From ae433fbe033b5bb5fde7e5c811afe796e35d8e05 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 22:51:52 -0500
Subject: [PATCH 01/31] Create initial workflow for cibuildwheel

---
 .github/workflows/build-cibw.yml      | 53 +++++++++++++++++++++++++++
 .gitignore                            |  2 +-
 build_tools/wheels/build_wheels.sh    |  7 ++++
 build_tools/wheels/cibw_before_all.sh | 28 ++++++++++++++
 4 files changed, 89 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/build-cibw.yml
 create mode 100644 build_tools/wheels/build_wheels.sh
 create mode 100644 build_tools/wheels/cibw_before_all.sh

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
new file mode 100644
index 000000000..ef9603719
--- /dev/null
+++ b/.github/workflows/build-cibw.yml
@@ -0,0 +1,53 @@
+name: Build Wheels (cibuildwheel)
+
+on: [workflow_dispatch]
+
+jobs:
+  build_wheels:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            python_version: "3.10"
+            cibw_python_version: 310
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python_version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python_version }}
+
+      - name: Install Dependencies
+        run: |
+          sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+          python3 -m pip install -r python/dev_requirements.txt
+
+      - name: Run CMake
+        run: |
+          cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
+
+      - name: Build and test wheels
+        env:
+          CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
+          CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
+          CIBW_ARCHS: all
+
+          CIBW_BUILD_FRONTEND: "build"
+          CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
+
+          CIBW_BUILD_VERBOSITY: 1
+
+        run: bash {project}/build_tools/wheels/build_wheels.sh
+
+      - name: Store artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
+          path: wheelhouse/*.whl
diff --git a/.gitignore b/.gitignore
index 7496190b5..bca6a479f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,4 @@
-/build*
+/build
 /debug*
 .idea
 *.pyc
diff --git a/build_tools/wheels/build_wheels.sh b/build_tools/wheels/build_wheels.sh
new file mode 100644
index 000000000..b8f0750a3
--- /dev/null
+++ b/build_tools/wheels/build_wheels.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+set -x
+
+python -m pip install cibuildwheel
+python -m cibuildwheel build/python --output-dir wheelhouse
\ No newline at end of file
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
new file mode 100644
index 000000000..0607a67ac
--- /dev/null
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+set -e
+set -x
+
+PYTHON_VERSION="$1"
+PROJECT_DIR="$2"
+
+export PYTHON="python${PYTHON_VERSION}"
+
+rm -rf /build/python
+
+export CMAKE_GENERATOR=Ninja
+cmake $PROJECT_DIR \
+    -B build \
+    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+    -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+    -DGTSAM_BUILD_PYTHON=ON \
+    -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
+    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
\ No newline at end of file

From 16a516c3f95726d3f01d222378c2846014bb2e64 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 22:55:11 -0500
Subject: [PATCH 02/31] Update CMake command to point to right path

---
 .github/workflows/build-cibw.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index ef9603719..4e39d9d3f 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -31,7 +31,7 @@ jobs:
 
       - name: Run CMake
         run: |
-          cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
+          cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
 
       - name: Build and test wheels
         env:

From 500808396a0eb734f9164733f25e369bb1196c58 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 23:01:00 -0500
Subject: [PATCH 03/31] Update another bad path

---
 .github/workflows/build-cibw.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 4e39d9d3f..c6b6d609d 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -44,7 +44,7 @@ jobs:
 
           CIBW_BUILD_VERBOSITY: 1
 
-        run: bash {project}/build_tools/wheels/build_wheels.sh
+        run: bash build_tools/wheels/build_wheels.sh
 
       - name: Store artifacts
         uses: actions/upload-artifact@v4

From 00b70e661a48337293b98507c924f30f00dda006 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 23:08:26 -0500
Subject: [PATCH 04/31] Fix ANOTHER bad path

---
 build_tools/wheels/cibw_before_all.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 0607a67ac..72f87d626 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -8,7 +8,7 @@ PROJECT_DIR="$2"
 
 export PYTHON="python${PYTHON_VERSION}"
 
-rm -rf /build/python
+rm -rf $PROJECT_DIR/build
 
 export CMAKE_GENERATOR=Ninja
 cmake $PROJECT_DIR \

From 4a57824ea5dcf56595d9e95f6e3995ac575c69a6 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 23:16:20 -0500
Subject: [PATCH 05/31] Install dependencies in manylinux container as well

