Added the method wait_for_simulation_step_to_end() to fix #50 (#51) #177
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| name: Python Package | |
| on: [push,workflow_dispatch] | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.os }} | |
| continue-on-error: ${{ matrix.experimental }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| python-version: [3.7, 3.8, 3.9, '3.10', '3.11'] | |
| os: ['ubuntu-20.04', 'macos-latest', 'windows-latest', 'linux-arm64', 'macos-arm64'] | |
| experimental: [false] | |
| exclude: | |
| # excludes python-version 3.7 on macOS-arm64 (Not available via brew) | |
| - os: macos-arm64 | |
| python-version: 3.7 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Customize git | |
| run: | | |
| git submodule update --init --recursive | |
| git fetch --prune --unshallow | |
| - name: Set up Python ${{ matrix.python-version }} (Github Hosted VMs) | |
| if: matrix.os != 'linux-arm64' && matrix.os != 'macos-arm64' | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Set up Python ${{ matrix.python-version }} (Self Hosted Vms) | |
| if: matrix.os == 'linux-arm64' || matrix.os == 'macos-arm64' | |
| run: | | |
| python${{ matrix.python-version }} -m venv venv${{ matrix.python-version }} | |
| echo "${{github.workspace}}/venv${{matrix.python-version}}/bin/" >> $GITHUB_PATH | |
| sed -i'' -e 's/-j2/-j8/g' setup.py | |
| - name: Install compilation dependencies [Ubuntu/C++] | |
| if: matrix.os == 'ubuntu-20.04' | |
| run: | | |
| sudo apt install libeigen3-dev | |
| - name: Install compilation dependencies [MacOS/C++] | |
| if: matrix.os == 'macos-latest' | |
| run: | | |
| brew install eigen | |
| - name: Install compilation dependencies [Windows/C++] | |
| if: matrix.os == 'windows-latest' | |
| run: | | |
| pwd | |
| echo "Setting up vcpkg..." | |
| cd C:\vcpkg | |
| .\bootstrap-vcpkg.bat | |
| vcpkg integrate install | |
| echo "Installing eigen3..." | |
| .\vcpkg install eigen3:x64-windows | |
| echo "Adding symlink to vcpkg..." | |
| cmd /c mklink /d c:\Tools\vcpkg c:\vcpkg | |
| cd ~ | |
| - name: Install compilation dependencies [Python] | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install setuptools wheel setuptools-git | |
| - name: Compile | |
| run: | | |
| python setup.py bdist_wheel | |
| - name: Remove build folder for not Windows (Ubuntu, MacOS, Self Hosted [linux-arm64, macos-arm64]) | |
| if: matrix.os != 'windows-latest' | |
| run: | | |
| rm -rf build | |
| - name: Remove build folder (Windows only) | |
| if: matrix.os == 'windows-latest' | |
| run: | | |
| rm -r -fo build | |
| - name: Rename wheel (MacOS only) | |
| if: matrix.os == 'macos-latest' | |
| run: | | |
| brew install rename | |
| cd dist | |
| sw_vers | |
| rename 's/11_0/10_14/' * | |
| rename 's/12_0/10_15/' * | |
| cd .. | |
| - name: Install for not Windows (Ubuntu, MacOS, Self Hosted [linux-arm64, macos-arm64]) | |
| if: matrix.os != 'windows-latest' | |
| run: | | |
| python tests/print_platform_info.py | |
| python -m pip install dist/*.whl | |
| - name: Install (Windows) | |
| if: matrix.os == 'windows-latest' | |
| run: | | |
| python tests/print_platform_info.py | |
| python -m pip install @(join-path "dist" (get-childitem -path dist -name *.whl)) | |
| - name: Install Test Pre-requisites (Python=!3.11) | |
| if: matrix.python-version != '3.11' | |
| run: | | |
| cd tests | |
| python -m pip install scipy quadprog | |
| cd .. | |
| - name: Remove old quadprog (Python==3.11 and self-hosted) | |
| if: matrix.python-version == '3.11' && (matrix.os == 'linux-arm64' || matrix.os == 'macos-arm64') | |
| run: | | |
| cd tests | |
| python -m pip uninstall quadprog -y | |
| rm -rf quadprog | |
| cd .. | |
| - name: Install Test Pre-requisites (Python==3.11) | |
| if: matrix.python-version == '3.11' | |
| run: | | |
| cd tests | |
| python -m pip install scipy | |
| git clone https://github.com/quadprog/quadprog.git | |
| cd quadprog | |
| pip install -r requirements_develop.txt && python -m cython quadprog/quadprog.pyx | |
| cd .. | |
| python -m pip install ./quadprog | |
| cd .. | |
| - name: Test | |
| run: | | |
| cd tests | |
| python DQ_test.py | |
| python DQ_Kinematics_test.py | |
| python DQ_SerialManipulatorMDH_test.py | |
| python cpp_issues.py | |
| python python_issues.py | |
| python DQ_Kinematics_pose_jacobian_derivative_tests.py | |
| python DQ_Kinematics_static_jacobian_derivative_tests.py | |
| cd .. | |
| - name: Rename wheel (Ubuntu Only) | |
| if: matrix.os == 'ubuntu-20.04' | |
| run: | | |
| sudo apt install rename | |
| cd dist | |
| rename 's/linux/manylinux1/' * | |
| cd .. | |
| - name: Rename wheel (Self Hosted [linux-arm64] Only) | |
| if: matrix.os == 'linux-arm64' | |
| run: | | |
| cd dist | |
| rename 's/linux/manylinux2014/' * | |
| cd .. | |
| - name: Publish to PyPi | |
| env: | |
| TWINE_USERNAME: ${{ secrets.TWINE_USERNAME }} | |
| TWINE_PASSWORD: ${{ secrets.TWINE_PASSWORD }} | |
| if: github.ref == 'refs/heads/master' | |
| run: | | |
| python -m pip install twine | |
| twine upload dist/* |