Add Github actions to build, test and deploy the package

.github/workflows/build.yaml

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+name: Build
+run-name: Build and test of commit "${{ github.event.head_commit.message }}"
+
+on:
+  push:
+    branches:
+      - "*"
+  workflow_call:
+    inputs:
+      must_upload_pip_package_artifact:
+        default: true
+        required: false
+        type: boolean
+
+jobs:
+  build-using-cmake:
+    name: Build using CMake
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+
+      matrix:
+        compiler: [g++, clang++]
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: 'true'
+
+    - name: Set reusable strings
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+    - name: Setup Eigen3
+      uses: kupns-aka-kupa/setup-eigen3@v1
+
+    - name: Install the Python dependencies
+      run: |
+        python3 -m venv /tmp/venv
+        source /tmp/venv/bin/activate
+        python -m pip install --upgrade pip
+        pip install numpy
+
+    - name: Configure CMake
+      run: |
+        source /tmp/venv/bin/activate
+        cmake -B ${{ steps.strings.outputs.build-output-dir }} \
+        -DCMAKE_CXX_COMPILER=${{ matrix.compiler }} \
+        -DCMAKE_BUILD_TYPE=Release \
+        -S ${{ github.workspace }}
+
+    - name: Build
+      run: |
+        source /tmp/venv/bin/activate
+        cmake --build ${{ steps.strings.outputs.build-output-dir }}
+
+    - name: Install the Python library
+      run: |
+        source /tmp/venv/bin/activate
+        cmake --install ${{ steps.strings.outputs.build-output-dir }}
+
+    - name: Ensure the library is installed correctly
+      run: |
+        source /tmp/venv/bin/activate
+        python3 -c "from pygafro import *; robot = UR5()"
+
+
+  build-pip-package:
+    name: Build pip package
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: 'true'
+
+    - name: Set reusable strings
+      id: strings
+      shell: bash
+      run: |
+        PACKAGE_VERSION=$(grep -e "version =" ${{ github.workspace }}/pyproject.toml)
+        PACKAGE_VERSION=$(python -c "print('${PACKAGE_VERSION}'.split(' ')[-1].replace('\"', ''))")
+        echo "package_version=${PACKAGE_VERSION}" >> "$GITHUB_OUTPUT"
+
+    - name: Setup Eigen3
+      uses: kupns-aka-kupa/setup-eigen3@v1
+
+    - name: Install the Python dependencies
+      run: python3 -m pip install --upgrade build
+
+    - name: Build the source package
+      run: python3 -m build --sdist
+
+    - name: Install (and compile) it
+      run: |
+        python3 -m venv /tmp/venv
+        source /tmp/venv/bin/activate
+        pip install dist/pygafro-${{ steps.strings.outputs.package_version }}.tar.gz
+
+    - name: Ensure the library is installed correctly
+      run: |
+        source /tmp/venv/bin/activate
+        python3 -c "from pygafro import *; robot = UR5()"
+
+    - name: Upload source package artifact
+      if: ${{ inputs.must_upload_pip_package_artifact == true }}
+      uses: actions/upload-artifact@v4
+      with:
+        name: pygafro_source_package
+        path: dist/pygafro-${{ steps.strings.outputs.package_version }}.tar.gz

.github/workflows/publish.yaml

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+name: Publish
+run-name: Publish package on PyPI
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  publish-on-pypi:
+    name: Publish package on PyPI
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: 'true'
+
+    - name: Install the Python dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install twine build
+
+    - name: Build the source package
+      run: python3 -m build --sdist
+
+    - name: Upload to PyPI
+      run: twine upload dist/pygafro-*.tar.gz
+      env:
+        TWINE_USERNAME: __token__
+        TWINE_PASSWORD: ${{ secrets.PYPI_API_KEY }}