Added gymnasium_interface module with PyCRAMGymEnv and task executor … #3
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| name: pycram_docker_ci | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| on: | |
| push: | |
| branches: | |
| - dev | |
| - master | |
| pull_request: | |
| branches: | |
| - master | |
| - dev | |
| workflow_dispatch: # For manual debugging | |
| inputs: | |
| debug_enabled: | |
| type: boolean | |
| required: false | |
| default: false | |
| description: "Run tmate session" | |
| jobs: | |
| build_and_run_tests: | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: "pycram/pycram:dev" | |
| steps: | |
| - name: Checkout PyCRAM | |
| uses: actions/checkout@v3 | |
| with: | |
| path: "ros/src/pycram" | |
| repository: ${{ github.repository }} | |
| ref: ${{ github.ref }} | |
| submodules: "recursive" | |
| # For debugging | |
| - name: Setup tmate session | |
| uses: mxschmitt/action-tmate@v3 | |
| if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }} | |
| - name: Update PyCRAM source files | |
| run: | | |
| rm -rf /opt/ros/overlay_ws/src/pycram/* | |
| cd /opt/ros/overlay_ws/src/pycram | |
| rm -rf .git .github .gitignore .gitmodules .readthedocs.yaml | |
| cp -r /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}/ros/src/pycram /opt/ros/overlay_ws/src | |
| - name: Remake workspace & start roscore | |
| run: | | |
| sudo -s | |
| source /opt/ros/noetic/setup.bash | |
| cd /opt/ros/overlay_ws | |
| catkin_make | |
| source /opt/ros/overlay_ws/devel/setup.bash | |
| roslaunch pycram ik_and_description.launch & | |
| - name: Install python dependencies | |
| run: | | |
| pip3 install --upgrade pip --root-user-action=ignore | |
| cd /opt/ros/overlay_ws/src/pycram | |
| pip3 install -r requirements.txt | |
| pip3 install -r requirements-resolver.txt | |
| - name: Install pytest & pyjpt | |
| run: | | |
| pip3 install --ignore-installed pytest pyjpt | |
| - name: Run tests | |
| run: | | |
| source /opt/ros/overlay_ws/devel/setup.bash | |
| roscd pycram | |
| pytest -v test |