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test/mjcf: fix test of equality constraints #17

test/mjcf: fix test of equality constraints

test/mjcf: fix test of equality constraints #17

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) }}