Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual
#624
Workflow file for this run
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| name: Publish on anaconda | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| publish: | |
| description: "Publish conda packages" | |
| required: false | |
| default: false | |
| type: boolean | |
| pull_request: | |
| release: | |
| types: published | |
| env: | |
| FROM_TAG: ${{ inputs.publish && '1' || '' }} | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| upload-on-anaconda: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: ["ubuntu-latest", "macos-latest"] | |
| build_type: [Release] | |
| python-version: ["3.10", "3.11", "3.12"] | |
| include: | |
| - python-version: "3.10" | |
| numpy-version: "1.22" | |
| - python-version: "3.11" | |
| numpy-version: "1.24" | |
| - python-version: "3.12" | |
| numpy-version: "1.26" | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| auto-update-conda: true | |
| channels: conda-forge | |
| # Python version will be inputed in conda build | |
| # command line | |
| python-version: "3.10" | |
| - name: Install conda-build and anaconda-client | |
| shell: bash -el {0} | |
| run: conda install conda-build anaconda-client | |
| - name: Set version | |
| run: | | |
| VER=$(grep "<version>" package.xml | sed 's/ <version>//g' | sed 's/<\/version>//g') | |
| echo "VERSION=$VER" >> $GITHUB_ENV | |
| - name: Build the recipe | |
| shell: bash -el {0} | |
| run: | | |
| conda build -c simple-robotics \ | |
| -c conda-forge \ | |
| --no-error-overlinking \ | |
| --py ${{ matrix.python-version }} \ | |
| --numpy ${{ matrix.numpy-version }} \ | |
| packaging/conda/aligator-release | |
| - name: upload on conda | |
| if: github.event_name == 'release' || inputs.publish | |
| shell: bash -el {0} | |
| run: anaconda -t ${{ secrets.SIMPLE_ROBOTICS_ANACONDA_TOKEN }} upload --force $CONDA_PREFIX/conda-bld/*/aligator-*.tar.bz2 | |
| check: | |
| if: always() | |
| name: check-upload-on-anaconda | |
| needs: | |
| - upload-on-anaconda | |
| 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) }} |