trying to do all in one script

Author: neverorfrog

.github/workflows/build_wheels.yml

@@ -14,8 +14,11 @@ jobs:
         uses: docker/setup-buildx-action@v1
 
       - name: Build wheel
+        env:
+          TWINE_USERNAME: "__token__"
+          TWINE_PASSWORD: ${{ secrets.PYPI_API_KEY }}
         run: |
-          sudo docker run --rm -v $(pwd):/io quay.io/pypa/manylinux2014_x86_64 /bin/bash -c "
+          sudo docker run --rm -v  -e TWINE_USERNAME -e TWINE_PASSWORD $(pwd):/io quay.io/pypa/manylinux2014_x86_64 /bin/bash -c "
             yum install -y epel-release &&
             yum-config-manager --add-repo=https://download.opensuse.org/repositories/science:/dlr/CentOS_7/ &&
             yum install -y --nogpgcheck eigen3-devel &&
@@ -27,4 +30,6 @@ jobs:
             cd /io &&
             /opt/python/cp311-cp311/bin/pip install setuptools wheel --root-user-action=ignore &&
             /opt/python/cp311-cp311/bin/python setup.py bdist_wheel &&
-            auditwheel repair dist/ismpc-0.1-cp311-cp311-linux_x86_64.whl --plat manylinux2014_x86_64"
+            auditwheel repair dist/ismpc-0.1-cp311-cp311-linux_x86_64.whl --plat manylinux2014_x86_64 &&
+            /opt/python/cp311-cp311/bin/pip install twine --root-user-action=ignore &&
+            /opt/python/cp311-cp311/bin/twine upload /io/wheelhouse/*.whl "

CMakeLists.txt

@@ -199,7 +199,7 @@ find_package(Python 3.11 COMPONENTS Interpreter ${DEV_MODULE} REQUIRED)
 execute_process(
   COMMAND "${Python_EXECUTABLE}" -m nanobind --cmake_dir
   OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE nanobind_ROOT
-) 
+)
 
 execute_process(
     COMMAND ${Python_EXECUTABLE} -c "import sysconfig; print(sysconfig.get_path('purelib'))"
@@ -216,7 +216,7 @@ nanobind_add_module(${ISMPC_PY_LIBRARY} ${PROJECT_SOURCE_DIR}/src/bindings.cpp)
 target_include_directories(${ISMPC_PY_LIBRARY} PUBLIC ${eigen_SOURCE_DIR} ${ISMPC_INCLUDE_DIR})
 target_link_libraries(${ISMPC_PY_LIBRARY} PUBLIC ${ISMPC_CPP_LIBRARY})
 
-install( 
+install(
     TARGETS ${ISMPC_PY_LIBRARY}
     EXPORT ${ISMPC_PY_LIBRARY}Targets
     LIBRARY DESTINATION ${PYTHON_SITE_PACKAGES}

src/modules/foot_trajectory_generator.cpp

@@ -31,18 +31,20 @@ void FootTrajectoryGenerator::update(State& state) {
         Scalar desired_theta = start_theta + (end_theta - start_theta) * cubic(time_in_step);
         swing_foot.pose = Pose3(RotationMatrix::aroundZ(desired_theta), Vector3(desired_pos(0), desired_pos(1), 0));
         swing_foot.pose.euler = Vector3(0, 0, desired_theta);
-        
+
         // Linear Velocity with cubic polynomial interpolation
         swing_foot.lin_vel.segment(0, 2) = (end_pos - start_pos) * cubic_dot(time_in_step) / ss_duration;
-        swing_foot.lin_acc.segment(0, 2) = (end_pos - start_pos) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2));
+        swing_foot.lin_acc.segment(0, 2) =
+            (end_pos - start_pos) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2));
         // Height with quartic polynomial interpolation
         swing_foot.pose.translation(2) = step_height * quartic(time_in_step);
         swing_foot.lin_vel(2) = step_height * quartic_dot(time_in_step) / ss_duration;
         swing_foot.lin_acc(2) = step_height * quartic_ddot(time_in_step) / (ss_duration * ss_duration);
 
         // Angular Velocity with cubic polynomial interpolation
         swing_foot.ang_vel = Vector3(0, 0, (end_theta - start_theta) * cubic_dot(time_in_step) / ss_duration);
-        swing_foot.ang_acc = Vector3(0, 0, (end_theta - start_theta) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2)));
+        swing_foot.ang_acc =
+            Vector3(0, 0, (end_theta - start_theta) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2)));
     }
 
     state.setDesiredSwingFoot(swing_foot);