From 77c9840ffe002e0cc14dca2eea33a242f492fc2b Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sun, 10 Nov 2024 12:25:40 -0800 Subject: [PATCH] Remove CI for homebrew Change mac runner name Remove CI for vcpkg Remove CI for ubuntu docker Fix rpath warnings on linux Build for both Release and Debug modes Attempt to fix rpath issue wip wip2 w w w w2 w3 w4 w5 w6 --- .github/workflows/ci_macos.yml | 38 +-- .github/workflows/ci_ubuntu.yml | 30 +- .github/workflows/ci_windows.yml | 83 +----- pixi.lock | 261 +++++++++-------- pixi.toml | 486 ++++++++++++++++++++++--------- scripts/install_osx.sh | 13 - 6 files changed, 523 insertions(+), 388 deletions(-) delete mode 100755 scripts/install_osx.sh diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml index e7260e1d75c15..40ddcab28fa6d 100644 --- a/.github/workflows/ci_macos.yml +++ b/.github/workflows/ci_macos.yml @@ -22,38 +22,13 @@ on: jobs: build: - name: ${{ matrix.os }}-${{ matrix.build_type }} - runs-on: ${{ matrix.os }} - strategy: - fail-fast: false - matrix: - os: [macos-latest] - build_type: [Release] - enable_simd: [ON] - env: - COMPILER: clang - BUILD_TYPE: ${{ matrix.build_type }} - BUILD_DARTPY: OFF - DART_USE_SYSTEM_IMGUI: OFF - IN_CI: ON - ENABLE_SIMD: ${{ matrix.enable_simd }} - steps: - - name: Checkout - uses: actions/checkout@v4 - - name: Install Dependencies - env: - INSTALL_OSG_HEAD: OFF # To avoid building OSG, until 3.7 is released. - run: scripts/install_osx.sh - - name: Build - run: sudo -E scripts/build.sh - - build_on_pixi: - name: ${{ matrix.os }}-pixi + name: ${{ matrix.os == 'macos-latest-large' && 'x86_64' || 'arm64' }}-${{ matrix.build_type }} runs-on: ${{ matrix.os }} strategy: fail-fast: false matrix: os: [macos-latest] + build_type: ["Release", "Debug"] steps: - name: Checkout uses: actions/checkout@v4 @@ -64,12 +39,19 @@ jobs: cache: true - name: Check Lint - run: pixi run check-lint + run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ + pixi run check-lint - name: Test DART and dartpy run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ pixi run test-all - name: Install run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ pixi run install diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml index 0200f6a3d59db..6fef4c339b12d 100644 --- a/.github/workflows/ci_ubuntu.yml +++ b/.github/workflows/ci_ubuntu.yml @@ -21,20 +21,13 @@ on: workflow_dispatch: jobs: - build_on_docker: + coverage: if: github.event_name != 'workflow_dispatch' - name: linux-docker-${{ matrix.os }}-${{ matrix.build_type }} + name: coverage-${{ matrix.os }}-${{ matrix.build_type }} runs-on: ubuntu-latest strategy: fail-fast: false matrix: - # Supported LTS versions - os: [ubuntu-jammy, ubuntu-noble, ubuntu-oracular] - build_type: [Release] - codecov: [OFF] - check_format: [OFF] - build_dartpy: [ON] - enable_simd: [ON] include: # For code coverage report to Codecov - os: ubuntu-jammy @@ -79,9 +72,13 @@ jobs: $DART_DEV_IMAGE:$DOCKER_TAG \ /bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh" - build_on_pixi: - name: ubuntu-pixi + build: + name: ${{ matrix.build_type }} runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + build_type: ["Release", "Debug"] steps: - name: Checkout uses: actions/checkout@v4 @@ -97,12 +94,19 @@ jobs: version: 1.0 - name: Check Lint - run: pixi run check-lint + run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ + pixi run check-lint - name: Test DART and dartpy run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ pixi run test-all - + - name: Install run: | + DART_VERBOSE=ON \ + BUILD_TYPE=${{ matrix.build_type }} \ pixi run install diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml index d26495662a7ee..ceaec0d8437cc 100644 --- a/.github/workflows/ci_windows.yml +++ b/.github/workflows/ci_windows.yml @@ -22,80 +22,12 @@ on: jobs: build: - name: win-${{ matrix.build_type }} + name: ${{ matrix.build_type }} runs-on: windows-latest strategy: fail-fast: false matrix: - toolset: [""] - build_type: [Release] - build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved - - steps: - - name: Checkout - uses: actions/checkout@v4 - - - uses: johnwason/vcpkg-action@v6 - with: - # TODO: Add ode and coin-or-ipopt - pkgs: > - assimp - eigen3 - fcl - fmt - spdlog - bullet3 - freeglut - glfw3 - imgui[opengl2-binding] - nlopt - opengl - osg - pagmo2 - tinyxml2 - tracy - urdfdom - triplet: