add comments to pendulum.py example #212 #69
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # https://help.github.com/en/articles/workflow-syntax-for-github-actions | |
| name: CI MacOS | |
| on: | |
| push: | |
| branches: | |
| - "**" | |
| paths: | |
| - 'cmake/**' | |
| - 'src/examples/**' | |
| - 'src/python/**' | |
| - 'src/robot_dart/**' | |
| - 'src/tests/**' | |
| - 'src/utheque/**' | |
| - 'utheque/**' | |
| - 'ci/**' | |
| - 'waf_tools/**' | |
| - 'wscript' | |
| - 'waf' | |
| - '.github/workflows/ci_mac.yml' | |
| pull_request: | |
| branches: | |
| - "**" | |
| paths: | |
| - 'cmake/**' | |
| - 'src/examples/**' | |
| - 'src/python/**' | |
| - 'src/robot_dart/**' | |
| - 'src/tests/**' | |
| - 'src/utheque/**' | |
| - 'utheque/**' | |
| - 'ci/**' | |
| - 'waf_tools/**' | |
| - 'wscript' | |
| - 'waf' | |
| - '.github/workflows/ci_mac.yml' | |
| jobs: | |
| build: | |
| if: github.event_name != 'workflow_dispatch' | |
| name: OS:${{ matrix.os }}-Magnum:${{ matrix.magnum_gui }}-Build:${{ matrix.build_type }}-Python:${{ matrix.build_python }}-Compiler:${{ matrix.compiler }}-DART:${{ matrix.dart_tag }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [macos-12] | |
| build_type: [Release] | |
| build_python: [OFF] # Let's remove python for now from Mac CI | |
| compiler: [gcc, clang] | |
| magnum_gui: [ON, OFF] | |
| env: | |
| COMPILER: ${{ matrix.compiler }} | |
| BUILD_TYPE: ${{ matrix.build_type }} | |
| BUILD_PYTHON: ${{ matrix.build_python }} | |
| MAGNUM_GUI: ${{ matrix.magnum_gui }} | |
| DART_TAG: ${{ matrix.dart_tag }} | |
| CI_HOME: ${{github.workspace}} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install deps | |
| run: brew install binutils pybind11 | |
| - name: Install numpy | |
| run: python -m pip install --upgrade pip && pip3 install numpy | |
| - name: Install DART | |
| run: | | |
| if [ "$BUILD_PYTHON" = "ON" ]; then | |
| brew install dartsim --only-dependencies && pip3 install dartpy ; | |
| else | |
| brew install dartsim ; | |
| fi | |
| - name: Build Magnum | |
| run: if [ "$MAGNUM_GUI" = "ON" ]; then brew install sdl2 glfw eigen glm bullet assimp devil faad2 freetype glslang harfbuzz libpng libspng jpeg openexr spirv-tools zstd webp && ${{github.workspace}}/ci/install_magnum.sh /usr/local ; fi | |
| - name: Build robot_dart | |
| run: | | |
| if [ "$COMPILER" = "gcc" ]; then | |
| export CC=/usr/bin/gcc && export CXX=/usr/bin/g++ | |
| fi | |
| if [ "$COMPILER" = "clang" ]; then | |
| export CC=/usr/bin/clang && export CXX=/usr/bin/clang++ | |
| fi | |
| cd ${{github.workspace}} | |
| if [ "$BUILD_PYTHON" = "ON" ]; then | |
| ./waf configure --tests --python --prefix=/usr/local ; | |
| else | |
| ./waf configure --tests --prefix=/usr/local ; | |
| fi | |
| ./waf | |
| - name: Run tests | |
| run: ./waf --tests | |
| - name: Build examples | |
| run: ./waf examples | |
| - name: Install | |
| run: sudo ./waf install | |
| - name: Run CMake | |
| run: | | |
| if [ "$COMPILER" = "gcc" ]; then | |
| export CC=/usr/bin/gcc && export CXX=/usr/bin/g++ | |
| fi | |
| if [ "$COMPILER" = "clang" ]; then | |
| export CC=/usr/bin/clang && export CXX=/usr/bin/clang++ | |
| fi | |
| cd ${{github.workspace}}/cmake/example && mkdir -p build && cd build && cmake .. && make -j4 | |
| cd ${{github.workspace}}/cmake/example_utheque && mkdir -p build && cd build && cmake .. && make -j4 | |
| - name: Run Python | |
| run: | | |
| if [ "$BUILD_PYTHON" = "ON" ]; then | |
| python ${{github.workspace}}/src/examples/python/ci.py | |
| fi |