---
 build_tools/wheels/cibw_before_all.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 72f87d626..d37db829f 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -8,6 +8,9 @@ PROJECT_DIR="$2"
 
 export PYTHON="python${PYTHON_VERSION}"
 
+sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+python -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
+
 rm -rf $PROJECT_DIR/build
 
 export CMAKE_GENERATOR=Ninja

From 8cbb4fc154e5a0a4f3c707b1f22e675ff7855ce0 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 19 Feb 2025 23:34:14 -0500
Subject: [PATCH 06/31] Trying something

---
 build_tools/wheels/cibw_before_all.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index d37db829f..392693624 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -8,8 +8,8 @@ PROJECT_DIR="$2"
 
 export PYTHON="python${PYTHON_VERSION}"
 
-sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
-python -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
+apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
 rm -rf $PROJECT_DIR/build
 

From 5466a96de6c0d484cbaade79fe1d91c04b94bf9f Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 00:56:31 -0500
Subject: [PATCH 07/31] Install boost from source, delete CMakeCache before
 building

---
 build_tools/wheels/cibw_before_all.sh | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 392693624..f922b46e6 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -8,10 +8,18 @@ PROJECT_DIR="$2"
 
 export PYTHON="python${PYTHON_VERSION}"
 
-apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+yum install -y wget ninja-build
 pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
+wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz
+tar -xzf boost_1_87_0.tar.gz
+cd boost_1_87_0
+./bootstrap.sh --prefix=/opt/boost
+./b2 install --prefix=/opt/boost --with=all
+
+cd ..
 rm -rf $PROJECT_DIR/build
+rm -rf CMakeCache.txt CMakeFiles
 
 export CMAKE_GENERATOR=Ninja
 cmake $PROJECT_DIR \

From 9c2ed3d7f0bb8f177a940c36dc691a890d11543c Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 10:08:24 -0500
Subject: [PATCH 08/31] Make shared libraries

---
 build_tools/wheels/cibw_before_all.sh | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index f922b46e6..14c2665df 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -36,4 +36,7 @@ cmake $PROJECT_DIR \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
     -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
\ No newline at end of file
+    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
+
+cd $PROJECT_DIR/build/python
+make install

From dc667c41220fca307227b8ffc1e890219262ebaa Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 10:35:33 -0500
Subject: [PATCH 09/31] Update make command

---
 build_tools/wheels/cibw_before_all.sh | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 14c2665df..fb9da5734 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -11,12 +11,14 @@ export PYTHON="python${PYTHON_VERSION}"
 yum install -y wget ninja-build
 pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
+# Install Boost
 wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz
 tar -xzf boost_1_87_0.tar.gz
 cd boost_1_87_0
 ./bootstrap.sh --prefix=/opt/boost
 ./b2 install --prefix=/opt/boost --with=all
 
+# Remove build/cache files that were generated on host
 cd ..
 rm -rf $PROJECT_DIR/build
 rm -rf CMakeCache.txt CMakeFiles
@@ -38,5 +40,4 @@ cmake $PROJECT_DIR \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
     -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
 
-cd $PROJECT_DIR/build/python
-make install
+make install -C $PROJECT_DIR/build

From c4d7e622a99012441576b7eb400a7864ad0f55b4 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 11:02:23 -0500
Subject: [PATCH 10/31] Use CMake as generator

---
 build_tools/wheels/cibw_before_all.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index fb9da5734..871ece45f 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -23,7 +23,6 @@ cd ..
 rm -rf $PROJECT_DIR/build
 rm -rf CMakeCache.txt CMakeFiles
 
-export CMAKE_GENERATOR=Ninja
 cmake $PROJECT_DIR \
     -B build \
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
@@ -40,4 +39,5 @@ cmake $PROJECT_DIR \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
     -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
 
-make install -C $PROJECT_DIR/build
+cd $PROJECT_DIR/build
+make -j$(nproc) install

From d0e25bc41b5cfa734d1d3ef6843fb5f0a564718a Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 16:05:06 -0500
Subject: [PATCH 11/31] Modify setup.py.in to force root to be
 platform-dependent

---
 build_tools/wheels/cibw_before_all.sh | 6 +++---
 python/setup.py.in                    | 7 ++++++-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 871ece45f..789d65c5a 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -9,10 +9,10 @@ PROJECT_DIR="$2"
 export PYTHON="python${PYTHON_VERSION}"
 
 yum install -y wget ninja-build
-pip install -r $PROJECT_DIR/python/dev_requirements.txt
+$(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
 # Install Boost
-wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz
+wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
 tar -xzf boost_1_87_0.tar.gz
 cd boost_1_87_0
 ./bootstrap.sh --prefix=/opt/boost
@@ -39,5 +39,5 @@ cmake $PROJECT_DIR \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
     -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
 
-cd $PROJECT_DIR/build
+cd $PROJECT_DIR/build/python
 make -j$(nproc) install
diff --git a/python/setup.py.in b/python/setup.py.in
index b9d7392c7..4be235ab0 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -1,6 +1,6 @@
 """Setup file to install the GTSAM package."""
 
