Pinocchio v3 compatibility #220
Workflow file for this run
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| name: CONDA | |
| # This determines when this workflow is run | |
| on: | |
| push: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '.gitlab-ci.yml' | |
| - '.gitignore' | |
| - '.pre-commit-config.yaml' | |
| - '*.md' | |
| - 'LICENSE' | |
| - 'pyproject.toml' | |
| - 'package.xml' | |
| - 'dependencies.rosintall' | |
| pull_request: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '.gitlab-ci.yml' | |
| - '.gitignore' | |
| - '.pre-commit-config.yaml' | |
| - '*.md' | |
| - 'LICENSE' | |
| - 'pyproject.toml' | |
| - 'package.xml' | |
| - 'dependencies.rosintall' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| crocoddyl-conda: | |
| name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }}) | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CCACHE_BASEDIR: "${GITHUB_WORKSPACE}" | |
| CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache" | |
| CCACHE_COMPRESS: true | |
| CCACHE_COMPRESSLEVEL: 5 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # os: ["ubuntu-latest", "macos-latest"] | |
| os: ["macos-latest"] | |
| build_type: [Release, Debug] | |
| python-version: ["3.8", "3.12"] | |
| compiler: [clang] | |
| include: | |
| # - os: ubuntu-latest | |
| - os: macos-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }} | |
| restore-keys: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}- | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| activate-environment: crocoddyl | |
| auto-update-conda: true | |
| environment-file: .github/workflows/conda/conda-env.yml | |
| python-version: ${{ matrix.python-version }} | |
| auto-activate-base: false | |
| - name: Install conda dependencies | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| conda install cmake ccache -c conda-forge | |
| conda install llvm-openmp libcxx -c conda-forge | |
| conda list | |
| - name: Install example-robot-data | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| mkdir third-party && cd third-party | |
| git clone --recursive https://github.com/Gepetto/example-robot-data.git | |
| cd example-robot-data && mkdir build && cd build | |
| cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX | |
| make install | |
| - name: Install compilers for macOS | |
| shell: bash -l {0} | |
| if: contains(matrix.os, 'macos-latest') | |
| run: | | |
| conda install compilers -c conda-forge | |
| - name: Enable CppADCodeGen compilation | |
| shell: bash -l {0} | |
| if: contains(matrix.build_type, 'Release') | |
| run: | | |
| echo "codegen_support=ON" >> "$GITHUB_ENV" | |
| - name: Disable CppADCodeGen compilation | |
| shell: bash -l {0} | |
| if: contains(matrix.build_type, 'Debug') | |
| run: | | |
| echo "codegen_support=OFF" >> "$GITHUB_ENV" | |
| - name: Build Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| echo $CONDA_PREFIX | |
| mkdir build | |
| cd build | |
| cmake .. \ | |
| -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_WITH_CODEGEN_SUPPORT=${{ env.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \ | |
| -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DGENERATE_PYTHON_STUBS=ON \ | |
| -DOpenMP_ROOT=$CONDA_PREFIX | |
| make | |
| - name: Run unit tests | |
| shell: bash -l {0} | |
| run: | | |
| conda activate crocoddyl | |
| cd build | |
| export CTEST_OUTPUT_ON_FAILURE=1 | |
| make test | |
| - name: Install Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make install | |
| - name: Uninstall Crocoddyl | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make uninstall |