mim-solvers 0.0.5__tar.gz

mim_solvers-0.0.5/.github/workflows/ci.yml

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+name: Test
+
+on: [push, pull_request]
+
+env:
+  CTEST_OUTPUT_ON_FAILURE: ON
+  CTEST_PARALLEL_LEVEL: 4
+  CTEST_PROGRESS_OUTPUT: ON
+
+jobs:
+  test:
+    name: "Test python ${{ matrix.python-version }}"
+    runs-on: "ubuntu-latest"
+    strategy:
+      matrix:
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: python -m pip install crocoddyl[build] proxsuite[build]
+      - run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+      - run: cmake -B build -S .
+      - run: cmake --build build -j 4
+
+      - run: python -m pip install osqp
+      - run: echo "LD_LIBRARY_PATH=$(cmeel lib)" >> $GITHUB_ENV
+      - run: cmake --build build -t test

mim_solvers-0.0.5/.github/workflows/release.yml

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+name: Release on PyPI
+
+on:
+  push:
+    tags:
+      - "v*"
+    branches:
+      - cmeel
+  pull_request:
+    branches:
+      - cmeel
+
+env:
+  CMEEL_LOG_LEVEL: DEBUG
+
+jobs:
+  wheel:
+    name: "Build ${{ matrix.python }} ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm", "macos-13", "macos-14"]
+        python: ["cp38", "cp39", "cp310", "cp311", "cp312", "cp313"]
+        exclude:
+          - os: "macos-14"
+            python: "cp38"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: pipx install cibuildwheel
+      - run: echo "OPENMP=OFF" >> $GITHUB_ENV
+        if: ${{ startsWith(matrix.os, 'macos') }}
+      - run: echo "OPENMP=ON" >> $GITHUB_ENV
+        if: ${{ startsWith(matrix.os, 'ubuntu') }}
+      - run: cibuildwheel
+        env:
+          CIBW_BUILD: "${{ matrix.python }}-*"
+          CIBW_SKIP: "*-musllinux* *i686"
+          CIBW_MANYLINUX_X86_64_IMAGE: "quay.io/pypa/manylinux_2_28_x86_64"
+          CIBW_MANYLINUX_AARCH64_IMAGE: "quay.io/pypa/manylinux_2_28_aarch64"
+          CIBW_REPAIR_WHEEL_COMMAND: ""
+          CIBW_ENVIRONMENT: CMEEL_LOG_LEVEL="DEBUG" CMEEL_JOBS="1" CMEEL_RUN_TESTS="false" CMEEL_CMAKE_ARGS="-DBUILD_WITH_MULTITHREADS=$OPENMP"
+      - uses: actions/upload-artifact@v4
+        with:
+          name: "artifact-${{ matrix.os }}-${{ matrix.python }}"
+          path: wheelhouse
+
+  test:
+    needs: ["wheel"]
+    name: "Test ${{ matrix.python }} ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm", "macos-13", "macos-14"]
+        python: ["cp38", "cp39", "cp310", "cp311", "cp312", "cp313"]
+        exclude:
+          - os: "macos-14"
+            python: "cp38"
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: "artifact-${{ matrix.os }}-${{ matrix.python }}"
+          path: wheelhouse
+      - run: echo "${{ matrix.python }}" | sed "s/cp3/PYTHON_VERSION=3./" >> "${GITHUB_ENV}"
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: index
+        run: |
+          python -m pip install -U pip
+          python -m pip install wheel simple503
+          python -m simple503 --base-url ${{ github.workspace }}/wheelhouse ${{ github.workspace }}/wheelhouse
+      - name: install deps
+        run: python -m pip install build  cmeel[build] crocoddyl[build] proxsuite[build] cmeel-boost
+      - name: install wheel
+        run: python -m pip install -i "file://${{ github.workspace }}/wheelhouse" cmeel-boost
+
+  sdist:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.13
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install build cmeel[build] crocoddyl[build] proxsuite[build] cmeel-boost
+      - name: build sdist
+        run: python -m build -nso dist .
+      - uses: actions/upload-artifact@v4
+        with:
+          name: artifact-sdist
+          path: dist
+
+  release:
+    needs: ["test", "sdist"]
+    if: ${{ startsWith(github.ref, 'refs/tags/v') }}
+    runs-on: ubuntu-24.04
+    environment: release
+    permissions:
+      id-token: write
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.ref_name }}
+      - run: curl https://github.com/nim65s.gpg | gpg --import
+      - name: validate signature
+        run: >
+          git verify-tag --raw ${{ github.ref_name }} 2>&1
+          | grep -q 'VALIDSIG 9B1A79065D2F2B806C8A5A1C7D2ACDAF4653CF28'
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          path: dist
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true