-from setuptools import setup, find_namespace_packages
+from setuptools import setup, find_namespace_packages, Distribution
 
 packages = find_namespace_packages(
     where=".",
@@ -20,6 +20,10 @@ package_data = {
 # Cleaner to read in the contents rather than copy them over.
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
+class BinaryDistribution(Distribution):
+    def has_ext_modules(foo):
+        return True
+
 setup(
     name='gtsam',
     description='Georgia Tech Smoothing And Mapping library',
@@ -46,6 +50,7 @@ setup(
     packages=packages,
     include_package_data=True,
     package_data=package_data,
+    distclass=BinaryDistribution,
     test_suite="gtsam.tests",
     install_requires=open("${GTSAM_SOURCE_DIR}/python/requirements.txt").readlines(),
     zip_safe=False,

From c17a3f80f18d5bf9adbe0927701dba8aa04474fa Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 16:48:06 -0500
Subject: [PATCH 12/31] Publish to TestPyPI after wheels are built

---
 .github/workflows/build-cibw.yml      | 19 +++++++++++++++++++
 build_tools/wheels/cibw_before_all.sh |  2 +-
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index c6b6d609d..b42e60731 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -51,3 +51,22 @@ jobs:
         with:
           name: cibw-wheels-cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           path: wheelhouse/*.whl
+
+  upload_all:
+    name: Upload All
+    needs: build_wheels
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
+
+      - name: Publish to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          repository-url: https://test.pypi.org/legacy/
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 789d65c5a..5b0e71940 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -40,4 +40,4 @@ cmake $PROJECT_DIR \
     -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
 
 cd $PROJECT_DIR/build/python
-make -j$(nproc) install
+make -j $(nproc) install

From 5da3691609731b539e6248ebe090dbbb29eb158f Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 17:28:42 -0500
Subject: [PATCH 13/31] Set package name to gtsam-nightly if nightly build

---
 .github/workflows/build-cibw.yml | 3 +++
 CMakeLists.txt                   | 8 +++++++-
 python/setup.py.in               | 2 +-
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index b42e60731..516cd0f12 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -24,6 +24,9 @@ jobs:
         with:
           python-version: ${{ matrix.python_version }}
 
+      - name: Set Nightly Flag
+        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
       - name: Install Dependencies
         run: |
           sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 262f38121..e2bc9da5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,10 +10,16 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
-if ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
+if (DEFINED ENV{NIGHTLY})
+    string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
+    set (GTSAM_VERSION_STRING "${NOW}")
+    set (SETUP_NAME "gtsam-nightly")
+elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+    set (SETUP_NAME "gtsam")
 else()
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
+    set (SETUP_NAME "gtsam")
 endif()
 
 project(GTSAM
diff --git a/python/setup.py.in b/python/setup.py.in
index 4be235ab0..96c21a55e 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -25,7 +25,7 @@ class BinaryDistribution(Distribution):
         return True
 
 setup(
-    name='gtsam',
+    name='${SETUP_NAME}',
     description='Georgia Tech Smoothing And Mapping library',
     url='https://gtsam.org/',
     version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/

From abe4cd77273d805fb1a76610a327ffd8c4da0826 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Thu, 20 Feb 2025 18:06:30 -0500
Subject: [PATCH 14/31] Pass NIGHTLY env variable to cibw container

---
 .github/workflows/build-cibw.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 516cd0f12..e2b8919cb 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -41,6 +41,7 @@ jobs:
           CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
+          CIBW_ENVIRONMENT_PASS_LINUX: NIGHTLY
 
           CIBW_BUILD_FRONTEND: "build"
           CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}

From 408aaeafa44c9b90c08edb73d9d68d3d10873d51 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Fri, 21 Feb 2025 00:22:49 -0500
Subject: [PATCH 15/31] Address some comments on PR

