TUM-Aries-Lab · HNam05 · Dec 2, 2025 · Dec 2, 2025 · Dec 2, 2025 · Dec 2, 2025
diff --git a/.github/workflows/pypi-publish.yml b/.github/workflows/pypi-publish.yml
@@ -0,0 +1,43 @@
+name: Publish to PyPI
+
+on:
+  push:
+    tags:
+      - "v*.*.*"
+
+permissions:
+  contents: read
+  id-token: write  # REQUIRED for Trusted Publishing
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v1
+        with:
+          version: latest
+
+      - name: Sync dependencies (no dev deps needed)
+        run: uv sync
+
+      - name: Build wheel and sdist
+        run: uv build --wheel --sdist
+
+      - name: List built artifacts
+        run: ls -R dist
+
+      - name: Inspect METADATA (optional debug)
+        run: |
+          wheel=$(ls dist/*.whl)
+          unzip -p "$wheel" "$(unzip -l "$wheel" | awk '/METADATA$/ {print $NF}')" || true
+
+      - name: Publish to PyPI (Trusted Publishing)
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist
+          verbose: true
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -5,6 +5,9 @@ default_language_version:
   python: python3.12
 
 repos:
+# --------------------------------------------------------
+#  Basic hygiene checks (whitespace, yaml, shebangs, etc.)
+# --------------------------------------------------------
 - repo: https://github.com/pre-commit/pre-commit-hooks
   rev: v6.0.0
   hooks:
@@ -16,20 +19,25 @@ repos:
     - id: name-tests-test
     - id: requirements-txt-fixer
 
-- repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.18.2
+# --------------------------------------------------------
+#  Delegate formatting + linting to your Makefile
+# --------------------------------------------------------
+- repo: local
   hooks:
-    - id: mypy
-      args: ["--ignore-missing-imports"]
-      additional_dependencies: []
-      exclude: ^testing/resources/
+    - id: make-format
+      name: Run format (ruff format + ruff lint)
+      entry: make format
+      language: system
+      types: [python]
 
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.14.6
+# --------------------------------------------------------
+#  Optional: run tests before commit
+#  (Often skipped in CI & enabled manually because slow)
+# --------------------------------------------------------
+- repo: local
   hooks:
-    - id: ruff
-      types_or: [python, pyi]
-      args: ["--fix"]
-
-    - id: ruff-format
-      types_or: [python, pyi]
+    - id: make-test
+      name: Run pytest suite
+      entry: make test
+      language: system
+      types: [python]
diff --git a/Dockerfile b/Dockerfile
@@ -6,7 +6,7 @@ ENV PYTHONDONTWRITEBYTECODE=1 \
     PYTHONUNBUFFERED=1
 
 # Select the package and version at build time
-ARG PKG=exosuit_python
+ARG PKG=exosuit_python[no_hw]
 ARG VER=latest
 ENV PKG=${PKG} VER=${VER}
 

diff --git a/Makefile b/Makefile
@@ -14,7 +14,7 @@ lint:
 	uv run ruff check --fix
 
 typecheck:
-	uv run mypy src/ tests/ --ignore-missing-imports
+	uv run pyright src
 
 format:
 	make lint
@@ -29,15 +29,13 @@ clean:
 	rm -rf junit-pytest.xml
 	rm -rf logs/*
 	find . -name ".coverage*" -delete
-	find . -name "coverage.xml" -delete
 	find . -name "__pycache__" -exec rm -r {} +
 
 update:
-	uv sync --upgrade --all-groups
-	uv run pre-commit autoupdate
+	uv lock --upgrade
 
 update-deep:
-	uv cache clean pypi
+	uv cache clean
 	make update
 
 docker:
@@ -46,3 +44,11 @@ docker:
 
 app:
 	uv run python -m exosuit_python
+
+tree:
+	uv run python repo_tree.py --update-readme
+
+build:
+	uv build
+	unzip -l dist/*.whl
+	unzip -p dist/*.whl */METADATA
diff --git a/README.md b/README.md
@@ -2,21 +2,21 @@
 [![Coverage Status](https://coveralls.io/repos/github/TUM-Aries-Lab/exosuit-python/badge.svg?branch=main)](https://coveralls.io/github/TUM-Aries-Lab/exosuit-python?branch=main)
 ![Docker Image CI](https://github.com/TUM-Aries-Lab/exosuit-python/actions/workflows/ci.yml/badge.svg)
 
-This repo is the main codebase to run the lower-limb exosuit on a single board computer like the Jetson Nano.
+This repo is the main codebase to run the lower-limb exosuit on a single board computer like the Jetson Nano or Raspberry Pi.
 
