CI of mc_mujoco #607
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 of mc_mujoco | |
| on: | |
| repository_dispatch: | |
| types: | |
| - run-ci | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| # Run on Sunday, Tuesday and Thursday nights | |
| - cron: '0 23 * * 0,1,4' | |
| jobs: | |
| build: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| compiler: [gcc] | |
| build-type: [RelWithDebInfo] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: libmc-rtc-dev libxi-dev libxcursor-dev libxkbcommon-dev libxinerama-dev libxrandr-dev libglew-dev libboost-program-options-dev | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/head | |
| macos: | | |
| brew-taps: mc-rtc/mc-rtc | |
| brew: mc_rtc | |
| windows: | | |
| vcpkg: | |
| repo: microsoft/vcpkg | |
| owner: mc-rtc | |
| token: "${{ secrets.GITHUB_TOKEN }}" | |
| registries: | |
| - repo: mc-rtc/vcpkg-registry | |
| packages: [ spacevecalg, rbdyn, eigen-qld, sch-core, tasks, mc-rbdyn-urdf, mc-rtc-data, eigen-quadprog, state-observation, hpp-spline, mc-rtc ] | |
| - name: Install MuJoCo | |
| shell: bash | |
| run: | | |
| set -x | |
| set -e | |
| mkdir -p /opt | |
| cd /opt | |
| MUJOCO_VERSION=3.0.0 | |
| wget --quiet https://github.com/deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz | |
| tar xzf mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz | |
| mv mujoco-${MUJOCO_VERSION} mujoco | |
| rm -rf *.tar.gz | |
| echo "MUJOCO_ROOT_DIR=/opt/mujoco" >> $GITHUB_ENV | |
| - name: Build and test | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| options: -DMUJOCO_ROOT_DIR="${{ env.MUJOCO_ROOT_DIR }}" | |
| - name: Check usage | |
| shell: bash | |
| run: | | |
| set -x | |
| cd .github/workflows/test-standalone | |
| mkdir build && cd build | |
| cmake ../ -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} | |
| cmake --build . --config ${{ matrix.build-type }} | |
| ctest -V -C ${{ matrix.build-type }} |