Build

Initial upgrade to 4.6; planning collision checking still needed #78

	name: Build

	# Controls when the action will run.
	# Run this workflow every time a new commit pushed to your repository
	on:
	# Triggers the workflow on push or pull request events.
	push:
	pull_request:

	# Allows you to run this workflow manually from the Actions tab
	workflow_dispatch:

	# A workflow run is made up of one or more jobs that can run sequentially or in parallel
	jobs:
	# This workflow contains a single job called "build"
	build:
	# The type of runner that the job will run on
	runs-on: ubuntu-20.04
	env:
	DISPLAY: :0

	# Steps represent a sequence of tasks that will be executed as part of the job
	steps:
	# Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
	- uses: actions/checkout@v2

	# Runs a set of commands using the runners shell
	- name: Run a multi-line script
	run: \|
	sudo apt-get update -qq
	sudo apt-get install -y xvfb qtbase5-dev qtdeclarative5-dev libqt5webkit5-dev libsqlite3-dev qt5-default qttools5-dev-tools
	# start xvfb in the background
	sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &
	cur=`pwd`
	wget http://www.coppeliarobotics.com/files/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
	tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
	export COPPELIASIM_ROOT="$cur/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
	echo $COPPELIASIM_ROOT
	ls -al
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT:$COPPELIASIM_ROOT/platforms
	export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
	pip3 install -r requirements.txt
	pip3 install setuptools
	pip3 install .
	mv pyrep _pyrep
	python3 -m unittest discover tests

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