[ci][dartpy] Initial setup

.github/workflows/publish_dartpy.yml

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+name: Publish dartpy
+
+on:
+  push:
+    branches:
+      - "**"
+  schedule:
+    - cron: "0 10 * * 0,3"
+
+# This workflow will install Python dependencies, run tests and lint with a
+# variety of Python versions. For more information see:
+#   - https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+#   - https://github.com/pypa/cibuildwheel/blob/main/examples/github-deploy.yml
+jobs:
+  check_format:
+    name: Check format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.11
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install black -U
+          pip install isort -U
+
+      - name: Check format
+        run: |
+          black --check --diff .
+
+      - name: Check import
+        run: |
+          isort --check --diff .
+
+  build_wheels:
+    name: ${{ matrix.os }}-${{ matrix.build }}
+    runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ matrix.experimental }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+        build: ["cp37-manylinux_x86_64"]
+        toolchain_file: [""]
+        experimental: [false]
+        release_only: [true]
+
+        include:
+          - os: ubuntu-latest
+            build: "cp38-manylinux_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: ubuntu-latest
+            build: "cp39-manylinux_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: ubuntu-latest
+            build: "cp310-manylinux_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: ubuntu-latest
+            build: "cp311-manylinux_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: false
+
+          - os: macos-latest
+            build: "cp38-macosx_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: macos-latest
+            build: "cp39-macosx_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: macos-latest
+            build: "cp310-macosx_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: true
+
+          - os: macos-latest
+            build: "cp311-macosx_x86_64"
+            toolchain_file: ""
+            experimental: false
+            release_only: false
+
+          - os: windows-latest
+            build: "cp38-win_amd64"
+            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
+            experimental: false
+            release_only: true
+
+          - os: windows-latest
+            build: "cp39-win_amd64"
+            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
+            experimental: false
+            release_only: true
+
+          - os: windows-latest
+            build: "cp310-win_amd64"
+            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
+            experimental: false
+            release_only: true
+
+          - os: windows-latest
+            build: "cp311-win_amd64"
+            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
+            experimental: false
+            release_only: false
+
+          - os: windows-latest
+            build: "cp311-win_arm64"
+            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
+            experimental: true
+            release_only: false
+
+    env:
+      CIBW_BUILD: ${{ matrix.build }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: johnwason/vcpkg-action@v6
+        with:
+          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 nlopt ode opengl osg pagmo2 pybind11 tinyxml2 urdfdom
+          triplet: x64-windows
+          revision: "2024.02.14"
+          github-binarycache: true
+          token: ${{ github.token }}
+
+      - name: Build wheels
+        if: ${{ matrix.release_only == false || github.ref == 'refs/heads/main' }}
+        uses: pypa/[email protected]
+        env:
+          # Common
+          DART_IN_CI: ON
+
+          # macOS
+          MACOSX_DEPLOYMENT_TARGET: 10.15
+
+          # Windows
+          CMAKE_TOOLCHAIN_FILE: ${{ matrix.toolchain_file }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          path: ./wheelhouse/*.whl
+
+  # TODO: Disabled because installing from source doesn't work when the deps are not
+  # installed in the system
+  # build_sdist:
+  #   name: Build source distribution
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - uses: actions/checkout@v4
+
+  #     - name: Build SDist
+  #       run: pipx run build --sdist
+
+  #     - uses: actions/upload-artifact@v4
+  #       with:
+  #         path: dist/*.tar.gz
+
+  upload_pypi:
+    # needs: [build_wheels, build_sdist]
+    needs: [build_wheels]
+    runs-on: ubuntu-latest
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    # upload to PyPI on every tag starting with 'release-'
+    # if: github.event_name == 'push' && startsWith(github.ref, 'release-')
+    # alternatively, to publish when a GitHub Release is created, use the following rule:
+    # if: github.event_name == 'release' && github.event.action == 'published'
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          # unpacks default artifact into dist/
+          # if `name: artifact` is omitted, the action will create extra parent dir
+          name: artifact
+          path: dist
+
+      - uses: pypa/[email protected]
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_TOKEN }}
+          # To test: repository_url: https://test.pypi.org/legacy/
+          skip_existing: true