Add Human inverse kinematic class #225
Workflow file for this run
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| name: C++ CI Workflow | |
| # template derived from https://github.com/robotology/human-dynamics-estimation/blob/master/.github/workflows/ci.yml | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # run a cron job for a nightly build | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| env: | |
| BipedalLocomotionFramework_TAG: v0.16.1 | |
| LieGroupController_TAG: v0.2.0 | |
| action-restore-cache: 'true' | |
| jobs: | |
| build: | |
| name: '[${{matrix.os}}@${{matrix.build_type}}]' | |
| runs-on: ${{matrix.os}} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-latest, macos-latest] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Get current day | |
| shell: bash -l {0} | |
| run: | | |
| echo "DATE=$(date +'%Y-%m-%d')" >> $GITHUB_ENV | |
| # Use conda for main dependencies | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| # Print the environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| # Use bash in order to have same basic commands in all OSs | |
| shell: bash | |
| run: env | |
| # Remove apt repos on Ubuntu that are known to break from time to time | |
| # See https://github.com/actions/virtual-environments/issues/323 | |
| - name: Remove broken apt repos [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Restore cached conda based dependencies | |
| if: ${{ env.action-restore-cache == 'true' }} | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: ${{ env.CONDA }}/envs/test | |
| key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }} | |
| id: cache-restore-conda-deps | |
| - name: Dependencies (using conda) | |
| shell: bash -l {0} | |
| if: steps.cache-restore-conda-deps.outputs.cache-hit != 'true' | |
| run: | | |
| mamba env update -f .github/workflows/conda-deps.yml | |
| - name: Cache conda based dependencies | |
| if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' }} | |
| uses: actions/cache/save@v3 | |
| with: | |
| path: ${{ env.CONDA }}/envs/test | |
| key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }} | |
| id: cache-save-conda-deps | |
| - name: Restore cached source-based dependencies | |
| if: ${{ env.action-restore-cache == 'true' && steps.cache-restore-conda-deps.outputs.cache-hit == 'true' }} | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }} | |
| id: cache-restore-source-deps | |
| - name: Source-based dependencies | |
| if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' || steps.cache-restore-source-deps.outputs.cache-hit != 'true' }} | |
| shell: bash -l {0} | |
| run: | | |
| # lie-group-controller | |
| cd ${GITHUB_WORKSPACE} | |
| git clone --depth 1 --single-branch --branch ${LieGroupController_TAG} https://github.com/ami-iit/lie-group-controllers.git lieCtrl | |
| cd lieCtrl | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja .. \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # bipedal-locomotion-framework | |
| cd ${GITHUB_WORKSPACE} | |
| git clone --depth 1 --single-branch --branch ${BipedalLocomotionFramework_TAG} https://github.com/ami-iit/bipedal-locomotion-framework blf | |
| cd blf | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja .. \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| - name: Cache source-based dependencies | |
| if: ${{ steps.cache-restore-source-deps.outputs.cache-hit != 'true' }} | |
| uses: actions/cache/save@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }} | |
| id: cache-save-source-deps | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| # We will just configure and build the project now. Further modifications and tests can be added | |
| # Configure step | |
| - name: Configure | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Ninja" .. \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \ | |
| -DFRAMEWORK_COMPILE_YarpImplementation=ON \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install | |
| # Build step | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{matrix.build_type}} --verbose | |
| # Test step | |
| - name: Test | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| export PATH=$PATH:${GITHUB_WORKSPACE}/build/install/bin:${GITHUB_WORKSPACE}/install/deps/bin | |
| ctest --output-on-failure -C ${{ matrix.build_type }} . |