---
 .github/workflows/build-cibw.yml      | 8 +++++---
 CMakeLists.txt                        | 7 +++----
 build_tools/wheels/build_wheels.sh    | 2 +-
 build_tools/wheels/cibw_before_all.sh | 3 +++
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index e2b8919cb..018d22a60 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -24,8 +24,10 @@ jobs:
         with:
           python-version: ${{ matrix.python_version }}
 
-      - name: Set Nightly Flag
-        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+      - name: Set Develop Flag
+        run: |
+          echo "DEVELOP=1" >> $GITHUB_ENV
+          echo "COMMIT_HASH=$(git rev-parse --short=7 "$GITHUB_SHA")" >> $GITHUB_ENV
 
       - name: Install Dependencies
         run: |
@@ -41,7 +43,7 @@ jobs:
           CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
-          CIBW_ENVIRONMENT_PASS_LINUX: NIGHTLY
+          CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP COMMIT_HASH
 
           CIBW_BUILD_FRONTEND: "build"
           CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e2bc9da5e..f1070bfc6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,10 +10,9 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
-if (DEFINED ENV{NIGHTLY})
-    string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
-    set (GTSAM_VERSION_STRING "${NOW}")
-    set (SETUP_NAME "gtsam-nightly")
+if (DEFINED ENV{DEVELOP})
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.$ENV{COMMIT_HASH}")
+    set (SETUP_NAME "gtsam-develop")
 elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
     set (SETUP_NAME "gtsam")
diff --git a/build_tools/wheels/build_wheels.sh b/build_tools/wheels/build_wheels.sh
index b8f0750a3..a8cbb93de 100644
--- a/build_tools/wheels/build_wheels.sh
+++ b/build_tools/wheels/build_wheels.sh
@@ -4,4 +4,4 @@ set -e
 set -x
 
 python -m pip install cibuildwheel
-python -m cibuildwheel build/python --output-dir wheelhouse
\ No newline at end of file
+python -m cibuildwheel build/python --output-dir wheelhouse
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 5b0e71940..2659ff1b6 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# This script is invoked prior to building the wheels with cibuildwheel. It is used in the build-cibw.yml workflow in .github/workflows.
+# It installs the necessary dependencies and builds the wrapper module for the specified Python version.
+
 set -e
 set -x
 

From 15e1926ccfc72108882f8be7d33ca9dd51bca6a4 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Fri, 21 Feb 2025 01:04:23 -0500
Subject: [PATCH 16/31] Make version string PEP440 compliant

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1070bfc6..a8724632b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,7 @@ set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (DEFINED ENV{DEVELOP})
-    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.$ENV{COMMIT_HASH}")
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}+$ENV{COMMIT_HASH}")
     set (SETUP_NAME "gtsam-develop")
 elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")

From a3e42a823b2056e7dde6dc17bf3958c4a3ac391d Mon Sep 17 00:00:00 2001
From: Yashas Ambati <32080306+yambati03@users.noreply.github.com>
Date: Fri, 21 Feb 2025 10:13:48 -0500
Subject: [PATCH 17/31] Make upload to PyPI verbose

---
 .github/workflows/build-cibw.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 018d22a60..90cb52254 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -74,5 +74,6 @@ jobs:
       - name: Publish to TestPyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
+          verbose: true
           packages-dir: dist/
           repository-url: https://test.pypi.org/legacy/

From be9ea30a39932aa0e0cefb165c5c03ac0293feac Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Tue, 25 Feb 2025 17:24:57 -0500
Subject: [PATCH 18/31] New version string for gtsam-develop

---
 CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a8724632b..91b51fc40 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,9 @@ set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (DEFINED ENV{DEVELOP})
-    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}+$ENV{COMMIT_HASH}")
+    string(TIMESTAMP NOW "%Y%m%d%H%M")
+    # set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}+$ENV{COMMIT_HASH}")
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.dev${NOW}")
     set (SETUP_NAME "gtsam-develop")
 elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")

From 590fae60ba267bcf39865442fbfd26a93fcc03a2 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Tue, 25 Feb 2025 17:31:08 -0500
Subject: [PATCH 19/31] Run workflow on push to develop

---
 .github/workflows/build-cibw.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 90cb52254..0e7bf6918 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -1,6 +1,10 @@
 name: Build Wheels (cibuildwheel)
 
-on: [workflow_dispatch]
+on:
+  push:
+    branches:
+      - develop
+  workflow_dispatch:
 
 jobs:
   build_wheels:

From 5243f1fe8202a0ab2a72cc3d5df99a13ae898bcb Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Tue, 25 Feb 2025 17:38:16 -0500
Subject: [PATCH 20/31] Add target for Linux ARM

