added MuJoCo screen recording function #89
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name: tests | |
on: | |
push: | |
branches: | |
- main | |
- 'develop' | |
jobs: | |
build-base-and-test: | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
os: [ubuntu-20.04, ubuntu-22.04] | |
steps: | |
- name: Check out repository | |
uses: actions/checkout@v4 | |
- uses: conda-incubator/setup-miniconda@v3 | |
with: | |
activate-environment: rpc | |
auto-update-conda: true | |
environment-file: rpc.yml | |
auto-activate-base: false | |
- name: Activate and build base rpc | |
shell: bash -l {0} | |
run: | | |
conda activate rpc | |
conda install conda-forge::eigenpy | |
./dependency/scripts/install_gtest.sh | |
./dependency/scripts/install_gh_pinocchio.sh | |
export PATH=/opt/openrobots/bin:$PATH | |
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH | |
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH | |
export PYTHONPATH=/opt/openrobots/lib/python3.9/site-packages:$PYTHONPATH | |
export CMAKE_PREFIX_PATH=/opt/openrobots:/usr/local/include:$CMAKE_PREFIX_PATH | |
sudo apt-get install -y libglfw3 libglfw3-dev | |
mkdir build && cd build && cmake .. -DBUILD_WITH_ZMQ_PROTOBUF=OFF -DBUILD_WITH_FOXGLOVE=OFF -DBUILD_WITH_GTESTS=ON && make | |
- name: Run base rpc tests | |
shell: bash -l {0} | |
run: | | |
./build/bin/ihwbc_test | |
./build/bin/friction_compensator_test | |
./build/bin/dcm_planner_test | |
./build/bin/pin_robot_system_test | |
build-with-ui: | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
os: [ubuntu-20.04, ubuntu-22.04] | |
steps: | |
- name: Check out repository | |
uses: actions/checkout@v4 | |
- uses: conda-incubator/setup-miniconda@v3 | |
with: | |
activate-environment: rpc | |
auto-update-conda: true | |
environment-file: rpc.yml | |
auto-activate-base: false | |
- name: Build rpc with UI | |
shell: bash -l {0} | |
run: | | |
conda activate rpc | |
conda install conda-forge::eigenpy | |
./dependency/scripts/install_protobuf.sh | |
./dependency/scripts/install_zmq.sh | |
./dependency/scripts/install_gtest.sh | |
./dependency/scripts/install_gh_pinocchio.sh | |
export PATH=/opt/openrobots/bin:$PATH | |
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH | |
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH | |
export PYTHONPATH=/opt/openrobots/lib/python3.9/site-packages:$PYTHONPATH | |
export CMAKE_PREFIX_PATH=/opt/openrobots:/usr/local/include:$CMAKE_PREFIX_PATH | |
sudo apt-get install -y libglfw3 libglfw3-dev | |
pip install conan | |
mkdir -p ~/.conan2/profiles/ && cp .github/conan_profile ~/.conan2/profiles/default | |
conan install conanfile.txt --build=missing && cd build/ && cmake .. -DBUILD_WITH_ZMQ_PROTOBUF=ON -DBUILD_WITH_FOXGLOVE=ON && make |