Avoid unnecessary jax.vmap in RelaxedRigidContacts
#3014
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: Python CI/CD | |
| on: | |
| workflow_dispatch: | |
| push: | |
| pull_request: | |
| release: | |
| types: | |
| - published | |
| schedule: | |
| # Execute a nightly build at 2am UTC. | |
| - cron: '0 2 * * *' | |
| jobs: | |
| package: | |
| name: Package the project | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.11" | |
| - name: Install Python tools | |
| run: pip install build twine | |
| - name: Create distributions | |
| run: python -m build -o dist/ | |
| - name: Inspect dist folder | |
| run: ls -lah dist/ | |
| - name: Check wheel's abi and platform tags | |
| run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0 | |
| - name: Run twine check | |
| run: twine check dist/* | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| path: dist/* | |
| name: dist | |
| test: | |
| name: 'Python${{ matrix.python }}@${{ matrix.os }}' | |
| needs: package | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - ubuntu-22.04 | |
| - macos-latest | |
| - windows-latest | |
| python: | |
| - "3.10" | |
| - "3.11" | |
| - "3.12" | |
| steps: | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python }} | |
| - name: Download Python packages | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: Install wheel (ubuntu) | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: pip install "$(find dist/ -type f -name '*.whl')[all]" | |
| - name: Install wheel (macos|windows) | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows') | |
| shell: bash | |
| run: pip install "$(find dist/ -type f -name '*.whl')" | |
| - name: Document installed pip packages | |
| shell: bash | |
| run: pip list --verbose | |
| - name: Import the package | |
| run: python -c "import jaxsim" | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: dorny/paths-filter@v3 | |
| id: changes | |
| with: | |
| filters: | | |
| conf: &conf | |
| - 'pyproject.toml' | |
| - 'setup.cfg' | |
| - 'setup.py' | |
| src: &src | |
| - 'src/**' | |
| tests: &tests | |
| - 'tests/**' | |
| all: | |
| - *conf | |
| - *src | |
| - *tests | |
| - name: Install 'gz sdf' system command | |
| if: | | |
| contains(matrix.os, 'ubuntu') && | |
| (github.event_name != 'pull_request' || | |
| steps.changes.outputs.all == 'true') | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install lsb-release wget gnupg | |
| sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| sudo apt-get update | |
| sudo apt-get install --no-install-recommends libsdformat13 gz-tools2 | |
| - name: Run the Python tests | |
| if: | | |
| contains(matrix.os, 'ubuntu') && | |
| (github.event_name != 'pull_request' || | |
| steps.changes.outputs.all == 'true') | |
| run: pytest | |
| env: | |
| # https://github.com/pytest-dev/pytest/issues/7443#issuecomment-656642591 | |
| PY_COLORS: "1" | |
| JAX_PLATFORM_NAME: cpu | |
| publish: | |
| name: Publish to PyPI | |
| needs: test | |
| runs-on: ubuntu-22.04 | |
| permissions: | |
| id-token: write | |
| steps: | |
| - name: Download Python packages | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: Inspect dist folder | |
| run: ls -lah dist/ | |
| - name: Publish to PyPI | |
| if: | | |
| github.repository == 'ami-iit/jaxsim' && | |
| ((github.event_name == 'push' && github.ref == 'refs/heads/main') || | |
| (github.event_name == 'release')) | |
| uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| skip-existing: true |