Fix bug in PD loop #679
Workflow file for this run
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| name: CI of mc_mujoco | |
| on: | |
| repository_dispatch: | |
| types: | |
| - run-ci | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| # Run on Sunday, Tuesday and Thursday nights | |
| - cron: '0 23 * * 0,1,4' | |
| jobs: | |
| build: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| compiler: [gcc] | |
| build-type: [RelWithDebInfo] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: libmc-rtc-dev libxi-dev libxcursor-dev libxkbcommon-dev libxinerama-dev libxrandr-dev libglew-dev libboost-program-options-dev | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/head | |
| macos: | | |
| brew-taps: mc-rtc/mc-rtc | |
| brew: mc_rtc | |
| windows: | | |
| vcpkg: | |
| repo: microsoft/vcpkg | |
| owner: mc-rtc | |
| token: "${{ secrets.GITHUB_TOKEN }}" | |
| registries: | |
| - repo: mc-rtc/vcpkg-registry | |
| packages: [ spacevecalg, rbdyn, eigen-qld, sch-core, tasks, mc-rbdyn-urdf, mc-rtc-data, eigen-quadprog, state-observation, hpp-spline, mc-rtc ] | |
| - name: Install MuJoCo | |
| shell: bash | |
| run: | | |
| set -x | |
| set -e | |
| mkdir -p /opt | |
| cd /opt | |
| MUJOCO_VERSION=3.0.0 | |
| wget --quiet https://github.com/deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz | |
| tar xzf mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz | |
| mv mujoco-${MUJOCO_VERSION} mujoco | |
| rm -rf *.tar.gz | |
| echo "MUJOCO_ROOT_DIR=/opt/mujoco" >> $GITHUB_ENV | |
| - name: Build and test | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build-type: ${{ matrix.build-type }} | |
| options: -DMUJOCO_ROOT_DIR="${{ env.MUJOCO_ROOT_DIR }}" | |
| - name: Check usage | |
| shell: bash | |
| run: | | |
| set -x | |
| cd .github/workflows/test-standalone | |
| mkdir build && cd build | |
| cmake ../ -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} | |
| cmake --build . --config ${{ matrix.build-type }} | |
| ctest -V -C ${{ matrix.build-type }} |