update

.gitattributes

@@ -11,3 +11,5 @@
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.npz filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.svg filter=lfs diff=lfs merge=lfs -text

.github/workflows/doc.yml

@@ -0,0 +1,38 @@
+name: Documentation
+on:
+  push:
+    branches:
+      - main
+jobs:
+  ai_doc:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+          cache: 'pip' # caching pip dependencies
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip          
+          pip install pydoc-markdown
+      - name: Generate documentation and examples
+        run: |
+          pydoc-markdown -I src -p reachy_mini --no-render-toc > doc.md
+          VERSION=$(grep '^version =' pyproject.toml | head -n1 | cut -d'"' -f2)
+          DATE=$(date -u +'%Y-%m-%d %H:%M UTC')
+          echo -e "# Reachy Mini Documentation\n\n**Version:** $VERSION\n**Generated:** $DATE\n" > doc_reachy_mini_full.md
+          cat README.md doc.md $(find docs -type f -name '*.md' | sort) >> doc_reachy_mini_full.md
+          echo -e "\n# Examples\n" >> doc_reachy_mini_full.md
+          for f in $(find examples -type f -name '*.py' | sort); do
+            echo -e "\n## $(basename "$f")\n" >> doc_reachy_mini_full.md
+            cat "$f" >> doc_reachy_mini_full.md
+          done
+      - name: Install GitHub CLI
+        run: sudo apt-get update && sudo apt-get install -y gh
+      - name: Upload doc_reachy_mini_full.md to Gist
+        env:
+          GH_TOKEN: ${{ secrets.GH_TOKEN }}
+        run: |
+          gh gist edit 919e1d7468fb16e70dbe984bdc277bba doc_reachy_mini_full.md --desc "Reachy Mini documentation and examples"

.github/workflows/lint.yml

@@ -1,4 +1,4 @@
-name: Ruff
+name: Linters
 on: [ push, pull_request ]
 jobs:
   ruff:
@@ -8,3 +8,20 @@ jobs:
       - uses: astral-sh/ruff-action@v3
         with:
           version: "0.12.0"
+
+  mypy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+          cache: 'pip' # caching pip dependencies
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install .[dev]
+      - name : Lint with mypy
+        run : |
+          mypy --install-types --non-interactive

.github/workflows/pytest.yml

@@ -23,6 +23,6 @@ jobs:
           pip install .[dev]
       - name: Run tests
         run: |
-          pytest -v -m 'not audio and not video and not audio_gstreamer and not video_gstreamer' --tb=short
+          pytest -vv -m 'not audio and not video and not audio_gstreamer and not video_gstreamer and not wireless and not wireless_gstreamer' --tb=short
         env:
           MUJOCO_GL: disable

.github/workflows/wheels.yml

@@ -0,0 +1,26 @@
+name: Publish
+
+on:
+  release:
+    types:
+      - created
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: "3.10"
+      - name: Install build dependencies
+        run: pip install build
+      - name: Build distribution
+        run: python -m build
+      - name: Publish
+        uses: pypa/gh-action-pypi-publish@v1.13.0

.github/workflows/wheels.yml.bak

@@ -0,0 +1,181 @@
+name: Build and Release Wheels
+
+on:
+  push:
+    tags:
+      - "*"
+  workflow_dispatch:
+
+jobs:
+  linux:
+    runs-on: ${{ matrix.platform.runner }}
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    strategy:
+      matrix:
+        platform:
+          - runner: ubuntu-22.04
+            target: x86_64
+          - runner: ubuntu-22.04
+            target: x86
+          - runner: ubuntu-22.04
+            target: aarch64
+          - runner: ubuntu-22.04
+            target: armv7
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: |
+            3.8
+            3.9
+            3.10
+            3.11
+            3.12
+            3.13
+      - name: Build wheels
+        run: |
+          pip install build
+          python -m build --wheel --outdir dist
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-linux-${{ matrix.platform.target }}
+          path: dist/*.whl
+
+  musllinux:
+    runs-on: ${{ matrix.platform.runner }}
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    strategy:
+      matrix:
+        platform:
+          - runner: ubuntu-22.04
+            target: x86_64
+          - runner: ubuntu-22.04
+            target: x86
+          - runner: ubuntu-22.04
+            target: aarch64
+          - runner: ubuntu-22.04
+            target: armv7
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: |
+            3.8
+            3.9
+            3.10
+            3.11
+            3.12
+            3.13
+      - name: Build wheels
+        run: |
+          pip install build
+          python -m build --wheel --outdir dist
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-musllinux-${{ matrix.platform.target }}
+          path: dist/*.whl
+
+  windows:
+    runs-on: ${{ matrix.platform.runner }}
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    strategy:
+      matrix:
+        platform:
+          - runner: windows-latest
+            target: x64
+          - runner: windows-latest
+            target: x86
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: |
+            3.8
+            3.9
+            3.10
+            3.11
+            3.12
+            3.13
+          architecture: ${{ matrix.platform.target }}
+      - name: Build wheels
+        run: |
+          pip install build
+          python -m build --wheel --outdir dist
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-windows-${{ matrix.platform.target }}
+          path: dist/*.whl
+
+  macos:
+    runs-on: ${{ matrix.platform.runner }}
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    strategy:
+      matrix:
+        platform:
+          - runner: macos-13
+            target: x86_64
+          - runner: macos-14
+            target: aarch64
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: |
+            3.8
+            3.9
+            3.10
+            3.11
+            3.12
+            3.13
+      - name: Build wheels
+        run: |
+          pip install build
+          python -m build --wheel --outdir dist
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-macos-${{ matrix.platform.target }}
+          path: dist/*.whl
+
+  sdist:
+    runs-on: ubuntu-latest
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build sdist
+        run: |
+          pip install build
+          python -m build --sdist --outdir dist
+      - name: Upload sdist
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-sdist
+          path: dist/*.tar.gz
+
+  release:
+    name: Release
+    runs-on: ubuntu-latest
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    needs: [linux, musllinux, windows, macos, sdist]
+    permissions:
+      id-token: write
+      contents: write
+      attestations: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: wheels-*
+          merge-multiple: true
+          path: dist
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v1
+        with:
+          subject-path: 'dist/*'
+      - name: Publish to PyPI
+        if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/