Build macOS wheels, use Python 3.10-3.14 everywhere, fix dqrobotics resolution

.github/workflows/publish.yml

@@ -13,8 +13,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, ubuntu-24.04-arm, windows-latest]
-        python-version: ["3.10", "3.11", "3.12"]
+        # The same Python versions on every platform: the ones dqrobotics
+        # publishes wheels for (3.10-3.14 on Linux x86_64/aarch64, macOS arm64
+        # and Windows).
+        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, windows-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
+
+    # macOS: the oldest macOS the wheel supports (the dqrobotics library that
+    # delocate bundles into it is built with the same target).
+    env:
+      MACOSX_DEPLOYMENT_TARGET: "14.0"
 
     steps:
       - uses: actions/checkout@v6
@@ -46,7 +54,10 @@ jobs:
           sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
 
       # ── macOS dependencies ──────────────────────────────────────
-      # (macOS is not in the matrix yet; kept for when it is added.)
+      # Eigen from Homebrew, and dqrobotics built from source (there is no
+      # Homebrew formula) and installed into the runner's temporary directory,
+      # which the build step passes to CMake. dqrobotics and this package use
+      # the same Eigen, since Eigen types cross their interface.
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
         run: |
@@ -55,9 +66,17 @@ jobs:
           git clone --depth 1 https://github.com/dqrobotics/cpp.git dqrobotics/cpp
           cmake -S dqrobotics/cpp -B dqrobotics/cpp/build \
                 -DCMAKE_BUILD_TYPE=Release \
-                -DCMAKE_PREFIX_PATH="$(brew --prefix)"
+                -DCMAKE_PREFIX_PATH="$(brew --prefix)" \
+                -DCMAKE_INSTALL_PREFIX="$RUNNER_TEMP/dqrobotics"
           cmake --build dqrobotics/cpp/build -j
-          cmake --install dqrobotics/cpp/build --prefix /usr/local
+          cmake --install dqrobotics/cpp/build
+          echo "CMAKE_ARGS=-DCMAKE_PREFIX_PATH=$(brew --prefix);$RUNNER_TEMP/dqrobotics" >> "$GITHUB_ENV"
+          # The python.org Pythons of setup-python are universal2 builds, so
+          # setuptools would tag the wheel universal2; the extension and the
+          # dqrobotics it links are arm64 only. ARCHFLAGS makes setup.py pass
+          # the architecture to CMake, and _PYTHON_HOST_PLATFORM tags the wheel.
+          echo "ARCHFLAGS=-arch arm64" >> "$GITHUB_ENV"
+          echo "_PYTHON_HOST_PLATFORM=macosx-${MACOSX_DEPLOYMENT_TARGET}-arm64" >> "$GITHUB_ENV"
 
       # ── Windows dependencies ────────────────────────────────────
       # dqrobotics/cpp expects the vcpkg toolchain at C:/vcpkg.
@@ -95,7 +114,7 @@ jobs:
           pip install build
           python -m build --wheel
         env:
-          CMAKE_ARGS: ${{ runner.os == 'Windows' && '-DCMAKE_PREFIX_PATH=C:/dqrobotics' || '' }}
+          CMAKE_ARGS: ${{ runner.os == 'Windows' && '-DCMAKE_PREFIX_PATH=C:/dqrobotics' || env.CMAKE_ARGS }}
 
       # PyPI rejects wheels tagged `linux_x86_64`/`linux_aarch64` (it requires
       # a PEP 600 `manylinux` tag). auditwheel relinks/bundles as needed and
@@ -113,6 +132,41 @@ jobs:
           auditwheel repair --plat auto -w dist/ dist/*linux_${arch}.whl
           rm -f dist/*linux_${arch}.whl
 
+      # macOS: bundle libdqrobotics.dylib into the wheel (as auditwheel does
+      # on Linux) and retag it for MACOSX_DEPLOYMENT_TARGET.
+      - name: Repair wheel (macOS, delocate)
+        if: runner.os == 'macOS'
+        run: |
+          pip install delocate
+          delocate-wheel -v -w dist/repaired dist/*.whl
+          rm -f dist/*.whl
+          mv dist/repaired/*.whl dist/
+          rmdir dist/repaired
+
+      # Install the wheel in a clean environment and use it. --no-deps: only
+      # papers.icra2019 needs marinholab-solvers-qpoases, whose wheels do not
+      # cover every platform and Python version; dqrobotics comes from its
+      # pre-releases, the ones with wheels for Python >= 3.10.
+      - name: Smoke test
+        shell: bash
+        run: |
+          python -m venv smoke
+          if [ "$RUNNER_OS" = "Windows" ]; then PY=smoke/Scripts/python; else PY=smoke/bin/python; fi
+          $PY -m pip install --upgrade pip
+          $PY -m pip install --pre dqrobotics numpy termcolor
+          $PY -m pip install --no-deps dist/*.whl
+          cd "$RUNNER_TEMP"
+          $GITHUB_WORKSPACE/$PY -c "
+          import numpy as np
+          from dqrobotics import DQ
+          from marinholab.sas.core import Clock, SerialManipulatorSimulatorFriendly as SM
+          arm = SM(offset_before=[DQ([1])] * 3, offset_after=[DQ([1])] * 3,
+                   actuation_types=[SM.ActuationType.RX, SM.ActuationType.RY, SM.ActuationType.RZ])
+          q = np.array([0.1, -0.2, 0.3])
+          assert np.shape(arm.raw_pose_jacobian(q, 2)) == (8, 3)
+          print(arm.raw_fkm(q, 2))
+          "
+
       - name: Upload wheel artifact
         uses: actions/upload-artifact@v6
         with:

