python-fcl: add build-python-fcl.yml for riscv64 wheels

.github/workflows/build-python-fcl.yml

@@ -0,0 +1,111 @@
+# SPDX-FileCopyrightText: 2026 The RISE Project
+# SPDX-License-Identifier: MIT
+---
+# This workflow is based on: https://github.com/berkeleyautomation/python-fcl/blob/v0.7.0.11/.github/workflows/push.yml
+name: Build python-fcl wheels (riscv64)
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'python-fcl version to build (git tag without leading v, e.g. 0.7.0.11)'
+        required: true
+        default: '0.7.0.11'
+  pull_request:
+    paths:
+      - '.github/workflows/build-python-fcl.yml'
+      - 'patches/python-fcl/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ inputs.version || '0.7.0.11' }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read  # to fetch code (actions/checkout)
+
+env:
+  # `inputs.version` is empty on pull_request events; default to 0.7.0.11 there.
+  PYTHON_FCL_VERSION: ${{ inputs.version || '0.7.0.11' }}
+  MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64
+
+jobs:
+  setup:
+    uses: $/.github/workflows/_setup.yml
+
+  build_wheels:
+    needs: [setup]
+    name: Build python-fcl ${{ inputs.version || '0.7.0.11' }} ${{ matrix.python }}-manylinux_riscv64
+    runs-on: ubuntu-24.04-riscv
+    timeout-minutes: 90
+    strategy:
+      fail-fast: false
+      matrix:
+        python:
+          - "cp312"
+          - "cp313"
+          - "cp314"
+          - "cp314t"
+
+    steps:
+      - name: Checkout python-fcl v${{ env.PYTHON_FCL_VERSION }}
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          repository: berkeleyautomation/python-fcl
+          ref: v${{ env.PYTHON_FCL_VERSION }}
+          persist-credentials: false
+
+      - name: Checkout python-wheels
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          path: python-wheels
+          persist-credentials: false
+
+      - name: Apply patches
+        run: git apply -v python-wheels/patches/python-fcl/${{ env.PYTHON_FCL_VERSION }}/*.patch
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074  # v4.2.0
+        with:
+          output-dir: wheelhouse/
+          only: ${{ matrix.python }}-manylinux_riscv64
+        env:
+          CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }}
+          # build_dependencies/install_linux.sh builds eigen/libccd/octomap/fcl from
+          # source; the license copies are appended here since CIBW_BEFORE_ALL_LINUX
+          # fully replaces pyproject.toml's own before-all rather than extending it.
+          # -DBUILD_TESTING=OFF skips fcl's own test-binary build (not shipped in the
+          # wheel either way, and it otherwise adds ~25min per interpreter).
+          CIBW_BEFORE_ALL_LINUX: >-
+            sed -i '/^cd fcl$/,/^cd \.\.$/ s/^\$CMAKE \.[[:space:]]*$/$CMAKE . -DBUILD_TESTING=OFF/' build_dependencies/install_linux.sh &&
+            bash build_dependencies/install_linux.sh &&
+            cp deps/fcl/LICENSE /project/LICENSE.fcl &&
+            cp deps/libccd/BSD-LICENSE /project/LICENSE.libccd &&
+            cp deps/octomap/octomap/LICENSE.txt /project/LICENSE.octomap
+          # numpy: our registry is one patch release behind PyPI's latest (gotcha 84).
+          # cmake: install_linux.sh pip-installs an exact-pinned cmake==3.31.6, which
+          # our registry also carries; PIP_ONLY_BINARY keeps it off a source bootstrap.
+          CIBW_ENVIRONMENT: >-
+            PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/
+            PIP_ONLY_BINARY=cmake,numpy
+          CIBW_TEST_REQUIRES: pytest
+          CIBW_TEST_COMMAND: >-
+            python -c "import importlib.metadata as m;
+            n={p.name for p in m.files('python-fcl') if '.dist-info/licenses/' in str(p)};
+            assert n == {'LICENSE', 'LICENSE.fcl', 'LICENSE.libccd', 'LICENSE.octomap'}, n" &&
+            pytest {project}/tests
+
+      - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a  # v7.0.1
+        with:
+          name: python-fcl-${{ env.PYTHON_FCL_VERSION }}-${{ matrix.python }}-manylinux_riscv64
+          path: wheelhouse/*.whl
+          if-no-files-found: error
+
+  publish:
+    name: Publish python-fcl ${{ inputs.version || '0.7.0.11' }}
+    needs: [setup, build_wheels]
+    permissions:
+      contents: write
+      pull-requests: write
+    uses: $/.github/workflows/_publish-wheel.yml
+    with:
+      artifact-pattern: python-fcl-${{ inputs.version || '0.7.0.11' }}-*-manylinux_riscv64

patches/python-fcl/0.7.0.11/0001-Widen-license-files-to-cover-the-vendored-fcl-libcc.patch

