Merge branch 'main' into mjcf-importer

.github/workflows/black.yml

@@ -10,7 +10,7 @@ jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: black
         uses: psf/black@stable
         with:

.github/workflows/pypi-ci.yml

@@ -1,6 +1,9 @@
-name: Publish Python 🐍 distributions 📦 to PyPI and TestPyPI
+name: Publish Python 🐍 distribution 📦 to PyPI and TestPyPI
+
+# Ref: https://packaging.python.org/en/latest/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/
 
 on:
+  workflow_dispatch:
   push:
     branches: ["**"]
     tags-ignore: ["**"]
@@ -9,69 +12,116 @@ on:
     types:
       - published
 jobs:
-  build_wheels:
-    name: Build wheels [${{ matrix.os }}]
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        python-version:
-          - 3.8
-        os:
-          - ubuntu-20.04
+  build:
+    name: Build distribution 📦
+    runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@master
-      - run: git fetch --prune --unshallow
+    - uses: actions/checkout@v4
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: "3.8"
+    - name: Install pypa/build
+      run: >-
+        python3 -m
+        pip install
+        build
+        --user
+    - name: Build a binary wheel and a source tarball
+      run: python3 -m build
+    - name: Store the distribution packages
+      uses: actions/upload-artifact@v4
+      with:
+        name: python-package-distributions
+        path: dist/
 
-      - name: Set up Python
-        uses: actions/setup-python@v2
-        with:
-          python-version: ${{ matrix.python-version }}
+  publish-to-pypi:
+    name: >-
+      Publish Python 🐍 distribution 📦 to PyPI
+    if: github.event_name == 'release' || startsWith(github.ref, 'refs/tags/')
+    needs:
+    - build
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/adam-robotics
+    permissions:
+      id-token: write  # IMPORTANT: mandatory for trusted publishing
 
-      - name: Install pypa/build
-        run: pip install build
+    steps:
+    - name: Download all the dists
+      uses: actions/download-artifact@v4
+      with:
+        name: python-package-distributions
+        path: dist/
+    - name: Publish distribution 📦 to PyPI
+      uses: pypa/gh-action-pypi-publish@release/v1
 
-      - name: Build wheel and a source tarball
-        run: python -m build --sdist --wheel --outdir dist/ .
+  github-release:
+    name: >-
+      Sign the Python 🐍 distribution 📦 with Sigstore
+      and upload them to GitHub Release
+    needs:
+    - publish-to-pypi
+    runs-on: ubuntu-latest
 
-      - name: Archive artifacts
-        uses: actions/upload-artifact@v2
-        with:
-          name: dist
-          path: dist
+    permissions:
+      contents: write  # IMPORTANT: mandatory for making GitHub Releases
+      id-token: write  # IMPORTANT: mandatory for sigstore
 
-  deploy_test_PyPI:
-    name: 📦 Deploy to TestPyPI
-    runs-on: ubuntu-20.04
-    needs: [build_wheels]
-    if: github.ref == 'refs/heads/main'
     steps:
-      - name: Download artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: dist
-          path: dist
+    - name: Download all the dists
+      uses: actions/download-artifact@v4
+      with:
+        name: python-package-distributions
+        path: dist/
+    - name: Sign the dists with Sigstore
+      uses: sigstore/[email protected]
+      with:
+        inputs: >-
+          ./dist/*.tar.gz
+          ./dist/*.whl
+    - name: Create GitHub Release
+      env:
+        GITHUB_TOKEN: ${{ github.token }}
+      run: >-
+        gh release create
+        '${{ github.ref_name }}'
+        --repo '${{ github.repository }}'
+        --notes ""
+    - name: Upload artifact signatures to GitHub Release
+      env:
+        GITHUB_TOKEN: ${{ github.token }}
+      # Upload to GitHub Release using the `gh` CLI.
+      # `dist/` contains the built packages, and the
+      # sigstore-produced signatures and certificates.
+      run: >-
+        gh release upload
+        '${{ github.ref_name }}' dist/**
+        --repo '${{ github.repository }}'
 