x64-windows - revision: "2024.06.15" - github-binarycache: true - token: ${{ github.token }} - - - name: Install Python dependencies - run: | - python -m pip install --upgrade pip - pip install -U pytest - - - name: Build - shell: cmd - run: | - cmake ^ - -S . ^ - -B build ^ - -G "Visual Studio 17 2022" ^ - -A x64 ^ - -Wno-dev ${{ matrix.toolset }} ^ - -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^ - -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^ - -DDART_MSVC_DEFAULT_OPTIONS=ON ^ - -DDART_VERBOSE=ON ^ - -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^ - -DDART_USE_SYSTEM_IMGUI=ON ^ - || exit /b - cmake ^ - --build build ^ - --config ${{ matrix.build_type }} ^ - --target ALL_BUILD ^ - --parallel ^ - || exit /b - ctest ^ - --test-dir build ^ - --output-on-failure ^ - --build-config ${{ matrix.build_type }} ^ - || exit /b - - build_on_pixi: - name: win-pixi - runs-on: windows-latest + build_type: ["Release", "Debug"] steps: - name: Checkout uses: actions/checkout@v4 @@ -106,12 +38,17 @@ jobs: cache: true - name: Check Lint - run: pixi run check-lint + run: | + pixi run check-lint - name: Test DART and dartpy run: | - pixi run test # TODO: Change to test-all - + $env:DART_VERBOSE = "ON"; ` + $env:BUILD_TYPE = "${{ matrix.build_type }}"; ` + pixi run test-all + - name: Install run: | + $env:DART_VERBOSE = "ON"; ` + $env:BUILD_TYPE = "${{ matrix.build_type }}"; ` pixi run install diff --git a/pixi.lock b/pixi.lock index 1ee38d06924a7..1539c9ed0a48a 100644 --- a/pixi.lock +++ b/pixi.lock @@ -177,8 +177,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/ampl-mp-3.1.0-h2beb688_1006.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/assimp-5.4.3-hf9fe5ce_0.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py313habf4b1d_0.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h38cdd20_3.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py312hb401068_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h81f2e74_3.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/bzip2-1.0.8-hfdf4475_7.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.34.3-hf13058a_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/ca-certificates-2024.8.30-h8857fd0_0.conda @@ -232,9 +232,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/libjpeg-turbo-3.0.0-h0dc2134_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/liblapack-3.9.0-25_osx64_openblas.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/libllvm14-14.0.6-hc8e404f_4.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/libmpdec-4.0.0-hfdf4475_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/libnghttp2-1.64.0-hc7306c3_0.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-hb81edf0_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-h7a4cdba_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/libopenblas-0.3.28-openmp_hbf64a52_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/libpng-1.6.44-h4b8f8c9_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/libscotch-7.0.5-h8e19eb7_2.conda @@ -254,8 +253,8 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/ncurses-6.5-hf036a51_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/ninja-1.12.1-h3c5361c_0.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.8.0-py313h1f02af7_2.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/numpy-2.1.3-py313h7ca3f3b_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.8.0-py312h314ef60_2.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/numpy-1.26.4-py312he3a82b2_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/octomap-1.10.0-h37c8870_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/openscenegraph-3.6.5-hdbe5f9d_20.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/openssl-3.3.2-hd23fc13_0.conda @@ -263,15 +262,15 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/pagmo-2.19.1-h0f09f18_3.conda - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-0.12.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/pcre-8.45-he49afe7_0.tar.bz2 - - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh145f28c_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh8b19718_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/pipx-1.7.1-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/pkg-config-0.29.2-hf7e621a_1009.conda - conda: https://conda.anaconda.org/conda-forge/noarch/platformdirs-4.3.6-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.5.0-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/pthread-stubs-0.4-h00291cd_1002.conda - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.3.3-pyhd8ed1ab_0.