@@ -0,0 +1,39 @@
+From: Ludovic Henry <git@ludovic.dev>
+Date: Fri, 11 Sep 2026 10:00:00 +0000
+Subject: [PATCH] Widen license-files to cover the vendored fcl/libccd/octomap licences
+
+pyproject.toml's explicit license-files list only names LICENSE, so
+setuptools' default LICEN[CS]E* glob never applies here and a dropped-in
+LICENSE.<dep> is silently ignored. build_dependencies/install_linux.sh
+builds fcl, libccd and octomap from source and auditwheel vendors their
+shared libraries into the wheel (confirmed on the official
+python_fcl-0.7.0.11 manylinux_x86_64 wheel on PyPI, which ships
+libfcl/libccd/liboctomap/liboctomath but none of their licence texts),
+so every platform's wheel is missing them, not just riscv64's.
+
+Widening the list to LICENSE.* lets LICENSE.fcl, LICENSE.libccd and
+LICENSE.octomap, staged at the project root during the build, reach
+dist-info/licenses/ with no other packaging change.
+
+Upstream-Status: To upstream [not yet submitted; the same gap exists in every python-fcl wheel on PyPI regardless of architecture, so this needs a maintainer discussion rather than a drive-by PR]
+
+Signed-off-by: Ludovic Henry <git@ludovic.dev>
+---
+ pyproject.toml | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/pyproject.toml b/pyproject.toml
+index 30750c6..b46aa56 100644
+--- a/pyproject.toml
++++ b/pyproject.toml
+@@ -55,7 +55,7 @@ Homepage = "https://github.com/berkeleyautomation/python-fcl"
+ [tool.setuptools]
+ include-package-data = true
+ package-dir = {"" = "src"}
+-license-files = ["LICENSE"]
++license-files = ["LICENSE", "LICENSE.*"]
+
+ [tool.setuptools.package-data]
+ "*" = ["*.pyx", "*.pxd", "*.dll"]
+--
+2.50.1

patches/python-fcl/0.7.0.11/0002-Guard-against-an-empty-but-present-LD_LIBRARY_PATH-.patch

@@ -0,0 +1,68 @@
+From: Ludovic Henry <git@ludovic.dev>
+Date: Fri, 11 Sep 2026 14:20:00 +0000
+Subject: [PATCH] Guard against an empty-but-present LD_LIBRARY_PATH/CPATH in setup.py
+
+get_libraries_dir() checks `"LD_LIBRARY_PATH" in os.environ` and, if
+true, appends `os.environ["LD_LIBRARY_PATH"].split(":")` to
+library_dirs regardless of whether the value is actually empty. Our
+build container exports LD_LIBRARY_PATH="" (present, empty), so
+"".split(":") yields [''], and that empty string becomes a bare `-L`
+with no path argument on the link command line:
+
+  g++ ... -L/usr/lib -L/usr/local/lib -L/usr/lib64 -L/usr/local/lib64 -L -lfcl -loctomap -o fcl.cpython-312-riscv64-linux-gnu.so
+
+`-L` with no following value swallows the *next* argv as its path
+(ld/gcc treat "-L -lfcl" as one directory-search option whose value is
+the literal string "-lfcl"), so -lfcl is consumed there instead of
+being parsed as a request to link libfcl. -loctomap, being the last
+argument, is unaffected and links normally - which is exactly the
+asymmetry seen in the wheel's dynamic section (liboctomap present,
+libfcl entirely absent from NEEDED, confirmed via readelf -d), and
+why the built extension carries unresolved references into libfcl.so
+(e.g. typeinfo for fcl::CollisionGeometry<double>) that nothing ever
+supplies, surfacing as an ImportError: undefined symbol at import
+time. Confirmed to reproduce identically with -Wl,--no-as-needed
+forced on - the flag has nothing to act on, since -lfcl was never
+parsed as a library request in the first place.
+
+get_include_dirs()'s CPATH check has the identical pattern; guarded
+the same way for consistency, though our environment did not exhibit
+a matching CPATH-triggered bug.
+
+Upstream-Status: To upstream [not yet submitted; only reproduces when LD_LIBRARY_PATH is exported empty, which our manylinux_riscv64 build container does but upstream's own CI apparently does not]
+
+Signed-off-by: Ludovic Henry <git@ludovic.dev>
+---
+ setup.py | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/setup.py b/setup.py
+index 9ebe01f..9d52455 100644
+--- a/setup.py
++++ b/setup.py
+@@ -23,8 +23,9 @@ def get_include_dirs():
+             "/usr/local/include/eigen3",
+         ]
+
+-        if "CPATH" in os.environ:
+-            include_dirs += os.environ["CPATH"].split(":")
++        cpath = os.environ.get("CPATH", "")
++        if cpath:
++            include_dirs += [p for p in cpath.split(":") if p]
+
+     elif sys.platform == "win32":
+         include_dirs = [
+@@ -45,8 +46,9 @@ def get_libraries_dir():
+     if is_nix_platform(sys.platform):
+         lib_dirs = ["/usr/lib", "/usr/local/lib", "/usr/lib64", "/usr/local/lib64"]
+
+-        if "LD_LIBRARY_PATH" in os.environ:
+-            lib_dirs += os.environ["LD_LIBRARY_PATH"].split(":")
++        ld_library_path = os.environ.get("LD_LIBRARY_PATH", "")
++        if ld_library_path:
++            lib_dirs += [p for p in ld_library_path.split(":") if p]
+         return lib_dirs
+     if sys.platform == "win32":
+         return [f"{INSTALL_PREFIX_WIN}\\lib"]
+--
+2.50.1