Introduce new functional APIs #525
Workflow file for this run
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name: Python CI/CD | |
on: | |
push: | |
pull_request: | |
release: | |
types: | |
- published | |
jobs: | |
package: | |
name: Package the project | |
runs-on: ubuntu-22.04 | |
steps: | |
- uses: actions/checkout@v3 | |
with: | |
fetch-depth: 0 | |
- name: Set up Python | |
uses: actions/setup-python@v4 | |
with: | |
python-version: "3.11" | |
- name: Install Python tools | |
run: pip install build twine | |
- name: Create distributions | |
run: python -m build -o dist/ | |
- name: Inspect dist folder | |
run: ls -lah dist/ | |
- name: Check wheel's abi and platform tags | |
run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0 | |
- name: Run twine check | |
run: twine check dist/* | |
- name: Upload artifacts | |
uses: actions/upload-artifact@v3 | |
with: | |
path: dist/* | |
name: dist | |
test: | |
name: 'Python${{ matrix.python }}@${{ matrix.os }}' | |
needs: package | |
runs-on: ${{ matrix.os }} | |
strategy: | |
fail-fast: false | |
matrix: | |
os: | |
- ubuntu-22.04 | |
- macos-latest | |
- windows-latest | |
python: | |
- "3.11" | |
- "3.12" | |
steps: | |
- name: Set up Python | |
uses: actions/setup-python@v4 | |
with: | |
python-version: ${{ matrix.python }} | |
- name: Download Python packages | |
uses: actions/download-artifact@v3 | |
with: | |
path: dist | |
name: dist | |
- name: Install wheel (ubuntu) | |
if: contains(matrix.os, 'ubuntu') | |
shell: bash | |
run: pip install "$(find dist/ -type f -name '*.whl')[all]" | |
- name: Install wheel (macos|windows) | |
if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows') | |
shell: bash | |
run: pip install "$(find dist/ -type f -name '*.whl')" | |
- name: Import the package | |
run: python -c "import jaxsim" | |
- uses: actions/checkout@v3 | |
with: | |
fetch-depth: 0 | |
- uses: dorny/paths-filter@v3 | |
id: changes | |
with: | |
filters: | | |
src: &src | |
- 'src/**' | |
tests: &tests | |
- 'tests/**' | |
src_and_tests: | |
- *src | |
- *tests | |
- name: Install Gazebo Classic | |
if: | | |
contains(matrix.os, 'ubuntu') && | |
(github.event_name != 'pull_request' || | |
steps.changes.outputs.src_and_tests == 'true') | |
run: | | |
sudo apt-get update | |
sudo apt-get install gazebo | |
- name: Run the Python tests | |
if: | | |
contains(matrix.os, 'ubuntu') && | |
(github.event_name != 'pull_request' || | |
steps.changes.outputs.src_and_tests == 'true') | |
run: pytest | |
env: | |
JAX_PLATFORM_NAME: cpu | |
publish: | |
name: Publish to PyPI | |
needs: test | |
runs-on: ubuntu-22.04 | |
steps: | |
- name: Download Python packages | |
uses: actions/download-artifact@v3 | |
with: | |
path: dist | |
name: dist | |
- name: Inspect dist folder | |
run: ls -lah dist/ | |
- name: Publish to PyPI | |
if: | | |
github.repository == 'ami-iit/jaxsim' && | |
((github.event_name == 'push' && github.ref == 'refs/heads/main') || | |
(github.event_name == 'release')) | |
uses: pypa/gh-action-pypi-publish@release/v1 | |
with: | |
user: __token__ | |
password: ${{ secrets.PYPI_TOKEN }} | |
skip_existing: true |