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/python-3.13.0-h0608dab_100_cp313.conda - - conda: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.13-5_cp313.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/python-3.12.7-h8f8b54e_0_cpython.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.12-5_cp312.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/readline-8.2-h9e318b2_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/rhash-1.4.5-ha44c9a9_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/sdl2-2.30.7-hac325c4_0.conda @@ -286,6 +285,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/urdfdom-4.0.1-h4fa87d2_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/urdfdom_headers-1.1.2-h37c8870_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/userpath-1.7.0-pyhd8ed1ab_0.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libx11-1.8.10-ha6c16c8_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libxau-1.0.11-h00291cd_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libxdmcp-1.1.5-h00291cd_0.conda @@ -708,6 +708,26 @@ packages: license_family: GPL size: 71042 timestamp: 1660065501192 +- kind: conda + name: black + version: 24.10.0 + build: py312hb401068_0 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py312hb401068_0.conda + sha256: a1397d32f6d40ff19107bab8c1570f3934ad91a601d1d973b129eabe08b943e6 + md5: e832f4c2afb84e85718008b600944bc0 + depends: + - click >=8.0.0 + - mypy_extensions >=0.4.3 + - packaging >=22.0 + - pathspec >=0.9 + - platformdirs >=2 + - python >=3.12,<3.13.0a0 + - python_abi 3.12.* *_cp312 + license: MIT + license_family: MIT + size: 393514 + timestamp: 1728503944080 - kind: conda name: black version: 24.10.0 @@ -749,26 +769,6 @@ packages: license_family: MIT size: 397986 timestamp: 1728503908150 -- kind: conda - name: black - version: 24.10.0 - build: py313habf4b1d_0 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py313habf4b1d_0.conda - sha256: 0dd1b46c86daf91275bda0c0033af68d0120bf558df1f17dc6c9115dc98a48f2 - md5: 898f6d094791c8bfeb02be761897165e - depends: - - click >=8.0.0 - - mypy_extensions >=0.4.3 - - packaging >=22.0 - - pathspec >=0.9 - - platformdirs >=2 - - python >=3.13,<3.14.0a0 - - python_abi 3.13.* *_cp313 - license: MIT - license_family: MIT - size: 400395 - timestamp: 1728503832399 - kind: conda name: black version: 24.10.0 @@ -792,22 +792,22 @@ packages: - kind: conda name: bullet-cpp version: '3.25' - build: h38cdd20_3 + build: h81f2e74_3 build_number: 3 subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h38cdd20_3.conda - sha256: 30f52e10c8e57a37eecd287b975be2f04b43411d2bcf7e16ab9ee009a60ea8d2 - md5: ecced0936d59094c262fb64151d485eb + url: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h81f2e74_3.conda + sha256: 88038fae077999fd0ba26ab0965d3abbd38b6e25787271b015bf7b9511e084be + md5: 52206a784c1d25dcf5fb8d0174065177 depends: - __osx >=10.13 - libcxx >=17 - - numpy >=1.21,<3 - - python_abi 3.13.* *_cp313 + - numpy >=1.26.4,<2.0a0 + - python_abi 3.12.* *_cp312 - xorg-libx11 >=1.8.9,<2.0a0 - xorg-libxext >=1.3.4,<2.0a0 license: Zlib - size: 39753899 - timestamp: 1725367987014 + size: 40029733 + timestamp: 1725367829146 - kind: conda name: bullet-cpp version: '3.25' @@ -4211,20 +4211,6 @@ packages: license_family: BSD size: 69263 timestamp: 1723817629767 -- kind: conda - name: libmpdec - version: 4.0.0 - build: hfdf4475_0 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/libmpdec-4.0.0-hfdf4475_0.conda - sha256: 791be3d30d8e37ec49bcc23eb8f1e1415d911a7c023fa93685f2ea485179e258 - md5: ed625b2e59dff82859c23dd24774156b - depends: - - __osx >=10.13 - license: BSD-2-Clause - license_family: BSD - size: 76561 - timestamp: 1723817691512 - kind: conda name: libnghttp2 version: 1.64.0 @@ -4307,20 +4293,20 @@ packages: - kind: conda name: libode version: 0.16.5 - build: hb81edf0_0 + build: h7a4cdba_0 subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-hb81edf0_0.conda - sha256: e06a74ad6fea267d0b32200c1e87774308ea42a4fca261e18ed023346aa32d11 - md5: 55d6fe3e4d9a25efbaabe22dc07c4aad + url: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-h7a4cdba_0.conda + sha256: 038ca702884fbc268f3ed5773979d94b6b56e620392e894f10996f58b9021d94 + md5: bb21e3e398104276159f8bb52faaf375 depends: - __osx >=10.13 - libccd-double >=2.1,<2.2.0a0 - libcxx >=18 - pthread-stubs - - python_abi 3.13.