Merge remote-tracking branch 'origin/reviveOrderOfGrabbed' into fixCl… #975
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| name: CI | |
| on: | |
| push: | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| python-version: ['3.9'] | |
| os: [ubuntu-20.04] | |
| architecture: ["x64"] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| if: ${{ matrix.python-version != 'pyston' }} | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| architecture: ${{ matrix.architecture }} | |
| - name: Set up APT | |
| run: | | |
| sudo apt-get update -y | |
| sudo apt-get -y install dirmngr gnupg apt-transport-https liblog4cxx-dev libopenscenegraph-dev libcoin-dev libsoqt520-dev | |
| sudo apt-get -y install g++ gfortran git pkg-config debhelper gettext zlib1g-dev libminizip-dev libxml2-dev liburiparser-dev libpcre3-dev libgmp-dev libmpfr-dev qtbase5-dev libqt5opengl5-dev libavcodec-dev libavformat-dev libswscale-dev libsimage-dev libode-dev libqhull-dev libann-dev libhdf5-serial-dev liblapack-dev libboost-iostreams-dev libboost-regex-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-date-time-dev libboost-test-dev libmpfi-dev ffmpeg libtinyxml-dev libflann-dev sqlite3 libccd-dev libeigen3-dev libgpgme-dev libgpgmepp-dev | |
| sudo apt-get update -y | |
| sudo apt-get -y install cmake-data cmake cmake-curses-gui ninja-build | |
| - name: Set up Python modules | |
| run: | | |
| python3 -m pip install nose==1.3.7 six==1.16.0 | |
| python3 -m pip install numpy==1.26.4 IPython==8.14.0 | |
| python3 -m pip install mpmath==0.19 sympy==1.11.1 | |
| python3 -m pip install scipy==1.10.1 | |
| - name: Install RapidJSON | |
| run: | | |
| set -e | |
| git clone https://github.com/Tencent/rapidjson.git && mkdir rapidjson/build | |
| cd rapidjson/build | |
| # there are no stable version available | |
| cmake .. -GNinja -DRAPIDJSON_HAS_STDSTRING=ON -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF | |
| ninja -j4 | |
| sudo ninja install | |
| cd ../.. | |
| - name: Install ASSIMP | |
| run: | | |
| set -e | |
| git clone https://github.com/assimp/assimp.git && mkdir assimp/build | |
| cd assimp/build | |
| git checkout v5.2.5 | |
| cmake .. -GNinja | |
| ninja -j4 | |
| sudo ninja install | |
| cd ../.. | |
| - name: Install Fcl | |
| run: | | |
| set -e | |
| git clone https://github.com/rdiankov/fcl.git && mkdir fcl/build | |
| cd fcl/build | |
| git checkout origin/trimeshContactPoints20200813 | |
| cmake .. -GNinja -DFCL_BUILD_TESTS=OFF | |
| ninja -j4 | |
| sudo ninja install | |
| cd ../.. | |
| - name: Install Pybind11 | |
| # Need patched version of pybind11: | |
| # File "/usr/local/lib/python3.11/site-packages/openravepy/_openravepy_/__main__.py", line 180, in main | |
| # for type in InterfaceType.values.values(): | |
| # ^^^^^^^^^^^^^^^^^^^^ | |
| # AttributeError: type object 'openravepy._openravepy_.openravepy_int.InterfaceTy' has no attribute 'values'. Did you mean: 'value'? | |
| run: | | |
| set -e | |
| git clone https://github.com/pybind/pybind11.git && mkdir pybind11/build | |
| cd pybind11/build | |
| # git remote add woody https://github.com/woodychow/pybind11.git | |
| # git fetch woody | |
| git remote add ciel https://github.com/cielavenir/pybind11.git | |
| git fetch ciel | |
| git checkout ciel/v2.9_ty | |
| cmake .. -GNinja -DPYBIND11_TEST=OFF -DPythonLibsNew_FIND_VERSION=3 | |
| ninja -j4 | |
| sudo ninja install | |
| cd ../.. | |
| - name: Install msgpack-c | |
| run: | | |
| set -e | |
| git clone https://github.com/msgpack/msgpack-c && mkdir msgpack-c/build | |
| cd msgpack-c/build | |
| git checkout cpp-6.0.0 | |
| cmake .. -GNinja -DMSGPACK_BUILD_EXAMPLES=OFF -DMSGPACK_BUILD_TESTS=OFF | |
| ninja -j4 | |
| sudo ninja install | |
| cd ../.. | |
| - name: Install | |
| run: | | |
| set -e | |
| mkdir -p build | |
| cd build | |
| cmake .. -GNinja -DUSE_PYBIND11_PYTHON_BINDINGS=ON -DOPT_PYTHON=OFF | |
| ninja -j4 | |
| sudo ninja install | |
| cd .. | |
| - name: Basic Test | |
| # setup-python does not look at /usr/local/lib | |
| # todo: check other tests | |
| run: | | |
| cd test | |
| PYTHONPATH=/usr/local/lib/python3.9/site-packages OPENRAVE_DATA=$PWD/../src python3 -m nose test_binary_trajectory.py test_collada.py test_collision.py test_configurationcache.py test_controller.py test_environment.py test_geometry.py test_iksolver.py test_kinematics.py test_physics.py test_planning.py test_robot.py test_sampling.py test_trajectory.py |