From 0dfdeed17ad5f0e28d972fabee7d8b7521bee8ec Mon Sep 17 00:00:00 2001
From: Zichang Zhou <sqyzz2@nottingham.ac.uk>
Date: Sat, 14 Sep 2024 21:20:06 +0000
Subject: [PATCH] using docker container

---
 .github/workflows/build-and-test.yml | 114 +++++++++++++--------------
 1 file changed, 56 insertions(+), 58 deletions(-)

diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
index ee7be1e9..b1afbc56 100644
--- a/.github/workflows/build-and-test.yml
+++ b/.github/workflows/build-and-test.yml
@@ -110,11 +110,9 @@ jobs:
   build:
 
     runs-on: ubuntu-latest
-    # container: ${{ matrix.container }}
-    # strategy:
-    #   matrix:
-    #     container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04']
-    #     cmake-version: [3.18.0, 3.22.0, 3.25.0]
+    container:
+      image: zichang1234/raptor:latest
+  
 # not sure
     env:
       CCACHE_BASEDIR: ${{ github.workspace }}
@@ -160,59 +158,59 @@ jobs:
       - name: Debug Branch Name
         run: echo ${{ env.BRANCH_NAME }}
 
-      - name: Register robotpkg
-        run: |
-          sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list"
-          apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
-
-      - name: Set and install dependencies
-        run: |
-          rm -rf /usr/local/share/boost/1.69.0
-          export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
-          export APT_DEPENDENCIES="doxygen \
-                                   ccache \
-                                   curl \
-                                   cppcheck \
-                                   libomp-dev \
-                                   libomp5 \
-                                   libboost-system-dev \
-                                   libboost-test-dev \
-                                   libboost-filesystem-dev \
-                                   libboost-program-options-dev \
-                                   libeigen3-dev \
-                                   liburdfdom-dev \
-                                   texlive-font-utils \
-                                   libboost-python-dev \
-                                   python3-numpy \
-                                   python3-matplotlib \
-                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
-                                   robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
-                                   robotpkg-py${PYTHON3_VERSION}-casadi"
-          echo "APT Dependencies: $APT_DEPENDENCIES"
-
-          apt-get update -qq
-          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}
-
-      - name: Install Python Packages
-        run: |
-          pip3 install --upgrade pip
-          pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus
-
-      - name: Install Pinocchio Dependencies
-        run: |
-          bash docker/scripts/install-pinocchio.sh
-
-      - name: Install HSL Solver
-        run: |
-          bash docker/scripts/install-hsl.sh
-
-      - name: Install Ipopt Solver
-        run: |
-          bash docker/scripts/install-ipopt.sh
-
-      - name: Install OMPL
-        run: |
-          bash docker/scripts/install-ompl.sh
+      # - name: Register robotpkg
+      #   run: |
+      #     sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list"
+      #     apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
+
+      # - name: Set and install dependencies
+      #   run: |
+      #     rm -rf /usr/local/share/boost/1.69.0
+      #     export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
+      #     export APT_DEPENDENCIES="doxygen \
+      #                              ccache \
+      #                              curl \
+      #                              cppcheck \
+      #                              libomp-dev \
+      #                              libomp5 \
+      #                              libboost-system-dev \
+      #                              libboost-test-dev \
+      #                              libboost-filesystem-dev \
+      #                              libboost-program-options-dev \
+      #                              libeigen3-dev \
+      #                              liburdfdom-dev \
+      #                              texlive-font-utils \
+      #                              libboost-python-dev \
+      #                              python3-numpy \
+      #                              python3-matplotlib \
+      #                              robotpkg-py${PYTHON3_VERSION}-eigenpy \
+      #                              robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
+      #                              robotpkg-py${PYTHON3_VERSION}-casadi"
+      #     echo "APT Dependencies: $APT_DEPENDENCIES"
+
+      #     apt-get update -qq
+      #     DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}
+
+      # - name: Install Python Packages
+      #   run: |
+      #     pip3 install --upgrade pip
+      #     pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus
+
+      # - name: Install Pinocchio Dependencies
+      #   run: |
+      #     bash docker/scripts/install-pinocchio.sh
+
+      # - name: Install HSL Solver
+      #   run: |
+      #     bash docker/scripts/install-hsl.sh
+
+      # - name: Install Ipopt Solver
+      #   run: |
+      #     bash docker/scripts/install-ipopt.sh
+
+      # - name: Install OMPL
+      #   run: |
+      #     bash docker/scripts/install-ompl.sh
 
       - name: Free disk space
         run: |