mim_solvers-0.0.5/.gitignore

@@ -0,0 +1,162 @@
+*.data
+*.vscode
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

mim_solvers-0.0.5/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules

mim_solvers-0.0.5/.mergify.yml

@@ -0,0 +1,36 @@
+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "Build cp310 macos-13"
+      - check-success = "Build cp310 macos-14"
+      - check-success = "Build cp310 ubuntu-24.04"
+      - check-success = "Build cp310 ubuntu-24.04-arm"
+      - check-success = "Build cp311 macos-13"
+      - check-success = "Build cp311 macos-14"
+      - check-success = "Build cp311 ubuntu-24.04"
+      - check-success = "Build cp311 ubuntu-24.04-arm"
+      - check-success = "Build cp312 macos-13"
+      - check-success = "Build cp312 macos-14"
+      - check-success = "Build cp312 ubuntu-24.04"
+      - check-success = "Build cp312 ubuntu-24.04-arm"
+      - check-success = "Build cp313 macos-13"
+      - check-success = "Build cp313 macos-14"
+      - check-success = "Build cp313 ubuntu-24.04"
+      - check-success = "Build cp313 ubuntu-24.04-arm"
+      - check-success = "Build cp38 macos-13"
+      - check-success = "Build cp38 ubuntu-24.04"
+      - check-success = "Build cp38 ubuntu-24.04-arm"
+      - check-success = "Build cp39 macos-13"
+      - check-success = "Build cp39 macos-14"
+      - check-success = "Build cp39 ubuntu-24.04"
+      - check-success = "Build cp39 ubuntu-24.04-arm"
+      - check-success = "sdist"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+        - approved-reviews-by = nim65s
+        - author = nim65s
+        - author = dependabot[bot]
+        - author = github-actions[bot]
+        - author = pre-commit-ci[bot]
+    actions:
+      merge:

mim_solvers-0.0.5/.pre-commit-config.yaml

@@ -0,0 +1,5 @@
+repos:
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format