CMakeLists.txt

@@ -18,6 +18,27 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
 set(MARINHO_LAB_SAS_CORE_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
 
+# The dqrobotics headers include both <Eigen/Dense> and <eigen3/Eigen/Dense>.
+# The Eigen3 package provides <prefix>/include/eigen3, which resolves the first;
+# the second needs <prefix>/include, which is on the default search path on
+# Linux (/usr/include) and Windows (the vcpkg include root) but not on macOS
+# (Homebrew's /opt/homebrew/include). Rather than adding all of that prefix
+# (which could shadow, e.g., the pybind11 submodule with a Homebrew pybind11),
+# expose only Eigen: a directory in the build tree holding an "eigen3" link to
+# Eigen's include directory. include_directories applies to sas_cpp as well,
+# since it is added below.
+find_package(Eigen3 REQUIRED)
+if(NOT WIN32)
+    get_target_property(_eigen3_include_dirs Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+    list(GET _eigen3_include_dirs 0 _eigen3_include_dir)
+    set(_eigen3_shim "${CMAKE_BINARY_DIR}/eigen3_include_shim")
+    file(MAKE_DIRECTORY "${_eigen3_shim}")
+    if(NOT EXISTS "${_eigen3_shim}/eigen3")
+        file(CREATE_LINK "${_eigen3_include_dir}" "${_eigen3_shim}/eigen3" SYMBOLIC)
+    endif()
+    include_directories(SYSTEM "${_eigen3_shim}")
+endif()
+
 add_subdirectory(submodules/sas_cpp)
 
 set(PYBIND11_FINDPYTHON ON)

README.md

@@ -33,6 +33,16 @@ which registers the dual-quaternion types the bindings expose.
 
 ## Installation
 
+From PyPI, with wheels for Python 3.10–3.14 on Linux (x86_64, aarch64), macOS
+(arm64, 14.0 or later) and Windows (x86_64):
+
+```bash
+pip install marinholab-sas-core
+```
+
+The wheels match the Python versions that `dqrobotics` publishes wheels for,
+in its pre-releases, which the requirement `dqrobotics>=26.4.0a7` selects.
+
 From source:
 
 ```bash
@@ -51,6 +61,19 @@ sudo add-apt-repository -y ppa:dqrobotics-dev/development
 sudo apt install libdqrobotics
 ```
 
+On macOS, Eigen comes from Homebrew and `dqrobotics` is built from source
+(there is no Homebrew formula), with the same Eigen:
+
+```bash
+brew install eigen cmake ninja
+git clone --depth 1 https://github.com/dqrobotics/cpp.git dqrobotics-cpp
+cmake -S dqrobotics-cpp -B dqrobotics-cpp/build -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_PREFIX_PATH="$(brew --prefix)" -DCMAKE_INSTALL_PREFIX="$HOME/.local/dqrobotics"
+cmake --build dqrobotics-cpp/build -j && cmake --install dqrobotics-cpp/build
+CMAKE_ARGS="-DCMAKE_PREFIX_PATH=$(brew --prefix);$HOME/.local/dqrobotics" \
+    pip install . --no-build-isolation
+```
+
 ## Usage
 
 ```python
@@ -95,8 +118,8 @@ from marinholab.sas.core import SerialManipulatorSimulatorFriendly
 
 # 3 revolute joints about X, Y, Z with zero per-joint offsets.
 arm = SerialManipulatorSimulatorFriendly(
-    offset_before=[DQ(1), DQ(1), DQ(1)],
-    offset_after=[DQ(1), DQ(1), DQ(1)],
+    offset_before=[DQ([1]), DQ([1]), DQ([1])],
+    offset_after=[DQ([1]), DQ([1]), DQ([1])],
     actuation_types=[
         SerialManipulatorSimulatorFriendly.ActuationType.RX,
         SerialManipulatorSimulatorFriendly.ActuationType.RY,

pyproject.toml

@@ -21,9 +21,22 @@ maintainers = [
     {name = "Murilo M. Marinho", email = "murilomarinho@ieee.org"}
 ]
 dynamic = ["version"]
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
+    "Operating System :: POSIX :: Linux",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
+]
 dependencies = [
     "numpy",
-    "dqrobotics>=20.4.0",
+    # Only dqrobotics' pre-releases have wheels for Python >= 3.10; naming a
+    # pre-release here lets pip choose them (with ">=20.4.0" it does not).
+    "dqrobotics>=26.4.0a7",
     "marinholab-solvers-qpoases",
     "termcolor",
 ]