* *_cp313 + - python_abi 3.12.* *_cp312 license: LGPL-2.1-or-later OR BSD-4-Clause - size: 438556 - timestamp: 1731154780719 + size: 438697 + timestamp: 1731154757322 - kind: conda name: libode version: 0.16.5 @@ -5685,6 +5671,24 @@ packages: license_family: Apache size: 285150 timestamp: 1715441052517 +- kind: conda + name: nlopt + version: 2.8.0 + build: py312h314ef60_2 + build_number: 2 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.8.0-py312h314ef60_2.conda + sha256: 489006fc82a81927c085918f27cdcb21fcea155b23b0fa1e09e79d1ab8a14aeb + md5: c348dd603f53faa384fee46aa00e8273 + depends: + - __osx >=10.13 + - libcxx >=17 + - numpy >=1.19,<3 + - python >=3.12,<3.13.0a0 + - python_abi 3.12.* *_cp312 + license: LGPL-2.1-or-later + size: 385554 + timestamp: 1725348701333 - kind: conda name: nlopt version: 2.8.0 @@ -5704,24 +5708,6 @@ packages: license: LGPL-2.1-or-later size: 402314 timestamp: 1725348682433 -- kind: conda - name: nlopt - version: 2.8.0 - build: py313h1f02af7_2 - build_number: 2 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.8.0-py313h1f02af7_2.conda - sha256: 98340299f3fd790985d4a947730f2172dfe002aaef91eb93dcc0d3ca24138cff - md5: 33ab4c0ad80f0d3a2489e903870058a7 - depends: - - __osx >=10.13 - - libcxx >=17 - - numpy >=1.21,<3 - - python >=3.13.0rc1,<3.14.0a0 - - python_abi 3.13.* *_cp313 - license: LGPL-2.1-or-later - size: 385576 - timestamp: 1725348698854 - kind: conda name: nlopt version: 2.8.0 @@ -5762,49 +5748,48 @@ packages: timestamp: 1725348737402 - kind: conda name: numpy - version: 2.1.3 - build: py313h4bf6692_0 - subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.1.3-py313h4bf6692_0.conda - sha256: e2e7451083c143cd61227d663e55712a7432239e9a9c758db0b66a26bc89a7f8 - md5: 17bcf851cceab793dad11ab8089d4bc4 + version: 1.26.4 + build: py312he3a82b2_0 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/numpy-1.26.4-py312he3a82b2_0.conda + sha256: 6152b73fba3e227afa4952df8753128fc9669bbaf142ee8f9972bf9df3bf8856 + md5: 96c61a21c4276613748dba069554846b depends: - - __glibc >=2.17,<3.0.a0 - libblas >=3.9.0,<4.0a0 - libcblas >=3.9.0,<4.0a0 - - libgcc >=13 + - libcxx >=16 - liblapack >=3.9.0,<4.0a0 - - libstdcxx >=13 - - python >=3.13,<3.14.0a0 - - python_abi 3.13.* *_cp313 + - python >=3.12,<3.13.0a0 + - python_abi 3.12.* *_cp312 constrains: - numpy-base <0a0 license: BSD-3-Clause license_family: BSD - size: 8404824 - timestamp: 1730588549941 + size: 6990646 + timestamp: 1707226178262 - kind: conda name: numpy version: 2.1.3 - build: py313h7ca3f3b_0 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/numpy-2.1.3-py313h7ca3f3b_0.conda - sha256: fe86adfc262259f1b156301d45d49d81801b1dec732e5b1dbc647cafe4659475 - md5: b827b0af2098c63435b27b7f4e4d50dd + build: py313h4bf6692_0 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.1.3-py313h4bf6692_0.conda + sha256: e2e7451083c143cd61227d663e55712a7432239e9a9c758db0b66a26bc89a7f8 + md5: 17bcf851cceab793dad11ab8089d4bc4 depends: - - __osx >=10.13 + - __glibc >=2.17,<3.0.a0 - libblas >=3.9.0,<4.0a0 - libcblas >=3.9.0,<4.0a0 - - libcxx >=18 + - libgcc >=13 - liblapack >=3.9.0,<4.0a0 + - libstdcxx >=13 - python >=3.13,<3.14.0a0 - python_abi 3.13.* *_cp313 constrains: - numpy-base <0a0 license: BSD-3-Clause license_family: BSD - size: 7638660 - timestamp: 1730588470617 + size: 8404824 + timestamp: 1730588549941 - kind: conda name: numpy version: 2.1.3 @@ -6353,6 +6338,23 @@ packages: license_family: MIT size: 1241228 timestamp: 1730203795175 +- kind: conda + name: pip + version: 24.3.1 + build: pyh8b19718_0 + subdir: noarch + noarch: python + url: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh8b19718_0.conda + sha256: 499313e72e20225f84c2e9690bbaf5b952c8d7e0bf34b728278538f766b81628 + md5: 5dd546fe99b44fda83963d15f84263b7 + depends: + - python >=3.8,<3.13.0a0 + - setuptools + - wheel + license: MIT + license_family: MIT + size: 1243168 + timestamp: 1730203795600 - kind: conda name: pipx version: 1.7.1 @@ -6578,31 +6580,30 @@ packages: timestamp: 1725977334143 - kind: conda name: python - version: 3.13.0 - build: h0608dab_100_cp313 - build_number: 100 + version: 3.12.7 + build: h8f8b54e_0_cpython subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/python-3.13.0-h0608dab_100_cp313.conda - sha256: f4c8ca4c34cb2a508956cfc8c2130dc30f168a75ae8254da8c43b5dce10ed2ea - md5: 9603103619775a3f99fe4b58d278775e + url: https://conda.anaconda.org/conda-forge/osx-64/python-3.12.7-h8f8b54e_0_cpython.conda + sha256: 28172d94f7193c5075c0fc3c4b1bb617c512ffc991f4e2af0dbb6a2916872b76 + md5: 7f81191b1ca1113e694e90e15c27a12f depends: - __osx >=10.13 - bzip2 >=1.0.8,<2.0a0 - libexpat >=2.6.3,<3.0a0 - libffi >=3.4,<4.0a0 - - libmpdec >=4.0.0,<5.0a0 - libsqlite >=3.46.1,<4.0a0 - libzlib >=1.3.1,<2.0a0 - ncurses >=6.5,<7.0a0 - openssl >=3.3.2,<4.0a0 - - python_abi 3.13.