mim_solvers-0.0.5/CMakeLists.txt

@@ -0,0 +1,166 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Project properties
+set(PROJECT_NAMESPACE machines-in-motion)
+set(PROJECT_NAME mim_solvers)
+set(PROJECT_DESCRIPTION
+    "Numerical solvers of the Machines in Motion Laboratory.")
+set(PROJECT_URL https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME})
+set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+
+set(CXX_DISABLE_WERROR True)
+set(CMAKE_VERBOSE_MAKEFILE True)
+
+add_compile_options(--warn-no-conversion)
+
+# Project options
+option(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(BUILD_WITH_PROXSUITE "Build the ProxQP-based SQP solver" OFF)
+option(BUILD_BENCHMARKS "Build the benchmarks" OFF)
+option(CHECK_RUNTIME_MALLOC "Check eigen mallocs" OFF)
+option(ENABLE_VECTORIZATION
+       "Enable vectorization and further processor-related optimizations" OFF)
+option(BUILD_WITH_MULTITHREADS
+       "Build the library with the Multithreading support (required OpenMP)"
+       OFF)
+
+# Project configuration
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
+
+if(ENABLE_VECTORIZATION)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
+endif()
+
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+# JRL-cmakemodule setup
+include(${JRL_CMAKE_MODULES}/base.cmake)
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+include(${JRL_CMAKE_MODULES}/boost.cmake)
+include(${JRL_CMAKE_MODULES}/apple.cmake)
+include(${JRL_CMAKE_MODULES}/ide.cmake)
+include(CMakeDependentOption)
+
+# If needed, fix CMake policy for APPLE systems
+apply_default_apple_configuration()
+
+# Project dependencies
+find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+add_project_dependency(crocoddyl 2.0.0 REQUIRED)
+add_project_dependency(eigenpy 2.7.10 REQUIRED)
+add_project_dependency(example-robot-data 4.0.7 REQUIRED PKG_CONFIG_REQUIRES
+                       "example-robot-data >= 4.0.7")
+
+if(BUILD_WITH_PROXSUITE)
+  add_project_dependency(proxsuite REQUIRED)
+  add_definitions(-DMIM_SOLVERS_WITH_PROXQP)
+endif()
+
+if(BUILD_WITH_MULTITHREADS)
+  find_package(OpenMP REQUIRED COMPONENTS CXX)
+endif()
+
+if(BUILD_PYTHON_INTERFACE)
+  set(PY_NAME ${PROJECT_NAME}_pywrap)
+  set(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
+endif()
+
+if(CHECK_RUNTIME_MALLOC)
+  message(STATUS "Check if some memory allocations are performed at runtime.")
+  add_definitions(-DMIM_SOLVERS_EIGEN_CHECK_MALLOC)
+  add_definitions(-DEIGEN_RUNTIME_NO_MALLOC)
+endif(CHECK_RUNTIME_MALLOC)
+
+# Main Library
+set(${PROJECT_NAME}_HEADERS
+    include/${PROJECT_NAME}/kkt.hpp
+    include/${PROJECT_NAME}/ddp.hpp
+    include/${PROJECT_NAME}/fddp.hpp
+    include/${PROJECT_NAME}/sqp.hpp
+    include/${PROJECT_NAME}/csqp.hpp
+    include/${PROJECT_NAME}/utils/callbacks.hpp)
+
+set(${PROJECT_NAME}_SOURCES src/kkt.cpp src/ddp.cpp src/fddp.cpp src/sqp.cpp
+                            src/csqp.cpp src/utils/callbacks.cpp)
+
+if(BUILD_WITH_PROXSUITE)
+  list(APPEND ${PROJECT_NAME}_HEADERS include/${PROJECT_NAME}/csqp_proxqp.hpp)
+  list(APPEND ${PROJECT_NAME}_SOURCES src/csqp_proxqp.cpp)
+endif(BUILD_WITH_PROXSUITE)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif()
+
+# Main Executable
+target_link_libraries(${PROJECT_NAME} crocoddyl::crocoddyl)
+if(BUILD_WITH_PROXSUITE)
+  target_link_libraries(${PROJECT_NAME} proxsuite::proxsuite)
+endif()
+
+if(UNIX)
+  get_relative_rpath(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
+  set_target_properties(
+    ${PROJECT_NAME} PROPERTIES INSTALL_RPATH "${${PROJECT_NAME}_INSTALL_RPATH}")
+endif()
+
+# Python Bindings
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(bindings)
+endif()
+
+# Unit tests
+add_subdirectory(tests)
+
+# Benchmarks
+if(BUILD_BENCHMARKS)
+  add_subdirectory(benchmarks)
+endif()
+
+# Installation
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION ${CMAKE_INSTALL_LIBDIR})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})

mim_solvers-0.0.5/LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Machines in Motion Laboratory
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

mim_solvers-0.0.5/PKG-INFO

@@ -0,0 +1,62 @@
+Metadata-Version: 2.4
+Name: mim-solvers
+Version: 0.0.5
+Summary: A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
+Requires-Python: >=3.8
+License-Expression: BSD-3-Clause
+Home-page: https://github.com/cmake-wheel/mim_solvers
+Project-URL: Upstream, https://github.com/machines-in-motion/mim_solvers
+Requires-Dist: cmeel
+Requires-Dist: cmeel-boost >= 1.87.0, < 1.88
+Requires-Dist: crocoddyl
+Requires-Dist: proxsuite
+Provides-Extra: build
+Requires-Dist: crocoddyl[build] ; extra == "build"
+Requires-Dist: proxsuite[build] ; extra == "build"
+Description-Content-Type: text/markdown
+
+# mim_solvers
+Implementation of efficient numerical optimal control solvers. 
+In particular, the Sequential Quadratic Programming (SQP) solver described in [this paper](https://laas.hal.science/hal-04330251) solves nonlinear constrained OCPs efficiently by leveraging sparsity.
+
+All the solvers are implemented based on the API of [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel) (v2). 
+In other words, our solvers take as input a `crocoddyl.ShootingProblem`.
+
+Examples on how to use the solvers can be found in the `examples` directory.
+
+# Dependencies
+- [Pinocchio](https://github.com/stack-of-tasks/pinocchio) (rigid-body dynamics computations)
+- [Crocoddyl](https://github.com/loco-3d/crocoddyl) (optimal control library)
+- [ProxSuite](https://github.com/Simple-Robotics/proxsuite) (quadratic programming) (optional)
+
+# Installation
+
+  ## Using conda
+
+`conda install mim-solvers --channel conda-forge`
+
+
+  ## Using CMake
+`git clone --recursive https://github.com/machines-in-motion/mim_solvers.git`
+
+`cd mim_solvers && mkdir build && cd build`
+
+`cmake .. [-DCMAKE_BUILD_TYPE=Release] [-DCMAKE_INSTALL_PREFIX=...]`
+
+`make [-j6] && make install`
+
+You can also run unittests using `ctest` and benchmarks using `./benchmarks/ur5` or `./benchmarks/solo12` from the build directory.
+
+
+# Contributors
+
+-   [Armand Jordana](https://github.com/ajordana) (NYU): main developer and manager of the project
+-   [Sébastien Kleff](https://github.com/skleff1994) (NYU): main developer and manager of the project
+-   [Avadesh Meduri](https://github.com/avadesh02) (NYU): main developer and manager of the project
+-   [Ludovic Righetti](https://engineering.nyu.edu/faculty/ludovic-righetti) (NYU): project instructor
+-   [Justin Carpentier](https://jcarpent.github.io) (INRIA): project instructor
+-   [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): project instructor
+-   [Yann de Mont-Marin](https://github.com/ymontmarin) (INRIA): Conda integration and support
+-   [Louis Montaut](https://github.com/lmontaut) (INRIA): CMake support
+-   [Guilhem Saurel](https://github.com/nim65s) (LAAS-CNRS): CMake & pip packaging support
+-   [Jianghan ZHang](https://github.com/JianghanZHang) (NYU): features extension

