[gym_jiminy/common] Speed-up env pipeline. #2662
Workflow file for this run
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| name: Ubuntu CI (Easy install dependencies) | |
| on: | |
| # Trigger the workflow on push on the master branch, or for any pull request | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| jobs: | |
| build-test-and-deploy-doc-ubuntu: | |
| name: >- | |
| (${{ matrix.os }}) (${{ matrix.BUILD_TYPE }}) (${{ matrix.COMPILER }}, ${{ matrix.GENERATOR }}) | |
| Easy install the dependencies. Build the project and run the unit tests. | |
| Generate and deploy the documentation. | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ubuntu-20.04, ubuntu-22.04] | |
| GENERATOR: ['Unix Makefiles'] | |
| COMPILER: ['gcc'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - os: ubuntu-20.04 | |
| GENERATOR: 'Unix Makefiles' | |
| COMPILER: 'gcc' | |
| BUILD_TYPE: 'Debug' | |
| - os: ubuntu-20.04 | |
| GENERATOR: 'Ninja' | |
| COMPILER: 'clang' | |
| LINKER_FLAGS: '-fuse-ld=gold' | |
| BUILD_TYPE: 'Release' | |
| defaults: | |
| run: | |
| # Using bash with automatic sourcing `.bashrc` and fail-fast behavior enabled | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| TORCH_VERSION: "2.0.1+cpu" | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout branch | |
| uses: actions/checkout@v3 | |
| ##################################################################################### | |
| - name: Define environment variables | |
| run: | | |
| echo "CC=/usr/bin/${{ matrix.COMPILER }}" >> $GITHUB_ENV | |
| if [[ "${{ matrix.COMPILER }}" == 'gcc' ]] ; then | |
| echo "CXX=/usr/bin/g++" >> $GITHUB_ENV | |
| else | |
| echo "CXX=/usr/bin/${{ matrix.COMPILER }}++" >> $GITHUB_ENV | |
| fi | |
| echo "PYTHON_EXECUTABLE=/usr/bin/python3" >> $GITHUB_ENV | |
| echo "PYTHON_INCLUDE_DIRS=$(${PYTHON_EXECUTABLE} -c \ | |
| 'import sysconfig as sysconfig; print(sysconfig.get_path("include"))')" >> $GITHUB_ENV | |
| echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV | |
| echo "/home/runner/.local/bin" >> $GITHUB_PATH | |
| - name: Install pre-compiled dependencies | |
| run: | | |
| sudo env "PATH=$PATH" "$RootDir/build_tools/easy_install_deps_ubuntu.sh" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| sudo apt install ninja-build | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/torch | |
| "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0" | |
| ##################################################################################### | |
| - name: PEP8 Code Style Check | |
| if: matrix.os == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc' | |
| run: | | |
| "${PYTHON_EXECUTABLE}" -m pip install flake8 | |
| flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \ | |
| --count --show-source --statistics --exclude unit_py,examples "$RootDir/python/" | |
| ##################################################################################### | |
| - name: Build and install Jiminy | |
| run: | | |
| mkdir "$RootDir/build" "$InstallDir" | |
| cd "$RootDir/build" | |
| cmake "$RootDir" -G "${{ matrix.GENERATOR }}" -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DBoost_NO_SYSTEM_PATHS=OFF \ | |
| -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DPYTHON_INCLUDE_DIR="${PYTHON_INCLUDE_DIRS}" \ | |
| -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \ | |
| -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| ninja install -j2 | |
| else | |
| make install -j2 | |
| fi | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| "$InstallDir/bin/jiminy_double_pendulum" | |
| RootDir="$RootDir/core/examples/external_project/" | |
| mkdir -p "$RootDir/build" | |
| cd "$RootDir/build" | |
| cmake "$RootDir" -G "${{ matrix.GENERATOR }}" -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \ | |
| -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DPYTHON_INCLUDE_DIR="${PYTHON_INCLUDE_DIRS}" \ | |
| -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| ninja install | |
| else | |
| make install | |
| fi | |
| "$InstallDir/bin/pip_double_pendulum" | |
| - name: Run unit tests for jiminy | |
| run: | | |
| cd "$RootDir/build/core/unit" | |
| ctest --output-on-failure | |
| cd "$RootDir/python/jiminy_py/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -v | |
| - name: Run unit tests for gym_jiminy | |
| if: matrix.BUILD_TYPE == 'Release' | |
| run: | | |
| cd "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib" | |
| "${PYTHON_EXECUTABLE}" acrobot_ppo.py | |
| "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0" | |
| cd "$RootDir/python/gym_jiminy/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -v | |
| ##################################################################################### | |
| - name: Python linter | |
| if: matrix.os == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc' | |
| run: | | |
| cd "$RootDir/python/jiminy_py/" | |
| pylint --rcfile="$RootDir/.pylintrc" "src/" | |
| for name in "common" "toolbox" "rllib"; do | |
| cd "$RootDir/python/gym_jiminy/$name" | |
| pylint --rcfile="$RootDir/.pylintrc" "gym_jiminy/" | |
| done | |
| ##################################################################################### | |
| - name: Generate and install Doxygen documentation | |
| run: | | |
| cd build | |
| cmake . # Reconfigure cmake since sphinx has been installed in the meantime | |
| cmake . -DCOMPONENT=docs -P ./cmake_install.cmake | |
| - name: Deploy to GitHub Pages | |
| if: >- | |
| matrix.os == 'ubuntu-20.04' && success() && | |
| github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master' | |
| uses: crazy-max/ghaction-github-pages@v3 | |
| with: | |
| target_branch: gh-pages | |
| build_dir: docs/html | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GH_DEPLOY }} |