feat(python): Implemented initial bindings for RRT

Author: juniorsundar

.github/workflows/CI.yml renamed to .github/workflows/pypi.yml

@@ -1,9 +1,9 @@
 # This file is autogenerated by maturin v1.8.6
 # To update, run
 #
-#    maturin generate-ci github
+#     maturin generate-ci github
 #
-name: CI
+name: pypi
 
 on:
   # push:
@@ -19,6 +19,23 @@ permissions:
   contents: read
 
 jobs:
+  develop:
+    name: Run maturin develop
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+      - name: Create venv and run maturin develop
+        working-directory: ./oxmpl-py
+        run: |
+          python -m venv venv
+          source venv/bin/activate
+          pip install maturin
+          maturin develop
+        shell: bash
+
   linux:
     runs-on: ${{ matrix.platform.runner }}
     strategy:
@@ -48,11 +65,12 @@ jobs:
           args: --release --out dist --find-interpreter
           sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
           manylinux: auto
+          working-directory: ./oxmpl-py # Added working directory for build
       - name: Upload wheels
         uses: actions/upload-artifact@v4
         with:
           name: wheels-linux-${{ matrix.platform.target }}
-          path: dist
+          path: oxmpl-py/dist
 
   musllinux:
     runs-on: ${{ matrix.platform.runner }}
@@ -79,11 +97,12 @@ jobs:
           args: --release --out dist --find-interpreter
           sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
           manylinux: musllinux_1_2
+          working-directory: ./oxmpl-py # Added working directory for build
       - name: Upload wheels
         uses: actions/upload-artifact@v4
         with:
           name: wheels-musllinux-${{ matrix.platform.target }}
-          path: dist
+          path: oxmpl-py/dist
 
   windows:
     runs-on: ${{ matrix.platform.runner }}
@@ -106,11 +125,12 @@ jobs:
           target: ${{ matrix.platform.target }}
           args: --release --out dist --find-interpreter
           sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
+          working-directory: ./oxmpl-py # Added working directory for build
       - name: Upload wheels
         uses: actions/upload-artifact@v4
         with:
           name: wheels-windows-${{ matrix.platform.target }}
-          path: dist
+          path: oxmpl-py/dist
 
   macos:
     runs-on: ${{ matrix.platform.runner }}
@@ -132,11 +152,12 @@ jobs:
           target: ${{ matrix.platform.target }}
           args: --release --out dist --find-interpreter
           sccache: ${{ !startsWith(github.ref, 'refs/tags/') }}
+          working-directory: ./oxmpl-py # Added working directory for build
       - name: Upload wheels
         uses: actions/upload-artifact@v4
         with:
           name: wheels-macos-${{ matrix.platform.target }}
-          path: dist
+          path: oxmpl-py/dist
 
   sdist:
     runs-on: ubuntu-latest
@@ -147,11 +168,12 @@ jobs:
         with:
           command: sdist
           args: --out dist
+          working-directory: ./oxmpl-py # Added working directory for build
       - name: Upload sdist
         uses: actions/upload-artifact@v4
         with:
           name: wheels-sdist
-          path: dist
+          path: oxmpl-py/dist
 
   release:
     name: Release
@@ -167,15 +189,25 @@ jobs:
       attestations: write
     steps:
       - uses: actions/download-artifact@v4
+        with:
+          # The '*' downloads all artifacts.
+          # We need to specify a directory to avoid conflicts.
+          path: artifacts
+      - name: Move artifacts
+        run: |
+          # The artifacts are downloaded into subdirectories named after them.
+          # We need to move the wheel and sdist files to a common directory for upload.
+          mkdir -p dist
+          find artifacts -type f -name "*.whl" -o -name "*.tar.gz" | xargs -I {} mv {} dist/
       - name: Generate artifact attestation
         uses: actions/attest-build-provenance@v2
         with:
-          subject-path: 'wheels-*/*'
+          subject-path: 'dist/*'
       - name: Publish to PyPI
         if: ${{ startsWith(github.ref, 'refs/tags/') }}
         uses: PyO3/maturin-action@v1
         env:
           MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_API_TOKEN }}
         with:
           command: upload
-          args: --non-interactive --skip-existing wheels-*/*
+          args: --non-interactive --skip-existing dist/*

oxmpl-py/Cargo.lock

@@ -3,8 +3,8 @@ name = "oxmpl-py"
 version = "0.1.0"
 edition = "2021"
 authors = ["Junior Sundar <[email protected]>"]
-description = "Python bindings for the oxmpl library"
-license = "MIT"
+description = "Python Bindings for the OxMPL Library"
+license = "BSD-3"
 
 [lib]
 name = "oxmpl_py"
@@ -13,3 +13,4 @@ crate-type = ["cdylib"]
 [dependencies]
 pyo3 = { version = "0.24.0", features = ["extension-module"] }
 oxmpl = { path = "../oxmpl" }
+rand = "0.9.1"

oxmpl-py/Cargo.toml

@@ -11,5 +11,11 @@ classifiers = [
     "Programming Language :: Python :: Implementation :: PyPy",
 ]
 dynamic = ["version"]
+
+[dependency-groups]
+dev = [
+    "pytest>=8.4.0",
+]
+
 [tool.maturin]
 features = ["pyo3/extension-module"]