 ## Install
 To install the library run:
 
 ```bash
-uv pip install python-exosuit==latest
+uv pip install exosuit-python==latest
 ```
 OR
 ```bash
-uv add git+https://github.com/TUM-Aries-Lab/python-exosuit.git@<specific-tag>  # need credentials
+uv add git+https://github.com/TUM-Aries-Lab/exosuit-python.git@<specific-tag>  # need credentials
 ```
 
 ## Development
-0. Install [uv](https://docs.astral.sh/uv/getting-started/installation/) from Astral.
+0. Install [**uv**](https://docs.astral.sh/uv/getting-started/installation/) from Astral.
 1. `git clone git@github.com:TUM-Aries-Lab/exosuit-python.git`
 2. Install the dependencies to use Makefiles.
 3. `make init` to create the virtual environment and install dependencies
@@ -31,7 +31,7 @@ It's super easy to publish your own packages on PyPI. To build and publish this
 uv build
 uv publish  # make sure your version in pyproject.toml is updated
 ```
-The package can then be found at: https://pypi.org/project/exosuit-python
+The package can then be found at: **https://pypi.org/project/exosuit-python**
 
 ## Module Usage
 ```python
@@ -49,3 +49,34 @@ if __name__ == "__main__":
 ```bash
 uv run python -m exosuit_python
 ```
+
+## Structure
+Run `make tree` to update the repository tree scene below.
+<!-- TREE-START -->
+```
+├── src
+│   └── exosuit_python
+│       ├── __init__.py
+│       ├── __main__.py
+│       ├── definitions.py
+│       ├── exosuit.py
+│       └── utils.py
+├── tests
+│   ├── __init__.py
+│   ├── conftest.py
+│   ├── exosuit_test.py
+│   └── utils_test.py
+├── .dockerignore
+├── .gitignore
+├── .pre-commit-config.yaml
+├── .python-version
+├── CONTRIBUTING.md
+├── Dockerfile
+├── LICENSE
+├── Makefile
+├── README.md
+├── pyproject.toml
+├── repo_tree.py
+└── uv.lock
+```
+<!-- TREE-END -->
diff --git a/pyproject.toml b/pyproject.toml
@@ -1,86 +1,71 @@
 [project]
-name = "exosuit-python"
+name = "exosuit_python"
 version = "0.0.2"
-description = "Python-based lower limb exosuit"
+description = "IMU sensor codes in Python for the exosuit"
 readme = "README.md"
 authors = [{ name = "Tsmorz", email = "tony.smoragiewicz@tum.de" }]
 requires-python = ">=3.11,<3.14"
 
+# --- Core dependencies: NO hardware here ---
 dependencies = [
-    "numpy>=2.2.3",
-    "loguru>=0.7.3",
+  "numpy>=2.2.3",
+  "loguru>=0.7.3",
 ]
+
 [dependency-groups]
 dev = [
-    "ruff>=0.6.9",
-    "mypy>=1.11",
-    "pytest>=8.3",
-    "pytest-cov>=6.0",
-    "pre-commit>=4.1.0",
-    "coveralls>=4.0.1",
+  "ruff>=0.6.9",
+  "mypy>=1.11",
+  "pytest>=8.3",
+  "pytest-cov>=6.0",
+  "pre-commit>=4.1.0",
+  "coveralls>=4.0.1",
+  "pyright>=1.1.407",
+]
+hw = [
+]
+no_hw = [
 ]
 
 [project.urls]
 homepage = "https://github.com/TUM-Aries-Lab/exosuit-python"
 
 [tool.ruff]
 line-length = 88
+fix = true
 
 lint.select = [
-    "E",      # pycodestyle (style errors)
-    "F",      # Pyflakes (logical errors)
-    "W",      # Warnings
-    "C90",    # mccabe (complexity checks)
-    "I",      # isort (import sorting)
-    "N",      # pep8-naming (naming conventions)
-    "D",      # pydocstyle (docstring conventions)
-    "UP",     # pyupgrade (Python syntax modernization)
-    "B",      # flake8-bugbear (common pitfalls and performance issues)
-    "S",      # flake8-bandit (security issues)
-    "YTT",    # flake8-2020 (Python 2 compatibility issues)
-    "Q",      # flake8-quotes (quote consistency)
-    "PL",     # pylint (general best practices)
-    "RUF",    # Ruff-specific rules
-    "T20",
-    "F841",   # unused variable
-    "ERA001"  # commented out code
+  "E","F","W","C90","I","N","D","UP","B","S","YTT","Q","PL","RUF","T20","F841","ERA001",
 ]
 
 lint.ignore = [
-    "D203",
-    "D213",
-    "E501",
-    "N803",
-    "N806",
-    "D415",
-    "S101",
-    "E203",
-    "E731",
-    "D107",
-    "PLR2004",
-    "S607",
-    "S605",
-    "S603",
+  "D203","D213","E501","N803","N806","D415","S101","E203","E731",
+  "D107","PLR2004","S607","S605","S603",
 ]
 
-fix = true
-
 [tool.ruff.lint.isort]
-known-first-party = ["exosuit-python"]
+known-first-party = ["exosuit_python"]
 combine-as-imports = true
 
-[tool.lint.pydocstyle]
-convention = "google"
-
 [tool.ruff.format]
 quote-style = "double"
 indent-style = "space"
 line-ending = "lf"
 
-# -------------------------
-#     BUILD SYSTEM
-# -------------------------
-# UV uses hatchling by default; Poetry build backend removed.
 [build-system]
 requires = ["hatchling"]
 build-backend = "hatchling.build"
+
+[tool.hatch.metadata]
+allow-direct-references = true
+
+# Tell hatchling where the package lives (src layout)
+[tool.hatch.build.targets.wheel]
+packages = ["src/exosuit_python"]
+
+[tool.hatch.build.targets.sdist]
+include = [
+  "src/exosuit_python",
+  "README.md",
+  "LICENSE",
+]