[Model] Fix appendModel for parallel joints at the base #1371
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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: 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 }} \ | |
| -DBUILD_WITH_COLLISION_SUPPORT=ON \ | |
| -DBUILD_WITH_CASADI_SUPPORT=ON \ | |
| -DBUILD_WITH_AUTODIFF_SUPPORT=ON \ | |
| -DBUILD_WITH_CODEGEN_SUPPORT=ON \ | |
| -DBUILD_WITH_EXTRA_SUPPORT=ON \ | |
| -DBUILD_WITH_OPENMP_SUPPORT=ON \ | |
| -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON \ | |
| -DINSTALL_DOCUMENTATION=ON \ | |
| -DGENERATE_PYTHON_STUBS=ON | |
| 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) }} |