mim_solvers-0.0.5/README.md

@@ -0,0 +1,45 @@
+# mim_solvers
+Implementation of efficient numerical optimal control solvers. 
+In particular, the Sequential Quadratic Programming (SQP) solver described in [this paper](https://laas.hal.science/hal-04330251) solves nonlinear constrained OCPs efficiently by leveraging sparsity.
+
+All the solvers are implemented based on the API of [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel) (v2). 
+In other words, our solvers take as input a `crocoddyl.ShootingProblem`.
+
+Examples on how to use the solvers can be found in the `examples` directory.
+
+# Dependencies
+- [Pinocchio](https://github.com/stack-of-tasks/pinocchio) (rigid-body dynamics computations)
+- [Crocoddyl](https://github.com/loco-3d/crocoddyl) (optimal control library)
+- [ProxSuite](https://github.com/Simple-Robotics/proxsuite) (quadratic programming) (optional)
+
+# Installation
+
+  ## Using conda
+
+`conda install mim-solvers --channel conda-forge`
+
+
+  ## Using CMake
+`git clone --recursive https://github.com/machines-in-motion/mim_solvers.git`
+
+`cd mim_solvers && mkdir build && cd build`
+
+`cmake .. [-DCMAKE_BUILD_TYPE=Release] [-DCMAKE_INSTALL_PREFIX=...]`
+
+`make [-j6] && make install`
+
+You can also run unittests using `ctest` and benchmarks using `./benchmarks/ur5` or `./benchmarks/solo12` from the build directory.
+
+
+# Contributors
+
+-   [Armand Jordana](https://github.com/ajordana) (NYU): main developer and manager of the project
+-   [Sébastien Kleff](https://github.com/skleff1994) (NYU): main developer and manager of the project
+-   [Avadesh Meduri](https://github.com/avadesh02) (NYU): main developer and manager of the project
+-   [Ludovic Righetti](https://engineering.nyu.edu/faculty/ludovic-righetti) (NYU): project instructor
+-   [Justin Carpentier](https://jcarpent.github.io) (INRIA): project instructor
+-   [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): project instructor
+-   [Yann de Mont-Marin](https://github.com/ymontmarin) (INRIA): Conda integration and support
+-   [Louis Montaut](https://github.com/lmontaut) (INRIA): CMake support
+-   [Guilhem Saurel](https://github.com/nim65s) (LAAS-CNRS): CMake & pip packaging support
+-   [Jianghan ZHang](https://github.com/JianghanZHang) (NYU): features extension

mim_solvers-0.0.5/benchmarks/CMakeLists.txt

@@ -0,0 +1,15 @@
+set(${PROJECT_NAME}_BENCHMARK ur5 solo12)
+
+set(${PROJECT_NAME}_BENCHMARK_TOOLS timings.hpp timings.cpp)
+
+add_library(${PROJECT_NAME}_BENCHMARK_TOOLS SHARED
+            ${${PROJECT_NAME}_BENCHMARK_TOOLS})
+
+foreach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
+  add_executable(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp)
+  target_link_libraries(
+    ${BENCHMARK_NAME} ${PROJECT_NAME} example-robot-data::example-robot-data
+    ${PROJECT_NAME}_BENCHMARK_TOOLS)
+  add_custom_target("benchmarks-cpp-${BENCHMARK_NAME}" ${BENCHMARK_NAME}
+                                                       \${INPUT})
+endforeach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})