---
 .github/workflows/build-cibw.yml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 0e7bf6918..86140a4f1 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -19,6 +19,12 @@ jobs:
             platform_id: manylinux_x86_64
             manylinux_image: manylinux2014
 
+          - os: ubuntu-24.04-arm
+            python_version: "3.10"
+            cibw_python_version: 310
+            platform_id: manylinux_aarch64
+            manylinux_image: manylinux2014
+
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -46,6 +52,7 @@ jobs:
         env:
           CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
+          CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
           CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP COMMIT_HASH
 

From 190093f4048e5dec2e4b87ea6dbaa42c5aa37df2 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Tue, 25 Feb 2025 22:49:41 -0500
Subject: [PATCH 21/31] Add more python versions for Linux x86, do not install
 ninja for arm64 archs

---
 .github/workflows/build-cibw.yml      | 17 +++++++++++++++++
 build_tools/wheels/cibw_before_all.sh |  8 +++++++-
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 86140a4f1..46516e824 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -13,12 +13,29 @@ jobs:
       fail-fast: false
       matrix:
         include:
+          # Linux x86_64
           - os: ubuntu-latest
             python_version: "3.10"
             cibw_python_version: 310
             platform_id: manylinux_x86_64
             manylinux_image: manylinux2014
+          - os: ubuntu-latest
+            python_version: "3.11"
+            cibw_python_version: 311
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
+          - os: ubuntu-latest
+            python_version: "3.12"
+            cibw_python_version: 312
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
+          - os: ubuntu-latest
+            python_version: "3.13"
+            cibw_python_version: 313
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
 
+          # Linux aarch64
           - os: ubuntu-24.04-arm
             python_version: "3.10"
             cibw_python_version: 310
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 2659ff1b6..f91c13dce 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -11,7 +11,13 @@ PROJECT_DIR="$2"
 
 export PYTHON="python${PYTHON_VERSION}"
 
-yum install -y wget ninja-build
+ARCH=$(uname -m)
+if [[ $ARCH == x86_64* ]]; then
+    yum install -y wget ninja-build
+elif [[ $ARCH == arm* ]] || [[ $ARCH = aarch64 ]]; then
+    yum install -y wget
+fi
+
 $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
 # Install Boost

From ba9a70bf1653e61a79887b6af38e9c4ea39cc3f9 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 00:04:08 -0500
Subject: [PATCH 22/31] Add MacOS targets, modify build script for Darwin,
 generate type annotations

---
 .github/workflows/build-cibw.yml      | 18 ++++++++++++++++++
 build_tools/wheels/cibw_before_all.sh | 23 ++++++++++++-----------
 2 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 46516e824..1c9e47f28 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -42,6 +42,24 @@ jobs:
             platform_id: manylinux_aarch64
             manylinux_image: manylinux2014
 
+          # MacOS x86_64
+          - os: macos-13
+            python_version: "3.10"
+            cibw_python_version: 310
+            platform_id: macosx_x86_64
+          # - os: macos-13
+          #   python_version: "3.11"
+          #   cibw_python_version: 311
+          #   platform_id: macosx_x86_64
+          # - os: macos-13
+          #   python_version: "3.12"
+          #   cibw_python_version: 312
+          #   platform_id: macosx_x86_64
+          # - os: macos-13
+          #   python_version: "3.13"
+          #   cibw_python_version: 313
+          #   platform_id: macosx_x86_64
+
     steps:
       - name: Checkout
         uses: actions/checkout@v4
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index f91c13dce..f5c6c7f0c 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -8,25 +8,25 @@ set -x
 
 PYTHON_VERSION="$1"
 PROJECT_DIR="$2"
+ARCH=$(uname -m)
 
 export PYTHON="python${PYTHON_VERSION}"
 
-ARCH=$(uname -m)
-if [[ $ARCH == x86_64* ]]; then
-    yum install -y wget ninja-build
-elif [[ $ARCH == arm* ]] || [[ $ARCH = aarch64 ]]; then
+if [ "$(uname)" == "Linux" ]; then
     yum install -y wget
+
+    # Install Boost from source
+    wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
+    tar -xzf boost_1_87_0.tar.gz
+    cd boost_1_87_0
+    ./bootstrap.sh --prefix=/opt/boost
+    ./b2 install --prefix=/opt/boost --with=all 
+elif [ "$(uname)" == "Darwin" ]; then
+    brew install wget cmake boost
 fi
 
