Changed Geometry Objects bindings and added getMotionAxis function #1414
Workflow file for this run
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| name: CI - OSX/Linux via Conda | |
| on: | |
| push: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| pull_request: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| pinocchio-conda: | |
| name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CCACHE_BASEDIR: ${GITHUB_WORKSPACE} | |
| CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache | |
| CCACHE_COMPRESS: true | |
| CCACHE_COMPRESSLEVEL: 5 | |
| BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest] | |
| build_type: [Release, Debug] | |
| python-version: ['3.8', '3.12'] | |
| include: | |
| - os: ubuntu-latest | |
| BUILD_ADVANCED_TESTING: OFF | |
| # Disable BUILD_ADVANCED_TESTING as the test can take many time to run | |
| - os: macos-latest | |
| BUILD_ADVANCED_TESTING: OFF | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| with: | |
| path: .ccache | |
| save-always: true | |
| key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }} | |
| restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}- | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| activate-environment: pinocchio-linux | |
| auto-update-conda: true | |
| environment-file: .github/workflows/conda/environment_macos_linux.yml | |
| python-version: ${{ matrix.python-version }} | |
| auto-activate-base: false | |
| - name: Setup CMAKE_TOOLCHAIN_FILE | |
| if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') | |
| run: | | |
| echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV" | |
| - name: Build Pinocchio | |
| shell: bash -el {0} | |
| run: | | |
| conda list | |
| echo $CONDA_PREFIX | |
| mkdir build | |
| cd build | |
| cmake .. \ | |
| -G "Ninja" \ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \ | |
| -DBUILD_WITH_COLLISION_SUPPORT=ON \ | |
| -DBUILD_WITH_CASADI_SUPPORT=ON \ | |
| -DBUILD_WITH_AUTODIFF_SUPPORT=ON \ | |
| -DBUILD_WITH_CODEGEN_SUPPORT=ON \ | |
| -DBUILD_WITH_EXTRA_SUPPORT=ON \ | |
| -DBUILD_WITH_OPENMP_SUPPORT=ON \ | |
| -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON \ | |
| -DINSTALL_DOCUMENTATION=ON \ | |
| -DGENERATE_PYTHON_STUBS=ON | |
| cmake --build . -j2 | |
| ctest --output-on-failure | |
| cmake --install . | |
| - name: Uninstall Pinocchio | |
| shell: bash -el {0} | |
| run: | | |
| cd build | |
| cmake --build . --target uninstall | |
| check: | |
| if: always() | |
| name: check-macos-linux-conda | |
| needs: | |
| - pinocchio-conda | |
| runs-on: Ubuntu-latest | |
| steps: | |
| - name: Decide whether the needed jobs succeeded or failed | |
| uses: re-actors/alls-green@release/v1 | |
| with: | |
| jobs: ${{ toJSON(needs) }} |