Use a linalg.pinv to invert the mass matrix in RelaxedRigidContacts
#3018
Workflow file for this run
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| 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 |