 $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
-# Install Boost
-wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
-tar -xzf boost_1_87_0.tar.gz
-cd boost_1_87_0
-./bootstrap.sh --prefix=/opt/boost
-./b2 install --prefix=/opt/boost --with=all
-
 # Remove build/cache files that were generated on host
 cd ..
 rm -rf $PROJECT_DIR/build
@@ -50,3 +50,4 @@ cmake $PROJECT_DIR \
 
 cd $PROJECT_DIR/build/python
 make -j $(nproc) install
+make -j $(nproc) python-stubs

From 3e00f98f023b8508a5e787fdfda9d53f0dab5b05 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 00:20:13 -0500
Subject: [PATCH 23/31] Fix install rules for macOS support

---
 .github/workflows/build-cibw.yml | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 1c9e47f28..450b2fc61 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -76,8 +76,15 @@ jobs:
 
       - name: Install Dependencies
         run: |
-          sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
           python3 -m pip install -r python/dev_requirements.txt
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            brew install wget icu4c boost ninja python-setuptools
+          else
+            echo "$RUNNER_OS not supported"
+            exit 1
+          fi
 
       - name: Run CMake
         run: |

From 170b59a1e0155921da309981a6b23f78732194ef Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 09:49:15 -0500
Subject: [PATCH 24/31] Potential fix for python-stubs target file not found

---
 python/CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index f0fc3f796..3237a9fa9 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -284,9 +284,9 @@ endif()
 add_custom_target(
         python-stubs
         COMMAND
-        ${CMAKE_COMMAND} -E env
-        "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
-        pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var --ignore-all-errors gtsam
+          ${CMAKE_COMMAND} -E env
+          "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
+        ${PYTHON_EXECUTABLE} -m pybind11_stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var --ignore-all-errors gtsam
         DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} ${GTSAM_PYTHON_TARGET}
         WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/"
 )

From 26ea15c40eeb65dfbf7d68418e188c05614dd402 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 09:59:55 -0500
Subject: [PATCH 25/31] Minor fix

---
 build_tools/wheels/cibw_before_all.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index f5c6c7f0c..1c1d13581 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -21,6 +21,7 @@ if [ "$(uname)" == "Linux" ]; then
     cd boost_1_87_0
     ./bootstrap.sh --prefix=/opt/boost
     ./b2 install --prefix=/opt/boost --with=all 
+    cd ..
 elif [ "$(uname)" == "Darwin" ]; then
     brew install wget cmake boost
 fi
@@ -28,7 +29,6 @@ fi
 $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 
 # Remove build/cache files that were generated on host
-cd ..
 rm -rf $PROJECT_DIR/build
 rm -rf CMakeCache.txt CMakeFiles
 

From 1cb51b81f40d7c67b14b2f603d8f6685cce31aad Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 10:38:00 -0500
Subject: [PATCH 26/31] Use sysctl to get number of CPUs if on MacOS

---
 build_tools/wheels/cibw_before_all.sh | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 1c1d13581..4f0f33f16 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -49,5 +49,12 @@ cmake $PROJECT_DIR \
     -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
 
 cd $PROJECT_DIR/build/python
-make -j $(nproc) install
-make -j $(nproc) python-stubs
+
+if [ "$(uname)" == "Linux" ]; then
+    make -j $(nproc) install
+    make -j $(nproc) python-stubs
+elif [ "$(uname)" == "Darwin" ]; then
+    make -j $(sysctl -n hw.logicalcpu) install
+    make -j $(sysctl -n hw.logicalcpu) python-stubs
+fi
+

From 741602d63a8aebd408b6fbbef6bd304ffad87ce9 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 13:46:15 -0500
Subject: [PATCH 27/31] Comment out MacOS targets for now

---
 .github/workflows/build-cibw.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 450b2fc61..273cc353c 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -43,10 +43,10 @@ jobs:
             manylinux_image: manylinux2014
 
           # MacOS x86_64
-          - os: macos-13
-            python_version: "3.10"
-            cibw_python_version: 310
-            platform_id: macosx_x86_64
+          # - os: macos-13
+          #   python_version: "3.10"
+          #   cibw_python_version: 310
+          #   platform_id: macosx_x86_64
           # - os: macos-13
           #   python_version: "3.11"
           #   cibw_python_version: 311

From b3b2a679a90da155130b2d38e932447e98db7db4 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 15:44:15 -0500
Subject: [PATCH 28/31] Use same system time for version string across jobs

