Add CI job to publish to PyPI.

.github/workflows/python.yaml

@@ -1,6 +1,6 @@
 name: python
 
-on: [push, pull_request]
+on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build_wheels:
@@ -11,7 +11,7 @@ jobs:
           - os: ubuntu-latest
             target: x86_64
           - os: macos-latest
-            target: universal2-apple-darwin
+            target: x86_64
 
     steps:
       - name: checkout
@@ -28,30 +28,50 @@ jobs:
         with:
           python-version: 3.9
           architecture: x64
-      - uses: Swatinem/rust-cache@v2
       - name: build wheel
         uses: PyO3/maturin-action@v1
         with:
           target: ${{ matrix.target }}
+          args: --release --out dist
           manylinux: auto
-          args: --release -m crates/optik-py/Cargo.toml --out dist
+          sccache: true
+      - name: delocate wheel (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          pip install delocate
+          delocate-wheel -v dist/*.whl
       - name: install built wheel
         run: |
-          pip install optik_py --no-index --find-links dist
+          pip install optik --no-index --find-links dist
           python -c "import optik"
       - name: upload wheels
         uses: actions/upload-artifact@v3
         with:
           name: wheels
           path: dist
 
-  upload_release:
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: build sdist
+        uses: PyO3/maturin-action@v1
+        with:
+          command: sdist
+          args: --out dist --manifest-path crates/optik-py/Cargo.toml
+      - name: upload sdist
+        uses: actions/upload-artifact@v3
+        with:
+          name: wheels
+          path: dist
+
+  prerelease:
     if: github.ref == 'refs/heads/master'
     runs-on: ubuntu-latest
     concurrency:
       group: push-${{ github.ref_name }}-prerelease
       cancel-in-progress: true
-    needs: [build_wheels]
+    needs: [build_wheels, sdist]
     steps:
       - uses: dev-drprasad/[email protected]
         with:
@@ -75,3 +95,19 @@ jobs:
           removeArtifacts: true
           replacesArtifacts: true
           artifacts: "wheels/*"
+
+  public:
+    name: publish to PyPI
+    runs-on: ubuntu-latest
+    if: "startsWith(github.ref, 'refs/tags/')"
+    needs: [build_wheels, sdist]
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          name: wheels
+      - uses: PyO3/maturin-action@v1
+        env:
+          MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_API_TOKEN }}
+        with:
+          command: upload
+          args: --non-interactive --skip-existing *

README.md

@@ -35,6 +35,12 @@ Timing is of a single inverse kinematics solve.
 
 ### Python
 
+``` sh
+python3 -m pip install optik
+```
+
+Or, to install a prerelease version:
+
 1. Download a recent `.whl` from [GitHub Releases](https://github.com/kylc/optik/releases)
 2. Run `pip install optik<...>.whl` (replace `<...>` with the actual filename)
 3. Test it: `python -c 'import optik'`

pyproject.toml

@@ -0,0 +1,25 @@
+[project]
+name = "optik"
+version = "0.1.0"
+description = "An optimizing IK solver based on the Lie group of rigid transforms SE(3)"
+readme = "README.md"
+requires-python = ">=3.8"
+license = "MIT OR Apache-2.0"
+authors = [
+  {email = "[email protected]"},
+  {name = "Kyle Cesare"}
+]
+classifiers = [
+  "Topic :: Scientific/Engineering"
+]
+dependencies = []
+
+[project.urls]
+homepage = "https://github.com/kylc/optik"
+
+[build-system]
+requires = ["maturin>=1.0,<2.0"]
+build-backend = "maturin"
+
+[tool.maturin]
+manifest-path = "crates/optik-py/Cargo.toml"