* *_cp313 - readline >=8.2,<9.0a0 - tk >=8.6.13,<8.7.0a0 - tzdata - xz >=5.2.6,<6.0a0 + constrains: + - python_abi 3.12.* *_cp312 license: Python-2.0 - size: 13933848 - timestamp: 1729169951268 + size: 13761315 + timestamp: 1728058247482 - kind: conda name: python version: 3.13.0 @@ -6689,34 +6690,34 @@ packages: timestamp: 1728417810202 - kind: conda name: python_abi - version: '3.13' - build: 5_cp313 + version: '3.12' + build: 5_cp312 build_number: 5 - subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda - sha256: 438225b241c5f9bddae6f0178a97f5870a89ecf927dfca54753e689907331442 - md5: 381bbd2a92c863f640a55b6ff3c35161 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.12-5_cp312.conda + sha256: 4da26c7508d5bc5d8621e84dc510284402239df56aab3587a7d217de9d3c806d + md5: c34dd4920e0addf7cfcc725809f25d8e constrains: - - python 3.13.* *_cp313 + - python 3.12.* *_cpython license: BSD-3-Clause license_family: BSD - size: 6217 - timestamp: 1723823393322 + size: 6312 + timestamp: 1723823137004 - kind: conda name: python_abi version: '3.13' build: 5_cp313 build_number: 5 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.13-5_cp313.conda - sha256: 075ad768648e88b78d2a94099563b43d3082e7c35979f457164f26d1079b7b5c - md5: 927a2186f1f997ac018d67c4eece90a6 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda + sha256: 438225b241c5f9bddae6f0178a97f5870a89ecf927dfca54753e689907331442 + md5: 381bbd2a92c863f640a55b6ff3c35161 constrains: - python 3.13.* *_cp313 license: BSD-3-Clause license_family: BSD - size: 6291 - timestamp: 1723823083064 + size: 6217 + timestamp: 1723823393322 - kind: conda name: python_abi version: '3.13' @@ -7468,6 +7469,20 @@ packages: license_family: MIT size: 321561 timestamp: 1724530461598 +- kind: conda + name: wheel + version: 0.45.0 + build: pyhd8ed1ab_0 + subdir: noarch + noarch: python + url: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda + sha256: 8a51067f8e1a2cb0b5e89672dbcc0369e344a92e869c38b2946584aa09ab7088 + md5: f9751d7c71df27b2d29f5cab3378982e + depends: + - python >=3.8 + license: MIT + size: 62755 + timestamp: 1731120002488 - kind: conda name: xcb-util version: 0.4.1 diff --git a/pixi.toml b/pixi.toml index 35385c314d445..5f104fd6e1af3 100644 --- a/pixi.toml +++ b/pixi.toml @@ -41,108 +41,230 @@ urdfdom = ">=4.0.0" [tasks] clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" } -config-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" } -install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [ - "config_local", - "build", -] } - config = { cmd = """ cmake \ -G Ninja \ -S . \ - -B build \ - -DCMAKE_BUILD_TYPE=Release \ + -B build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ - -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ - -DDART_VERBOSE=ON \ - -DDART_USE_SYSTEM_IMGUI=ON -""" } + -DCMAKE_BUILD_TYPE=$BUILD_TYPE \ + -DDART_VERBOSE=$DART_VERBOSE \ + -DDART_USE_SYSTEM_IMGUI=ON \ + -DCMAKE_PREFIX_PATH=$CONDA_PREFIX +""", env = { DART_VERBOSE = "OFF", BUILD_TYPE = "Release" } } + +lint-cpp = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target format +""", depends_on = ["config"] } + +lint-py = { cmd = """ + black . --exclude '\\..*' \ + && isort . --skip-glob '.*' +""", depends_on = ["config"] } -lint-cpp = { cmd = "cmake --build build --target format", depends_on = [ - "config", -] } -lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [ - "config", -] } lint = { depends_on = ["lint-cpp", "lint-py"] } -check-lint-cpp = { cmd = "cmake --build build --target check-format", depends_on = [ - "config", -] } -check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [ - "config", -] } + +check-lint-cpp = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target check-format +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +check-lint-py = { cmd = """ + black . --check --exclude '\\..