From aa0330d06db27f6ee647a4a28c43f839fea69d0d Mon Sep 17 00:00:00 2001 From: Ludovic Henry Date: Fri, 25 Sep 2026 21:17:36 +0000 Subject: [PATCH 1/2] mink: Add version 1.3.0 --- .github/workflows/build-mink.yml | 111 +++++++++++++++++++++++++++++++ docs/packages/mink.yaml | 5 ++ 2 files changed, 116 insertions(+) create mode 100644 .github/workflows/build-mink.yml create mode 100644 docs/packages/mink.yaml diff --git a/.github/workflows/build-mink.yml b/.github/workflows/build-mink.yml new file mode 100644 index 00000000000..a62a42400f3 --- /dev/null +++ b/.github/workflows/build-mink.yml @@ -0,0 +1,111 @@ +# SPDX-FileCopyrightText: 2026 The RISE Project +# SPDX-License-Identifier: MIT +--- +# Based on upstream's own wheel build at this tag: +# https://github.com/kevinzakka/mink/blob/v1.3.0/.github/workflows/publish.yml +name: Build mink wheels (riscv64) + +on: + workflow_dispatch: + inputs: + version: + description: 'Version glob to (re)build; empty builds every version of docs/packages/mink.yaml not released yet' + required: false + default: '' + pull_request: + branches: [main] + paths: + - '.github/workflows/build-mink.yml' + - 'docs/packages/mink.yaml' + push: + branches: [main] + paths: + - '.github/workflows/build-mink.yml' + - 'docs/packages/mink.yaml' + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} + cancel-in-progress: true + +permissions: + contents: read # to fetch code (actions/checkout) + +env: + MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64 + +jobs: + setup: + uses: $/.github/workflows/_setup.yml + with: + package: mink + version: ${{ inputs.version }} + + build_wheels: + needs: [setup] + if: needs.setup.outputs.versions != '[]' + name: Build mink ${{ matrix.version }} ${{ matrix.python }}-manylinux_riscv64 + runs-on: ubuntu-24.04-riscv + timeout-minutes: 60 + strategy: + fail-fast: false + matrix: + version: ${{ fromJSON(needs.setup.outputs.versions) }} + python: + - "cp312" + - "cp313" + - "cp314" + - "cp314t" + + env: + MINK_VERSION: ${{ matrix.version }} + + steps: + - name: Checkout mink v${{ env.MINK_VERSION }} + uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 + with: + repository: kevinzakka/mink + ref: v${{ env.MINK_VERSION }} + persist-credentials: false + + - name: Build wheels + uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074 # v4.2.0 + with: + output-dir: wheelhouse/ + only: ${{ matrix.python }}-manylinux_riscv64 + env: + CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }} + # build[uv] needs a host uv for the audit step, which the riscv runner lacks (gotcha 13). + CIBW_BUILD_FRONTEND: build + # numpy (build + runtime) and the compiled runtime deps only have riscv64 wheels on our registry. + CIBW_ENVIRONMENT: >- + PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/ + PIP_ONLY_BINARY=numpy,scipy,mujoco,daqp,glfw + CIBW_TEST_REQUIRES: pytest robot_descriptions absl-py + CIBW_TEST_SOURCES: tests examples/docs examples/franka_emika_panda + # The build silently falls back to a pure wheel if CMake fails (scikit-build `if.failed` override). + CIBW_TEST_COMMAND: >- + python -c "import mink.lie._lie_ops_c as m; assert m.__file__.endswith('.so'), m.__file__" + && python -m pytest tests + + - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 + with: + name: mink-${{ env.MINK_VERSION }}-${{ matrix.python }}-manylinux_riscv64 + path: wheelhouse/*.whl + if-no-files-found: error + + publish: + name: Publish mink ${{ matrix.version }} + needs: [setup, build_wheels] + if: needs.setup.outputs.versions != '[]' + strategy: + fail-fast: false + matrix: + version: ${{ fromJSON(needs.setup.outputs.versions) }} + permissions: + contents: write + pull-requests: write + uses: $/.github/workflows/_publish-wheel.yml + secrets: + app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }} + with: + artifact-pattern: mink-${{ matrix.version }}-*-manylinux_riscv64 diff --git a/docs/packages/mink.yaml b/docs/packages/mink.yaml new file mode 100644 index 00000000000..d52ffcd0aad --- /dev/null +++ b/docs/packages/mink.yaml @@ -0,0 +1,5 @@ +package-name: mink +source-code: https://github.com/kevinzakka/mink +license: Apache-2.0 +versions: +- version: 1.3.0 From e02394d0b5e4aaa283f459b7ab4a92764029bc64 Mon Sep 17 00:00:00 2001 From: Ludovic Henry Date: Fri, 25 Sep 2026 22:43:30 +0000 Subject: [PATCH 2/2] mink: test against upstream's locked daqp 0.8.5 --- .github/workflows/build-mink.yml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-mink.yml b/.github/workflows/build-mink.yml index a62a42400f3..ea92687e432 100644 --- a/.github/workflows/build-mink.yml +++ b/.github/workflows/build-mink.yml @@ -79,12 +79,14 @@ jobs: # numpy (build + runtime) and the compiled runtime deps only have riscv64 wheels on our registry. CIBW_ENVIRONMENT: >- PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/ - PIP_ONLY_BINARY=numpy,scipy,mujoco,daqp,glfw - CIBW_TEST_REQUIRES: pytest robot_descriptions absl-py + PIP_ONLY_BINARY=numpy,scipy,mujoco,glfw + # daqp pinned to upstream's uv.lock version, built from sdist: daqp 0.9.x (our registry's + # only riscv64 build) rejects mink's no-task QP (H = 1e-12*I) as nonconvex on every arch (gotcha 583). + CIBW_TEST_REQUIRES: pytest robot_descriptions absl-py daqp==0.8.5 CIBW_TEST_SOURCES: tests examples/docs examples/franka_emika_panda # The build silently falls back to a pure wheel if CMake fails (scikit-build `if.failed` override). CIBW_TEST_COMMAND: >- - python -c "import mink.lie._lie_ops_c as m; assert m.__file__.endswith('.so'), m.__file__" + python -c "import mink.lie._lie_ops_c as m, importlib.metadata as md; assert m.__file__.endswith('.so'), m.__file__; assert md.version('daqp') == '0.8.5', md.version('daqp')" && python -m pytest tests - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1