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 |