Adding GCS footstep planning changes to underactuated textbook #3202
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| # Copyright (c) 2020, Massachusetts Institute of Technology. | |
| # All rights reserved. | |
| # | |
| # Redistribution and use in source and binary forms, with or without | |
| # modification, are permitted provided that the following conditions are met: | |
| # | |
| # * Redistributions of source code must retain the above copyright notice, this | |
| # list of conditions and the following disclaimer. | |
| # | |
| # * Redistributions in binary form must reproduce the above copyright notice, | |
| # this list of conditions and the following disclaimer in the documentation | |
| # and/or other materials provided with the distribution. | |
| # | |
| # * Neither the name of the copyright holder nor the names of its contributors | |
| # may be used to endorse or promote products derived from this software | |
| # without specific prior written permission. | |
| # | |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| # POSSIBILITY OF SUCH DAMAGE. | |
| --- | |
| name: CI | |
| on: | |
| pull_request: | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| push: | |
| branches: | |
| - master | |
| schedule: | |
| - cron: '0 8 * * *' | |
| jobs: | |
| jammy: | |
| name: ubuntu 22.04 jammy | |
| runs-on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg | |
| apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
| echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu focal main' > /etc/apt/sources.list.d/git.list | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: bash | |
| - name: post-checkout setup | |
| run: ./book/htmlbook/workflows/ci/jammy/setup | |
| shell: bash | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/jammy/test | |
| shell: bash | |
| sonoma: | |
| name: macos sonoma 14 | |
| runs-on: macos-14 | |
| steps: | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: zsh -efuo pipefail {0} | |
| - name: setup | |
| run: ./book/htmlbook/workflows/ci/sonoma/setup | |
| shell: zsh -efuo pipefail {0} | |
| - name: check | |
| run: | | |
| jupyter --paths | |
| python3 book/htmlbook/tools/jupyter/nbconvert_script.py book/intro/intro.ipynb | |
| shell: zsh -efuo pipefail {0} | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/sonoma/test | |
| shell: zsh -efuo pipefail {0} | |
| lint: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: checkout repo | |
| uses: actions/checkout@v3 | |
| - name: setup python | |
| uses: actions/setup-python@v4 | |
| - name: black | |
| uses: psf/black@stable | |
| with: | |
| version: 24.4.0 | |
| jupyter: true | |
| - name: isort | |
| uses: isort/isort-action@master | |
| with: | |
| configuration: "--profile black" | |
| isort-version: 5.12.0 | |
| - name: autoflake | |
| uses: creyD/autoflake_action@master | |
| with: | |
| options: --remove-all-unused-imports --in-place | |
| # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1 | |
| - name: Install and configure Poetry | |
| uses: snok/install-poetry@v1 | |
| with: | |
| version: 1.8.2 | |
| virtualenvs-create: true | |
| virtualenvs-in-project: true | |
| - name: build the docs | |
| run: | | |
| poetry install --only docs | |
| source .venv/bin/activate | |
| sphinx-build -M html underactuated book/python | |
| shell: bash | |
| - name: Test full poetry install | |
| run: poetry install | |
| docker: | |
| name: dockerfile | |
| runs-on: ubuntu-latest | |
| container: russtedrake/underactuated:latest | |
| steps: | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: bash | |
| - name: post-checkout setup | |
| # Force bazel to use user pip instead of re-downloading everything to | |
| # be hermetic: | |
| run: | | |
| truncate -s0 requirements.txt | |
| sed -i '/PYTHONNOUSERSITE/d' .bazelrc | |
| shell: bash | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/jammy/test | |
| shell: bash | |
| jammy-pip: | |
| # This should emulate a student's experience if they are doing the psets | |
| # via pip install underactuated. | |
| # | |
| # TODO(russt): Revisit the pip3 install -r requirements.txt below. Maybe I | |
| # need to separate out testing requirements from notebook requirements. | |
| name: pip on jammy | |
| runs-on: ubuntu-22.04 | |
| container: ubuntu:22.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb | |
| pip3 install underactuated --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ | |
| shell: bash | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: bash | |
| - name: post-checkout setup | |
| # Force bazel to use user pip instead of re-downloading everything to | |
| # be hermetic. Also apply patches to avoid bazel dependency on | |
| # installed drake. | |
| run: | | |
| ./setup/ubuntu/22.04/install_prereqs.sh | |
| pip3 install -r requirements.txt # poetry does not publish dependency groups https://github.com/python-poetry/poetry/issues/6727 | |
| truncate -s0 requirements.txt | |
| sed -i '/PYTHONNOUSERSITE/d' .bazelrc | |
| shell: bash | |
| - name: test | |
| run: DRAKE_RESOURCE_ROOT=`python3 -c "from pathlib import Path; from pydrake.all import GetDrakePath; print(Path(GetDrakePath()).parent)"` ./book/htmlbook/workflows/ci/jammy/test_w_installed_deps | |
| shell: bash | |