-      - name: Publish distribution 📦 to Test PyPI
-        uses: pypa/gh-action-pypi-publish@master
-        with:
-          password: ${{ secrets.TEST_PYPI_API_TOKEN }}
-          repository_url: https://test.pypi.org/legacy/
+  publish-to-testpypi:
+    name: Publish Python 🐍 distribution 📦 to TestPyPI
+    if: github.event_name == 'workflow_dispatch' || startsWith(github.ref, 'refs/tags/')
+    needs:
+    - build
+    runs-on: ubuntu-latest
 
-  deploy_PyPI:
-    name: 📦 Deploy to PyPI
-    runs-on: ubuntu-20.04
-    needs: [build_wheels]
-    if: startsWith(github.ref, 'refs/tags')
-    steps:
-      - name: Download artifacts
-        uses: actions/download-artifact@v2
-        with:
-          name: dist
-          path: dist
+    environment:
+      name: testpypi
+      url: https://test.pypi.org/p/adam-robotics
 
-      - name: Publish distribution 📦 to PyPI
-        uses: pypa/gh-action-pypi-publish@master
-        with:
-          password: ${{ secrets.PYPI_API_TOKEN }}
+    permissions:
+      id-token: write  # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+    - name: Download all the dists
+      uses: actions/download-artifact@v4
+      with:
+        name: python-package-distributions
+        path: dist/
+    - name: Publish distribution 📦 to TestPyPI
+      uses: pypa/gh-action-pypi-publish@release/v1
+      with:
+        repository-url: https://test.pypi.org/legacy/

.github/workflows/tests.yml

@@ -1,4 +1,4 @@
-name: Adam
+name: adam-tests
 
 on:
   push:
@@ -16,9 +16,9 @@ jobs:
         python-version: [3.11]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
       - name: Install dependencies

README.md

@@ -111,11 +111,30 @@ pip install .[selected-interface]
 
 #### Installation from conda-forge package
 
-```bash
-mamba create -n adamenv -c conda-forge adam-robotics
-```
 
-If you want to use `jax` or `pytorch`, just install the corresponding package as well.
+- Install **CasADi** interface:
+
+  ```bash
+  mamba create -n adamenv -c conda-forge adam-robotics-casadi
+  ```
+
+- Install **Jax** interface (warning: not available on Windows):
+
+  ```bash
+  mamba create -n adamenv -c conda-forge adam-robotics-jax
+  ```
+
+- Install **PyTorch** interface (warning: not available on Windows):
+
+  ```bash
+  mamba create -n adamenv -c conda-forge adam-robotics-pytorch
+  ```
+
+- Install **ALL** interfaces (warning: not available on Windows):
+
+  ```bash
+  mamba create -n adamenv -c conda-forge adam-robotics-all
+  ```
 
 > [!NOTE]
 > Check also the conda JAX installation guide [here](https://jax.readthedocs.io/en/latest/installation.html#conda-community-supported)
@@ -225,6 +244,7 @@ w_H_f_batch = jitted_vmapped_frame_fk(w_H_b_batch, joints_batch)
 ### CasADi interface
 
 ```python
+import casadi as cs
 import adam
 from adam.casadi import KinDynComputations
 import icub_models

ci_env.yml

@@ -16,7 +16,7 @@ dependencies:
   - pytest-repeat
   - icub-models
   - idyntree >=11.0.0
-  - gitpython
   - jax
   - pytorch
   - jax2torch
+  - requests

ci_env_win.yml

@@ -16,4 +16,4 @@ dependencies:
   - pytest-repeat
   - icub-models
   - idyntree >=11.0.0
-  - gitpython
+  - requests

docs/conf.py

@@ -18,7 +18,7 @@
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
 
 project = "adam"
-copyright = "2021, Artificial and Mechanical Intelligence Lab"
+copyright = "Artificial and Mechanical Intelligence Lab"
 author = "Artificial and Mechanical Intelligence Lab"
 # get release from git tag