mink: Add version 1.3.0

.github/workflows/build-mink.yml

@@ -0,0 +1,113 @@
+# 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: ${{ env.MANYLINUX_RISCV64_IMAGE }}
+          # build[uv] needs a host uv for the audit step, which the riscv runner lacks (gotcha 13).
+          CIBW_BUILD_FRONTEND: build
+          # numpy (build + runtime) and the compiled runtime deps only have riscv64 wheels on our registry.
+          CIBW_ENVIRONMENT: >-
+            PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/
+            PIP_ONLY_BINARY=numpy,scipy,mujoco,glfw
+          # daqp pinned to upstream's uv.lock version, built from sdist: daqp 0.9.x (our registry's
+          # only riscv64 build) rejects mink's no-task QP (H = 1e-12*I) as nonconvex on every arch (gotcha 583).
+          CIBW_TEST_REQUIRES: pytest robot_descriptions absl-py daqp==0.8.5
+          CIBW_TEST_SOURCES: tests examples/docs examples/franka_emika_panda
+          # The build silently falls back to a pure wheel if CMake fails (scikit-build `if.failed` override).
+          CIBW_TEST_COMMAND: >-
+            python -c "import mink.lie._lie_ops_c as m, importlib.metadata as md; assert m.__file__.endswith('.so'), m.__file__; assert md.version('daqp') == '0.8.5', md.version('daqp')"
+            && python -m pytest tests
+
+      - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a  # v7.0.1
+        with:
+          name: mink-${{ 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

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