*' \ + && isort . --check --skip-glob '.*' +""", depends_on = ["config"] } + check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] } -build = { cmd = "cmake --build build -j --target all", depends_on = ["config"] } -build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [ - "config", -] } -build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ - "config", -] } +build = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + -j \ + --target all +""", depends_on = ["config"] } -test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ - "build-tests", -] } -test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [ - "config", -] } -test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [ - "config", -] } +build-tests = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + -j \ + --target tests +""", depends_on = ["config"] } -ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [ - "config", -] } -ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [ - "config", -] } -ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [ - "config", -] } +build-dartpy = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + -j \ + --target dartpy +""", depends_on = ["config"] } + +test = { cmd = """ + ctest \ + --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --output-on-failure +""", depends_on = ["build-tests"] } + +test-dartpy = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + -j \ + --target pytest +""", depends_on = ["config"] } -bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [ - "config", -] } -bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [ - "config", -] } -bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [ - "config", -] } +test-all = { cmd = """ + cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target ALL +""", depends_on = ["config"] } -tu-biped = { cmd = "cmake --build build --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [ - "config", -] } -tu-biped-fi = { cmd = "cmake --build build --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [ - "config", -] } -tu-collisions = { cmd = "cmake --build build --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [ +ex = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target $EXE \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/$EXE +""", depends_on = [ "config", -] } -tu-collisions-fi = { cmd = "cmake --build build --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [ +], env = { EXE = "hello_world", BUILD_TYPE = "Release" } } + +ex-atlas-puppet = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target atlas_puppet \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_puppet +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +ex-atlas-simbicon = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target atlas_simbicon \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_simbicon +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +ex-hello-world = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target hello_world \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/hello_world +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +bm = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target BM_INTEGRATION_$EXE \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_$EXE +""", depends_on = ["config"], env = { EXE = "empty", BUILD_TYPE = "Release" } } + +bm-boxes = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target BM_INTEGRATION_boxes \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_boxes +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +bm-empty = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target BM_INTEGRATION_empty \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_empty +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +bm-kinematics = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target BM_INTEGRATION_kinematics \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_kinematics +""", depends_on = [ "config", -] } -tu-dominoes = { cmd = "cmake --build build --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [ +], env = { BUILD_TYPE = "Release" } } + +tu-biped = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_biped \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-biped-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_biped_finished \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped_finished +""", depends_on = [ "config", -] } -tu-dominoes-fi = { cmd = "cmake --build build --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [ +], env = { BUILD_TYPE = "Release" } } + +tu-collisions = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_collisions \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-collisions-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_collisions_finished \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions_finished +""", depends_on = [ "config", -] } -tu-multi-pendulum = { cmd = "cmake --build build --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [ +], env = { BUILD_TYPE = "Release" } } + +tu-dominoes = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_dominoes \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-dominoes-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_dominoes_finished \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes_finished +""", depends_on = [ "config", -] } -tu-multi-pendulum-fi = { cmd = "cmake --build build --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [ +], env = { BUILD_TYPE = "Release" } } + +tu-multi-pendulum = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_multi_pendulum \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi_pendulum +""", depends_on = [ "config", -] } +], env = { BUILD_TYPE = "Release" } } -install = { cmd = "cmake --build build --target install --parallel", depends_on = [ - "build", -] } +tu-multi-pendulum-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target tutorial_multi_pendulum_finished \ + --parallel \ + && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi_pendulum_finished +""", depends_on = [ + "config", +], env = { BUILD_TYPE = "Release" } } -create-deps-dir = { cmd = "mkdir -p .deps" } -remove-deps-dir = { cmd = "rm -rf .deps" } +install = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ + --target install \ + --parallel \ +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } ################################################################################ # linux-64 @@ -155,7 +277,15 @@ clang-format-14 = ">=14.0.6,<15" freeglut = ">=3.2.2,<3.3" [target.linux-64.tasks] -tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw --net=host tracy-profiler" } +tracy = { cmd = """ + docker run \ + --rm \ + -d \ + -e DISPLAY=$DISPLAY \ + -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ + --net=host \ + tracy-profiler +""" } ################################################################################ # osx-64 @@ -190,69 +320,149 @@ freeglut = ">=3.2.2" config = { cmd = """ cmake \ -S . \ - -B build \ + -B build/$PIXI_ENVIRONMENT_NAME/cpp \ -G 'Visual Studio 17 2022' \ + -DBUILD_SHARED_LIBS=OFF \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ - -DDART_VERBOSE=ON \ -DDART_MSVC_DEFAULT_OPTIONS=ON \ - -DBUILD_SHARED_LIBS=OFF \ - -DDART_USE_SYSTEM_IMGUI=ON -""" } -lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [ - "config", -] } + -DDART_USE_SYSTEM_IMGUI=ON \ + -DDART_VERBOSE=$DART_VERBOSE +""", env = { DART_VERBOSE = "OFF" } } + +lint-py = { cmd = """ + black . --exclude '\\..*' && isort . --skip-glob '.*' +""", depends_on = ["config"] } + lint = { depends_on = ["lint-py"] } -check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [ - "config", -] } + +check-lint-py = { cmd = """ + black . --check --exclude '\\..*' && isort . --check --skip-glob '.*' +""", depends_on = ["config"] } + check-lint = { depends_on = ["check-lint-py"] } -build = { cmd = "cmake --build build --config Release -j", depends_on = [ - "config", -] } -build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [ - "config", -] } -build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [ - "config", -] } +build = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + -j +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } -test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [ - "build-tests", -] } -test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [ - "config", -] } -test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [ - "config", -] } +build-tests = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + -j \ + --target tests +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } -tu-biped = { cmd = "cmake --build build --config Release --target tutorial_biped --parallel && build/Release/tutorial_biped.exe", depends_on = [ - "config", -] } -tu-biped-fi = { cmd = "cmake --build build --config Release --target tutorial_biped_finished --parallel && build/Release/tutorial_biped_finished.exe", depends_on = [ - "config", -] } -tu-collisions = { cmd = "cmake --build build --config Release --target tutorial_collisions --parallel && build/Release/tutorial_collisions.exe", depends_on = [ - "config", -] } -tu-collisions-fi = { cmd = "cmake --build build --config Release --target tutorial_collisions_finished --parallel && build/Release/tutorial_collisions_finished.exe", depends_on = [ - "config", -] } -tu-dominoes = { cmd = "cmake --build build --config Release --target tutorial_dominoes --parallel && build/Release/tutorial_dominoes.exe", depends_on = [ - "config", -] } -tu-dominoes-fi = { cmd = "cmake --build build --config Release --target tutorial_dominoes_finished --parallel && build/Release/tutorial_dominoes_finished.exe", depends_on = [ - "config", -] } -tu-multi-pendulum = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum --parallel && build/Release/tutorial_multi_pendulum.exe", depends_on = [ - "config", -] } -tu-multi-pendulum-fi = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum_finished --parallel && build/Release/tutorial_multi_pendulum_finished.exe", depends_on = [ - "config", -] } +build-dartpy = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + -j \ + --target dartpy +""", depends_on = ["config"] } + +test = { cmd = """ + ctest \ + --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp \ + --build-config $BUILD_TYPE \ + --output-on-failure +""", depends_on = ["build-tests"], env = { BUILD_TYPE = "Release" } } + +test-dartpy = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + -j \ + --target pytest +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +test-all = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + -j \ + --target ALL +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } -install = { cmd = "cmake --build build --config Release -j --target install", depends_on = [ - "build", -] } +tu-biped = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_biped \ + --parallel \ + && build/$BUILD_TYPE/tutorial_biped.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-biped-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_biped_finished \ + --parallel \ + && build/$BUILD_TYPE/tutorial_biped.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-collisions = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_collisions \ + --parallel \ + && build/$BUILD_TYPE/tutorial_collisions.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-collisions-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_collisions_finished \ + --parallel \ + && build/$BUILD_TYPE/tutorial_collisions.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-dominoes = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_dominoes \ + --parallel \ + && build/$BUILD_TYPE/tutorial_dominoes.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-dominoes-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_dominoes_finished \ + --parallel \ + && build/$BUILD_TYPE/tutorial_dominoes.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-multi-pendulum = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_multi_pendulum \ + --parallel \ + && build/$BUILD_TYPE/tutorial_multi_pendulum.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +tu-multi-pendulum-fi = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + --target tutorial_multi_pendulum_finished \ + --parallel \ + && build/$BUILD_TYPE/tutorial_multi_pendulum.exe +""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } + +install = { cmd = """ + cmake \ + --build build/$PIXI_ENVIRONMENT_NAME/cpp \ + --config $BUILD_TYPE \ + -j \ + --target install +""", depends_on = ["build"], env = { BUILD_TYPE = "Release" } } diff --git a/scripts/install_osx.sh b/scripts/install_osx.sh deleted file mode 100755 index 4d177177bc726..0000000000000 --- a/scripts/install_osx.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env bash -set -ex - -brew update >/dev/null -brew bundle || brew bundle - -# OpenSceneGraph -if [ "$INSTALL_OSG_HEAD" = "OFF" ]; then - brew install open-scene-graph -else - # Install master branch until 3.7.0 is released (see: https://github.com/dartsim/dart/issues/1439) - brew install open-scene-graph --HEAD -fi