Initial skeleton

.github/workflows/ci_cd.yml

@@ -0,0 +1,81 @@
+name: Python CI/CD
+
+on:
+  push:
+  pull_request:
+  release:
+    types:
+      - published
+
+jobs:
+
+  package:
+    name: Package the project
+    runs-on: ubuntu-22.04
+
+    steps:
+
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+
+      - name: Install Python tools
+        run: pip install build twine
+
+      - name: Create distributions
+        run: python -m build -o dist/
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      - name: Check wheel's abi and platform tags
+        run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0
+
+      - name: Run twine check
+        run: twine check dist/*
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          path: dist/*
+          name: dist
+
+  test:
+    name: 'Python${{ matrix.python }}@${{ matrix.os }}'
+    needs: package
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-22.04
+          - macos-latest
+          - windows-latest
+        python:
+          - "3.10"
+          - "3.11"
+
+    steps:
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Download Python packages
+        uses: actions/download-artifact@v3
+        with:
+          path: dist
+          name: dist
+
+      - name: Install wheel
+        shell: bash
+        run: pip install dist/*.whl
+
+      - name: Import the package
+        run: python -c "import hippopt"

.github/workflows/style.yml

@@ -0,0 +1,53 @@
+name: Code Style
+
+on:
+  push:
+    branches: [ "**" ]
+    tags-ignore: [ "**" ]
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+
+  black:
+
+    name: black
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - name: "🔀 Checkout repository"
+        uses: actions/checkout@v2
+
+      - name: '🐍 Initialize Python'
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+
+      - name: "📝 Black Code Formatter"
+        uses: psf/black@stable
+        with:
+          options: --check --diff --color
+
+  isort:
+
+    name: isort
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - name: "🔀 Checkout repository"
+        uses: actions/checkout@v2
+
+      - name: '🐍 Initialize Python'
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+
+      # Workaround for https://github.com/isort/isort-action/issues/70
+      - run: pip install colorama
+
+      - name: "📝 isort"
+        uses: isort/isort-action@master
+        with:
+          configuration: --check --diff --color

.gitignore

@@ -127,3 +127,6 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# Pycharm files
+.idea/

README.md

@@ -1,2 +1,44 @@
-# StepWise
-A Python-based Trajectory Optimization Framework
+# hippopt
+### HIghly Pythonized Planning and OPTimization framework
+
+
+hippopt is an open-source framework for generating whole-body trajectories for legged robots, with a focus on direct transcription of optimal control problems solved with multiple-shooting methods. The framework takes as input the robot model and generates optimized trajectories that include both kinematic and dynamic quantities.
+
+## Features
+
+- [ ] Direct transcription of optimal control problems with multiple-shooting methods
+- [ ] Support for floating-base robots, including humanoids and quadrupeds
+- [ ] Integration with CasADi library for efficient numerical optimization
+- [ ] Generation of optimized trajectories that include both kinematic and dynamic quantities
+- [ ] Extensive documentation and examples to help you get started
+
+## Installation
+
+TODO
+
+## Citing this work
+
+If you find the work useful, please consider citing:
+
+```bib
+@ARTICLE{dafarra2022dcc,
+  author={Dafarra, Stefano and Romualdi, Giulio and Pucci, Daniele},
+  journal={IEEE Transactions on Robotics}, 
+  title={Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion}, 
+  year={2022},
+  volume={38},
+  number={6},
+  pages={3414-3433},
+  doi={10.1109/TRO.2022.3183785}}
+```
+
+
+
+## Maintainer
+
+This repository is maintained by:
+
+|                                                              |                                                      |
+| :----------------------------------------------------------: | :--------------------------------------------------: |
+| [<img src="https://github.com/S-Dafarra.png" width="40">](https://github.com/S-Dafarra) | [@S-Dafarra](https://github.com/S-Dafarra) |
+

pyproject.toml

@@ -0,0 +1,17 @@
+[build-system]
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.2",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3

setup.cfg

@@ -0,0 +1,64 @@
+[metadata]
+name = hippopt
+description = HIghly Pythonized Planning and OPTimization framework
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Stefano Dafarra
+author_email = [email protected]
+license = BSD-2
+license_files = LICENSE
+platforms = any
+url = https://github.com/ami-iit/hippopt
+
+project_urls =
+    Changelog = https://github.com/ami-iit/hippopt/releases
+    Source = https://github.com/ami-iit/hippopt
+    Tracker = https://github.com/ami-iit/hippopt/issues
+
+keywords =
+    trajectory
+    optimization
+    robots
+    humanoids
+    quadrupeds
+    kinematics
+    dynamics
+    contacts
+
+classifiers =
+    Development Status :: 5 - Production/Stable
+    Framework :: Robot Framework
+    Intended Audience :: Science/Research
+    Intended Audience :: Developers
+    Intended Audience :: Education
+    License :: OSI Approved :: BSD License
+    Operating System :: OS Independent
+    Operating System :: POSIX :: Linux
+    Operating System :: MacOS
+    Operating System :: Microsoft :: Windows
+    Programming Language :: Python :: 3
+    Programming Language :: Python :: 3.10
+    Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3 :: Only
+    Programming Language :: Python :: Implementation :: CPython
+    Topic :: Games/Entertainment :: Simulation
+
+[options]
+zip_safe = False
+packages = find:
+package_dir =
+    =src
+python_requires = >=3.10
+install_requires =
+
+[options.extras_require]
+style =
+    black
+    isort
+pptree =
+    pptree
+all =
+    %(style)s
+
+[options.packages.find]
+where = src

setup.py

@@ -0,0 +1,3 @@
+import setuptools
+
+setuptools.setup()