test/mjcf: fix test of equality constraints #17
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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: Get Compilation Flags | |
id: get_labels | |
uses: actions/github-script@v7 | |
with: | |
script: | | |
const script = require('./.github/workflows/scripts/get_label.js'); | |
await script({github, context, core}) | |
result-encoding: string | |
- 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 }} \ | |
${{ steps.get_labels.outputs.cmakeFlags }} | |
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) }} |