CI #2766
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# Copyright (c) 2020, Massachusetts Institute of Technology. | |
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--- | |
name: CI | |
on: | |
pull_request: | |
types: | |
- opened | |
- reopened | |
- synchronize | |
push: | |
branches: | |
- master | |
schedule: | |
- cron: '0 8 * * *' | |
jobs: | |
docker: | |
name: dockerfile | |
runs-on: ubuntu-latest | |
container: russtedrake/underactuated:latest | |
steps: | |
- name: checkout | |
uses: actions/checkout@v2 | |
- name: submodule checkout | |
run: ./setup/submodule_checkout | |
shell: bash | |
- name: post-checkout setup | |
# Force bazel to use user pip instead of re-downloading everything to | |
# be hermetic: | |
run: | | |
truncate -s0 requirements.txt | |
sed -i '/PYTHONNOUSERSITE/d' .bazelrc | |
shell: bash | |
- name: test | |
run: ./htmlbook/workflows/ci/jammy/test | |
shell: bash | |
focal: | |
name: ubuntu 20.04 focal | |
runs-on: ubuntu-20.04 | |
container: ubuntu:20.04 | |
steps: | |
- name: pre-checkout setup | |
run: | | |
export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
apt-get update -o APT::Acquire::Retries=4 -qq | |
apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg | |
apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu focal main' > /etc/apt/sources.list.d/git.list | |
apt-get update -o APT::Acquire::Retries=4 -qq | |
apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
shell: bash | |
- name: checkout | |
uses: actions/checkout@v2 | |
- name: submodule checkout | |
run: ./setup/submodule_checkout | |
shell: bash | |
- name: post-checkout setup | |
run: ./htmlbook/workflows/ci/focal/setup | |
shell: bash | |
- name: test | |
run: ./htmlbook/workflows/ci/focal/test | |
shell: bash | |
jammy: | |
name: ubuntu 22.04 jammy | |
runs-on: ubuntu-22.04 | |
container: ubuntu:22.04 | |
steps: | |
- name: pre-checkout setup | |
run: | | |
export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
apt-get update -o APT::Acquire::Retries=4 -qq | |
apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg | |
apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu focal main' > /etc/apt/sources.list.d/git.list | |
apt-get update -o APT::Acquire::Retries=4 -qq | |
apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
shell: bash | |
- name: checkout | |
uses: actions/checkout@v2 | |
- name: submodule checkout | |
run: ./setup/submodule_checkout | |
shell: bash | |
- name: post-checkout setup | |
run: ./htmlbook/workflows/ci/jammy/setup | |
shell: bash | |
- name: test | |
run: ./htmlbook/workflows/ci/jammy/test | |
shell: bash | |
jammy-pip: | |
name: pip on jammy | |
runs-on: ubuntu-22.04 | |
container: ubuntu:22.04 | |
steps: | |
- name: pre-checkout setup | |
run: | | |
apt-get update -o APT::Acquire::Retries=4 -qq | |
apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb | |
pip3 install underactuated | |
# Upgrade drake to the nightlies to avoid deprecation errors. | |
# TODO(russt): point to the nightly in setup.cfg, pending | |
# https://github.com/RobotLocomotion/drake/issues/18792 | |
# pip3 install --upgrade https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20230529-cp310-cp310-manylinux_2_31_x86_64.whl | |
shell: bash | |
- name: checkout | |
uses: actions/checkout@v2 | |
- name: submodule checkout | |
run: ./setup/submodule_checkout | |
shell: bash | |
- name: post-checkout setup | |
# Force bazel to use user pip instead of re-downloading everything to | |
# be hermetic. Also apply patches to avoid bazel dependency on | |
# installed drake. | |
run: | | |
./setup/ubuntu/22.04/install_prereqs.sh | |
pip3 install -r requirements.txt | |
truncate -s0 requirements.txt | |
sed -i '/PYTHONNOUSERSITE/d' .bazelrc | |
git apply setup/pip_ci.patch | |
( cd htmlbook && git apply workflows/ci/pip_ci.patch ) | |
shell: bash | |
- name: test | |
run: DRAKE_RESOURCE_ROOT=`python3 -c "from pathlib import Path; from pydrake.all import GetDrakePath; print(Path(GetDrakePath()).parent)"` ./htmlbook/workflows/ci/jammy/test | |
shell: bash | |
monterey: | |
name: macos monterey 12 | |
runs-on: macos-12 | |
steps: | |
- name: checkout | |
uses: actions/checkout@v2 | |
- name: submodule checkout | |
run: ./setup/submodule_checkout | |
shell: zsh -efuo pipefail {0} | |
- name: setup | |
run: ./htmlbook/workflows/ci/monterey/setup | |
shell: zsh -efuo pipefail {0} | |
- name: test | |
run: ./htmlbook/workflows/ci/monterey/test | |
shell: zsh -efuo pipefail {0} | |
... |