ergoCubGazeboV1: make ft frame centered on z w/ the link frame #95
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| # This is a basic workflow to help you get started with Actions | |
| name: Automatically generate models and commit to the repo | |
| # Controls when the workflow will run | |
| on: | |
| pull_request: | |
| paths: | |
| - 'urdf/simmechanics/**' | |
| push: | |
| # Triggers the workflow on push or pull request events but only for the master branch | |
| branches: | |
| - master | |
| paths: | |
| - 'urdf/simmechanics/**' | |
| defaults: | |
| run: | |
| shell: bash -el {0} | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| jobs: | |
| generate_models: | |
| # The type of runner that the job will run on | |
| runs-on: ubuntu-latest | |
| # Steps represent a sequence of tasks that will be executed as part of the job | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| - name: Dependencies | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Actual dependencies | |
| mamba install python=3.8 yarp idyntree ruby cmake compilers make | |
| - name: Generate models | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install libeigen3-dev libace-dev libtinyxml-dev libxml2-dev | |
| # Save the url of the repository and the user-name of the committ author | |
| export CURRENT_REPOSITORY_URL=`git remote get-url origin` | |
| # Start in the parent directory of ergocub-software | |
| cd ${GITHUB_WORKSPACE}/.. | |
| sudo apt-get install --assume-yes --force-yes python3-lxml python3-yaml python3-numpy python3-setuptools | |
| # probably python on the path return a python interpreter and the find_package(PythonInterp) in CMake another, | |
| # let's install both debian packages and pip packages to be sure | |
| sudo pip3 install lxml numpy pyyaml catkin_pkg | |
| # install urdf_parser_py and save the last commit SHA1 hash | |
| git clone https://github.com/ros/urdf_parser_py | |
| cd urdf_parser_py | |
| # workaround for https://github.com/robotology/simmechanics-to-urdf/issues/36 | |
| git checkout 31474b9baaf7c3845b40e5a9aa87d5900a2282c3 | |
| sudo python3 setup.py install | |
| cd ${GITHUB_WORKSPACE}/.. | |
| # install simmechanics-to-urdf and save the last commit SHA1 hash | |
| git clone https://github.com/robotology/simmechanics-to-urdf | |
| cd simmechanics-to-urdf | |
| sudo python3 setup.py install | |
| cd ${GITHUB_WORKSPACE}/.. | |
| cd ${GITHUB_WORKSPACE} | |
| # Prepare ergocub-software build | |
| mkdir build | |
| cd build | |
| cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON -DBUILD_TESTING=BOOL:ON .. | |
| # Build and run | |
| make VERBOSE=1 | |
| ctest --output-on-failure | |
| - name: Create Pull Request | |
| if: ${{ github.event_name == 'push' }} | |
| id: cpr | |
| uses: peter-evans/create-pull-request@main | |
| with: | |
| commit-message: Automatic update of urdf | |
| branch: automatic-update-urdf | |
| branch-suffix: timestamp | |
| delete-branch: true | |
| title: 'Automatic update of urdf triggered by GitHub Action' | |
| reviewers: Nicogene | |
| assignees: ${{ github.actor }} | |
| body: | | |
| This PR has been automatically triggered by committing to simmechanics files | |
| - name: Check outputs | |
| run: | | |
| echo "Pull Request URL - ${{ steps.cpr.outputs.pull-request-url }}" |