---
 .github/workflows/build-cibw.yml | 14 ++++++++++++--
 CMakeLists.txt                   |  4 +---
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 273cc353c..19b7e65ce 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -7,7 +7,17 @@ on:
   workflow_dispatch:
 
 jobs:
+  get_system_time:
+    runs-on: ubuntu-latest
+    outputs:
+      timestamp: ${{ steps.get_time.outputs.timestamp }}
+    steps:
+      - name: Get system time
+        id: get_time
+        run: echo "timestamp=$(date +'%Y%m%d%H%M')" >> "$GITHUB_OUTPUT"
+
   build_wheels:
+    needs: get_system_time
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -72,7 +82,7 @@ jobs:
       - name: Set Develop Flag
         run: |
           echo "DEVELOP=1" >> $GITHUB_ENV
-          echo "COMMIT_HASH=$(git rev-parse --short=7 "$GITHUB_SHA")" >> $GITHUB_ENV
+          echo "TIMESTAMP=${{ needs.get_system_time.outputs.timestamp }}" >> $GITHUB_ENV
 
       - name: Install Dependencies
         run: |
@@ -96,7 +106,7 @@ jobs:
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
-          CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP COMMIT_HASH
+          CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP
 
           CIBW_BUILD_FRONTEND: "build"
           CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91b51fc40..826785bec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,9 +11,7 @@ set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (DEFINED ENV{DEVELOP})
-    string(TIMESTAMP NOW "%Y%m%d%H%M")
-    # set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}+$ENV{COMMIT_HASH}")
-    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.dev${NOW}")
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.dev$ENV{TIMESTAMP}")
     set (SETUP_NAME "gtsam-develop")
 elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")

From ebbde3c3f709ab645d6ca41e6e9273d108b6529f Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Wed, 26 Feb 2025 19:23:30 -0500
Subject: [PATCH 29/31] Add all Python version for Linux aarch64, add names to
 stages

---
 .github/workflows/build-cibw.yml | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index 19b7e65ce..dac64d19d 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -8,6 +8,7 @@ on:
 
 jobs:
   get_system_time:
+    name: Get System Time
     runs-on: ubuntu-latest
     outputs:
       timestamp: ${{ steps.get_time.outputs.timestamp }}
@@ -17,6 +18,7 @@ jobs:
         run: echo "timestamp=$(date +'%Y%m%d%H%M')" >> "$GITHUB_OUTPUT"
 
   build_wheels:
+    name: Build Wheels
     needs: get_system_time
     runs-on: ${{ matrix.os }}
     strategy:
@@ -51,6 +53,21 @@ jobs:
             cibw_python_version: 310
             platform_id: manylinux_aarch64
             manylinux_image: manylinux2014
+          - os: ubuntu-24.04-arm
+            python_version: "3.11"
+            cibw_python_version: 311
+            platform_id: manylinux_aarch64
+            manylinux_image: manylinux2014
+          - os: ubuntu-24.04-arm
+            python_version: "3.12"
+            cibw_python_version: 312
+            platform_id: manylinux_aarch64
+            manylinux_image: manylinux2014
+          - os: ubuntu-24.04-arm
+            python_version: "3.13"
+            cibw_python_version: 313
+            platform_id: manylinux_aarch64
+            manylinux_image: manylinux2014
 
           # MacOS x86_64
           # - os: macos-13

From 9f25382cbad7922b6cd8ffdc97e5d792708837da Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Fri, 28 Feb 2025 11:42:43 -0500
Subject: [PATCH 30/31] Add comments

---
 .github/workflows/build-cibw.yml      | 16 ++++++++++++++++
 CMakeLists.txt                        |  8 ++++++++
 build_tools/wheels/build_wheels.sh    |  3 +++
 build_tools/wheels/cibw_before_all.sh |  3 +++
 python/setup.py.in                    |  2 ++
 5 files changed, 32 insertions(+)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index dac64d19d..bae27470f 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -1,3 +1,6 @@
+# This workflow builds the Python wheels using cibuildwheel and uploads them to TestPyPI.
+# It can be triggered on push to the develop branch or manually via Github Actions.
+
 name: Build Wheels (cibuildwheel)
 
 on:
@@ -7,6 +10,9 @@ on:
   workflow_dispatch:
 
 jobs:
+  # Get the system time and store it in an output. This is used to tag the wheels.
+  # This needs to be done in a separate job so that each matrix job in build_wheels can
+  # access the same timestamp.
   get_system_time:
     name: Get System Time
     runs-on: ubuntu-latest
@@ -96,6 +102,8 @@ jobs:
         with:
           python-version: ${{ matrix.python_version }}
 
