feat(robot-model): improve inverse kinematics #604
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| name: Build and Test | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| workflow_dispatch: | |
| jobs: | |
| check-changelog: | |
| name: Check if changelog has been updated | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Check changelog | |
| if: ${{ github.event.pull_request.base.sha }} | |
| run: | | |
| git fetch origin main ${{ github.event.pull_request.base.sha }} | |
| CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- CHANGELOG.md) | |
| if ! [ "${CL_DIFF}" ]; then | |
| echo "::error file="CHANGELOG.md",title=Check failed::CHANGELOG.md must be updated!" | |
| exit 1 | |
| fi | |
| shell: bash | |
| check-version: | |
| name: Check if version has been updated | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Check version | |
| if: ${{ github.event.pull_request.base.sha }} | |
| run: | | |
| VERSION=$(echo $(<VERSION) | tr -d -c 0-9) | |
| MESSAGE="Set the desired version correctly using the 'update_version' script!" | |
| SOURCE_CMAKE="./source/CMakeLists.txt" | |
| if [ $(echo $(grep "project(control_libraries VERSION" "${SOURCE_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then | |
| echo "::error file="${SOURCE_CMAKE}",title=Check failed::Version in "${SOURCE_CMAKE}" does not correspond to VERSION. ${MESSAGE}" | |
| exit 1 | |
| fi | |
| PROTO_CMAKE="./protocol/clproto_cpp/CMakeLists.txt" | |
| if [ $(echo $(grep "project(clproto VERSION" "${PROTO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then | |
| echo "::error file="${PROTO_CMAKE}",title=Check failed::Version in "${PROTO_CMAKE}" does not correspond to VERSION. ${MESSAGE}" | |
| exit 1 | |
| fi | |
| PY_SETUP="./python/setup.py" | |
| if [ $(echo $(grep "__version__ =" "${PY_SETUP}") | tr -d -c 0-9) -ne "${VERSION}" ]; then | |
| echo "::error file="${PY_SETUP}",title=Check failed::Version in "${PY_SETUP}" does not correspond to VERSION. ${MESSAGE}" | |
| exit 1 | |
| fi | |
| DOXY="./doxygen/doxygen.conf" | |
| if [ $(echo $(echo $(grep "PROJECT_NUMBER =" "${DOXY}") | tr -d -c 0-9) | tr -d '\0' ) -ne "${VERSION}" ]; then | |
| echo "::error file="${DOXY}",title=Check failed::Version in "${DOXY}" does not correspond to VERSION. ${MESSAGE}" | |
| exit 1 | |
| fi | |
| DEMO_CMAKE="./demos/CMakeLists.txt" | |
| if [ $(echo $(grep "find_package(control_libraries" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then | |
| echo "::error file="${DEMO_CMAKE}",title=Check failed::Version in "${DEMO_CMAKE}" does not correspond to VERSION. ${MESSAGE}" | |
| exit 1 | |
| fi | |
| shell: bash | |
| check-skippable-changes: | |
| name: Check skippable changes | |
| runs-on: ubuntu-latest | |
| outputs: | |
| skip: ${{ steps.check_if_skippable.outputs.should_skip }} | |
| steps: | |
| - id: check_if_skippable | |
| uses: fkirc/skip-duplicate-actions@master | |
| with: | |
| cancel_others: 'true' | |
| do_not_skip: '["workflow_dispatch"]' | |
| paths_ignore: '["**.md", ".**/**", "**.gitignore"]' | |
| skip_after_successful_duplicate: 'true' | |
| build-test: | |
| needs: check-skippable-changes | |
| if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }} | |
| runs-on: ubuntu-latest | |
| name: Run tests | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Build Cache for Docker | |
| uses: actions/cache@v3 | |
| with: | |
| path: build-cache | |
| key: ${{ runner.os }}-build-cache-${{ hashFiles('./') }} | |
| - name: Inject build-cache into docker | |
| uses: reproducible-containers/[email protected] | |
| with: | |
| cache-source: build-cache | |
| cache-target: /build | |
| - name: Build and Test | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: . | |
| target: python-test | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max |