with auditwheel, excluding the pinocchio ecosystem shared
+# libraries. These are provided at runtime by the "pin" PyPI package and must
+# not be bundled into the wheel.
+#
+# Usage: repair_wheel.sh <wheel> <dest_dir>
+set -euxo pipefail
+
+WHEEL="$1"
+DEST_DIR="$2"
+CONDA_ENV="/opt/cibw_env"
+
+# Build --exclude flags for every pinocchio-ecosystem .so in the conda env.
+# Everything else (yaml-cpp, osqp, toppra, roboplan sub-packages, etc.) is
+# bundled normally by auditwheel.
+EXCLUDES=$(find "$CONDA_ENV/lib" -maxdepth 1 \
+  \( \
+    -name "libpinocchio*.so*"    \
+    -o -name "libcoal*.so*"      \
+    -o -name "libhpp-fcl*.so*"   \
+    -o -name "liburdfdom*.so*"   \
+    -o -name "libconsole_bridge*.so*" \
+    -o -name "libassimp*.so*"    \
+    -o -name "libboost*.so*"     \
+    -o -name "libcasadi*.so*"    \
+    -o -name "liboctomap*.so*"   \
+    -o -name "liboctomath*.so*"  \
+  \) \
+  -printf "--exclude %f\n" 2>/dev/null \
+  | sort -u | tr '\n' ' ')
+
+echo "Pinocchio ecosystem excluded from bundling: $EXCLUDES"
+# shellcheck disable=SC2086
+auditwheel repair -w "$DEST_DIR" $EXCLUDES "$WHEEL"

bindings/pyproject.toml

@@ -14,6 +14,9 @@ authors = [
 classifiers = [
     "License :: OSI Approved :: MIT License",
 ]
+dependencies = [
+    "pin>=3.9.0,<4",
+]
 
 [project.urls]
 Homepage = "https://github.com/sea-bass/roboplan"
@@ -46,9 +49,9 @@ build-dir = "build/{wheel_tag}"
 # ---------------------------------------------------------------------------
 [tool.cibuildwheel]
 build = ["cp310-manylinux_x86_64"]
-manylinux-x86_64-image = "quay.io/pypa/manylinux_2_39_x86_64"
+manylinux-x86_64-image = "manylinux_2_28"
 before-all = "bash {project}/.github/scripts/build_roboplan_deps.sh {project}"
-repair-wheel-command = "auditwheel show {wheel}; auditwheel repair -w {dest_dir} {wheel}"
+repair-wheel-command = "bash /project/.github/scripts/repair_wheel.sh {wheel} {dest_dir}"
 
 [tool.cibuildwheel.environment]
 CMAKE_PREFIX_PATH = "/opt/roboplan_deps:/opt/cibw_env"

bindings/src/roboplan/__init__.py

@@ -1,6 +1,11 @@
 # This permits the modules to be used as, e.g.,
 #    from roboplan.core import Box
 import sys
+
+# Load pinocchio's shared libraries before the extension so the dynamic linker
+# can resolve them at runtime. pinocchio is provided by the "pin" package.
+import pinocchio  # noqa: F401
+
 from .roboplan_ext import __version__
 from .roboplan_ext import core as _core
 from .roboplan_ext import example_models as _example_models