+      # Set the DEVELOP flag and the TIMESTAMP environment variables. This is used in the
+      # top-level CMakeLists.txt to generate the GTSAM_VERSION_STRING.
       - name: Set Develop Flag
         run: |
           echo "DEVELOP=1" >> $GITHUB_ENV
@@ -113,18 +121,26 @@ jobs:
             exit 1
           fi
 
+      # We first build the Python wrapper module on the host machine. This is done because cibuildwheel
+      # expects a setup.py file to be present in the project directory.
+      #
+      # The Python wrapper module is then rebuilt within the cibuildwheel container before building
+      # the wheels to ensure platform compatibility.
       - name: Run CMake
         run: |
           cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
 
       - name: Build and test wheels
         env:
+          # Generate the platform identifier. See https://cibuildwheel.pypa.io/en/stable/options/#build-skip.
           CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
           CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP
 
+          # Use build instead of pip wheel to build the wheels. This is recommended by PyPA.
+          # See https://cibuildwheel.pypa.io/en/stable/options/#build-frontend.
           CIBW_BUILD_FRONTEND: "build"
           CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 826785bec..cabde7653 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,14 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
+# Set the version string for the library. 
+#
+# If the environment variable DEVELOP is set, then the version string will be
+# "MAJOR.MINORprerelease.devTIMESTAMP". TIMESTAMP is another environment variable that should be set to the current
+# datetime. See build-cibw.yaml for example usage.
+#
+# If the prerelease version is empty, then the version string will be "MAJOR.MINOR.PATCH". Otherwise, the version
+# string will be "MAJOR.MINORprerelease".
 if (DEFINED ENV{DEVELOP})
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.dev$ENV{TIMESTAMP}")
     set (SETUP_NAME "gtsam-develop")
diff --git a/build_tools/wheels/build_wheels.sh b/build_tools/wheels/build_wheels.sh
index a8cbb93de..29247953d 100644
--- a/build_tools/wheels/build_wheels.sh
+++ b/build_tools/wheels/build_wheels.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# This script calls cibuildwheel to build the wheels for the project. It is used in the build-cibw.yml workflow in .github/workflows.
+# Note that the build/python directory contains the wrapper module built for the specified Python version.
+
 set -e
 set -x
 
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 4f0f33f16..2398877a8 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -13,6 +13,7 @@ ARCH=$(uname -m)
 export PYTHON="python${PYTHON_VERSION}"
 
 if [ "$(uname)" == "Linux" ]; then
+    # manylinux2014 is based on CentOS 7, so use yum to install dependencies
     yum install -y wget
 
     # Install Boost from source
@@ -32,6 +33,7 @@ $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 rm -rf $PROJECT_DIR/build
 rm -rf CMakeCache.txt CMakeFiles
 
+# Build the Python wrapper module
 cmake $PROJECT_DIR \
     -B build \
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
@@ -50,6 +52,7 @@ cmake $PROJECT_DIR \
 
 cd $PROJECT_DIR/build/python
 
+# Install the Python wrapper module and generate Python stubs
 if [ "$(uname)" == "Linux" ]; then
     make -j $(nproc) install
     make -j $(nproc) python-stubs
diff --git a/python/setup.py.in b/python/setup.py.in
index 96c21a55e..cd9177ab8 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -20,6 +20,8 @@ package_data = {
 # Cleaner to read in the contents rather than copy them over.
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
+# The cibuildwheel tool won't recognize a wheel as platform-dependent unless the ext_modules option is defined in setup.py. This is used to define C/C++ source files that need to be built for the wheel.
+# However, we pre-build our C++ files. Thus, we force cibuildwheel to think that there are ext_modules defined by overwriting the has_ext_modules() function.
 class BinaryDistribution(Distribution):
     def has_ext_modules(foo):
         return True

From 895fc8829f951c48e17949edd3b8c3b06d251488 Mon Sep 17 00:00:00 2001
From: Yashas Ambati <yashas.amb@gmail.com>
Date: Fri, 28 Feb 2025 14:59:54 -0500
Subject: [PATCH 31/31] Switch to PyPI

---
 .github/workflows/build-cibw.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index bae27470f..987c1645c 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -167,9 +167,9 @@ jobs:
           path: dist/
           merge-multiple: true
 
-      - name: Publish to TestPyPI
+      - name: Publish to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
           verbose: true
           packages-dir: dist/
-          repository-url: https://test.pypi.org/legacy/
+          # repository-url: https://test.pypi.org/legacy/