@@ -0,0 +1,175 @@
+# SPDX-FileCopyrightText: 2026 The RISE Project
+# SPDX-License-Identifier: MIT
+---
+# This workflow is based on the `cibuildwheel` job of
+# https://github.com/PRBonn/kiss-icp/blob/v1.3.0/.github/workflows/pypi.yml
+# and the tests of
+# https://github.com/PRBonn/kiss-icp/blob/v1.3.0/.github/workflows/python.yml
+name: Build kiss-icp wheels (riscv64)
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version glob to (re)build; empty builds every version of docs/packages/kiss-icp.yaml not released yet'
+        required: false
+        default: ''
+  pull_request:
+    branches: [main]
+    paths:
+      - '.github/workflows/build-kiss-icp.yml'
+      - 'docs/packages/kiss-icp.yaml'
+  push:
+    branches: [main]
+    paths:
+      - '.github/workflows/build-kiss-icp.yml'
+      - 'docs/packages/kiss-icp.yaml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read  # to fetch code (actions/checkout)
+
+env:
+  MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64
+
+jobs:
+  setup:
+    uses: $/.github/workflows/_setup.yml
+    with:
+      package: kiss-icp
+      version: ${{ inputs.version }}
+
+  build_wheels:
+    needs: [setup]
+    if: needs.setup.outputs.versions != '[]'
+    name: Build kiss-icp ${{ matrix.version }} ${{ matrix.python }}-manylinux_riscv64
+    runs-on: ubuntu-24.04-riscv
+    timeout-minutes: 180
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ${{ fromJSON(needs.setup.outputs.versions) }}
+        python: ["cp312", "cp313", "cp314", "cp314t"]
+
+    env:
+      KISS_ICP_VERSION: ${{ matrix.version }}
+
+    steps:
+      - name: Checkout kiss-icp v${{ env.KISS_ICP_VERSION }}
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          repository: PRBonn/kiss-icp
+          ref: v${{ env.KISS_ICP_VERSION }}
+          persist-credentials: false
+
+      # oneTBB, Eigen, Sophus, robin-map and pybind11 are fetched at configure
+      # time and compiled into the extension; upstream's wheel ships none of
+      # their licences, and its in-tree 3rdparty/*/LICENSE copies are not the
+      # pinned releases' own texts.
+      - name: Stage the vendored dependencies' licences
+        working-directory: python
+        run: |
+          set -euo pipefail
+          curl -fsSL -o LICENSE.oneTBB https://raw.githubusercontent.com/uxlfoundation/oneTBB/v2022.1.0/LICENSE.txt
+          curl -fsSL -o LICENSE.eigen https://gitlab.com/libeigen/eigen/-/raw/3.4.0/COPYING.MPL2
+          curl -fsSL -o LICENSE.sophus https://raw.githubusercontent.com/strasdat/Sophus/1.24.6/LICENSE.txt
+          curl -fsSL -o LICENSE.robin-map https://raw.githubusercontent.com/Tessil/robin-map/v1.4.0/LICENSE
+          curl -fsSL -o LICENSE.pybind11 https://raw.githubusercontent.com/pybind/pybind11/v3.1.0/LICENSE
+
+      - name: Stage the riscv64 smoke test
+        run: |
+          mkdir -p riscv64-tests
+          cat > riscv64-tests/test_riscv64_smoke.py <<'EOF'
+          import numpy as np
+
+          from kiss_icp.config import load_config
+          from kiss_icp.kiss_icp import KissICP
+          from kiss_icp.pybind import kiss_icp_pybind
+
+
+          def _room(rng, n=4000):
+              faces = []
+              for axis in range(3):
+                  for wall in (-8.0, 8.0) if axis < 2 else (-1.5, 3.0):
+                      pts = rng.uniform(-8.0, 8.0, size=(n, 3))
+                      pts[:, 2] = rng.uniform(-1.5, 3.0, size=n) if axis < 2 else pts[:, 2]
+                      pts[:, axis] = wall
+                      faces.append(pts)
+              return np.concatenate(faces)
+
+
+          def test_extension_is_compiled():
+              assert kiss_icp_pybind.__file__.endswith(".so"), kiss_icp_pybind.__file__
+
+
+          def test_registration_recovers_motion():
+              rng = np.random.default_rng(0)
+              scene = _room(rng)
+              odometry = KissICP(load_config(None))
+              motion = np.array([0.4, -0.2, 0.05])
+              for step in range(4):
+                  odometry.register_frame(scene - step * motion, np.array([]))
+              np.testing.assert_allclose(odometry.last_pose[:3, 3], 3 * motion, atol=0.05)
+              np.testing.assert_allclose(odometry.last_pose[:3, :3], np.eye(3), atol=0.01)
+          EOF
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074  # v4.2.0
+        with:
+          package-dir: python/
+          output-dir: wheelhouse/
+          only: ${{ matrix.python }}-manylinux_riscv64
+        env:
+          CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }}
+          # scikit-build-core 1.0 rejects the release's `cmake.minimum-version`
+          # key; build-system.requires leaves it unpinned.
+          CIBW_BEFORE_ALL: echo 'scikit-build-core<1' > /skbuild-constraint.txt
+          CIBW_ENVIRONMENT: >-
+            PIP_CONSTRAINT=/skbuild-constraint.txt
+            PIP_BUILD_CONSTRAINT=/skbuild-constraint.txt
+            PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/
+          CIBW_TEST_ENVIRONMENT: PIP_ONLY_BINARY=numpy
+          CIBW_TEST_SOURCES: python/tests riscv64-tests
+          CIBW_TEST_REQUIRES: pytest
+          CIBW_TEST_COMMAND: kiss_icp_pipeline --version && python -m pytest -rA python/tests riscv64-tests
+
+      - name: Check wheel contents
+        run: |
+          python3 - wheelhouse/*.whl <<'EOF'
+          import sys, zipfile
+          for path in sys.argv[1:]:
+              names = zipfile.ZipFile(path).namelist()
+              sos = [n for n in names if n.endswith(".so")]
+              assert any(n.startswith("kiss_icp/pybind/kiss_icp_pybind.") for n in sos), (path, sos)
+              licences = {n.rsplit("/", 1)[-1] for n in names
+                          if ".dist-info/licenses/" in n} - {""}
+              assert licences == {"LICENSE", "LICENSE.oneTBB", "LICENSE.eigen", "LICENSE.sophus",
+                                  "LICENSE.robin-map", "LICENSE.pybind11"}, (path, licences)
+              print(path, "->", sos)
+          EOF
+
+      - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a  # v7.0.1
+        with:
+          name: kiss-icp-${{ env.KISS_ICP_VERSION }}-${{ matrix.python }}-manylinux_riscv64
+          path: wheelhouse/*.whl
+          if-no-files-found: error
+
+  publish:
+    name: Publish kiss-icp ${{ matrix.version }}
+    needs: [setup, build_wheels]
+    if: needs.setup.outputs.versions != '[]'
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ${{ fromJSON(needs.setup.outputs.versions) }}
+    permissions:
+      contents: write
+      pull-requests: write
+    uses: $/.github/workflows/_publish-wheel.yml
+    secrets:
+      app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }}
+    with:
+      artifact-pattern: kiss-icp-${{ matrix.version }}-*-manylinux_riscv64
@@ -0,0 +1,5 @@
+package-name: kiss-icp
+source-code: https://github.com/PRBonn/kiss-icp
+license: MIT
+versions:
+- version: 1.3.0