CI #5452
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| # Copyright (c) 2020, Massachusetts Institute of Technology. | |
| # All rights reserved. | |
| # | |
| # Redistribution and use in source and binary forms, with or without | |
| # modification, are permitted provided that the following conditions are met: | |
| # | |
| # * Redistributions of source code must retain the above copyright notice, this | |
| # list of conditions and the following disclaimer. | |
| # | |
| # * Redistributions in binary form must reproduce the above copyright notice, | |
| # this list of conditions and the following disclaimer in the documentation | |
| # and/or other materials provided with the distribution. | |
| # | |
| # * Neither the name of the copyright holder nor the names of its contributors | |
| # may be used to endorse or promote products derived from this software | |
| # without specific prior written permission. | |
| # | |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| # POSSIBILITY OF SUCH DAMAGE. | |
| --- | |
| name: CI | |
| on: | |
| pull_request: | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| pull_request_target: | |
| types: | |
| - labeled | |
| push: | |
| branches: | |
| - master | |
| schedule: | |
| - cron: '0 8 * * *' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| check-approval: | |
| name: Check PR approval status | |
| runs-on: ubuntu-latest | |
| outputs: | |
| should-run: ${{ steps.check.outputs.should-run }} | |
| is-trusted: ${{ steps.check.outputs.is-trusted }} | |
| steps: | |
| - name: Check approval status | |
| id: check | |
| run: | | |
| if [[ "${{ github.event_name }}" != "pull_request_target" ]]; then | |
| echo "is-trusted=true" >> $GITHUB_OUTPUT | |
| echo "should-run=true" >> $GITHUB_OUTPUT | |
| echo "✅ Push or scheduled event - running tests automatically" | |
| exit 0 | |
| fi | |
| if [[ "${{ github.event.pull_request.author_association }}" == "COLLABORATOR" ]] || \ | |
| [[ "${{ github.event.pull_request.author_association }}" == "MEMBER" ]] || \ | |
| [[ "${{ github.event.pull_request.author_association }}" == "OWNER" ]]; then | |
| echo "is-trusted=true" >> $GITHUB_OUTPUT | |
| echo "should-run=true" >> $GITHUB_OUTPUT | |
| echo "✅ Trusted contributor - running tests automatically" | |
| elif [[ "${{ contains(github.event.pull_request.labels.*.name, 'approved-for-ci') }}" == "true" ]]; then | |
| echo "is-trusted=false" >> $GITHUB_OUTPUT | |
| echo "should-run=true" >> $GITHUB_OUTPUT | |
| echo "✅ First-time contributor approved via label - running tests" | |
| else | |
| echo "is-trusted=false" >> $GITHUB_OUTPUT | |
| echo "should-run=false" >> $GITHUB_OUTPUT | |
| echo "⏳ First-time contributor - waiting for maintainer approval" | |
| echo "To approve this PR for CI, add the 'approved-for-ci' label" | |
| fi | |
| noble-poetry: | |
| name: ubuntu noble using poetry | |
| runs-on: ubuntu-24.04 | |
| container: ubuntu:24.04 | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| github.event.pull_request.head.repo.full_name != github.repository && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg sudo | |
| apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
| echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
| # Create non-root user for running repository setup / tests | |
| useradd -m -s /bin/bash runner | |
| echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| submodules: recursive | |
| - name: checkout solutions | |
| env: | |
| SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }} | |
| run: | | |
| if [[ -z "${SOLUTIONS_TOKEN}" ]]; then | |
| echo "SOLUTIONS_TOKEN not available; skipping solutions checkout" | |
| exit 0 | |
| fi | |
| git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: install dependencies | |
| run: | | |
| # Fix ownership of the workspace | |
| chown -R runner:runner . | |
| # Switch to runner user for remaining commands | |
| sudo -H -u runner ./setup/submodule_checkout | |
| # Install system packages as root | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb | |
| sudo -H -u runner python3 -m pip install --user --break-system-packages poetry==2.1.4 | |
| sudo -H -u runner python3 -m poetry config virtualenvs.in-project true | |
| sudo -H -u runner python3 -m poetry install --all-extras --with dev | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: test | |
| run: | | |
| set -euo pipefail | |
| VENV_PYTHON="$(pwd)/.venv/bin/python" | |
| sudo -H -u runner xvfb-run \ | |
| --auto-servernum \ | |
| --server-args='-screen 0 1280x1024x24 -ac +extension GLX +extension RANDR +render -noreset' \ | |
| "$VENV_PYTHON" -m pytest -ra | |
| shell: bash | |
| # TODO(russt): add noble-pip-core workflow which only runs the tests in manipulation, | |
| # but uses the manipulation module from pip. | |
| noble-pip-all: | |
| name: ubuntu noble using pip all | |
| runs-on: ubuntu-24.04 | |
| container: ubuntu:24.04 | |
| needs: [check-approval] | |
| if: > | |
| ((github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| github.event.pull_request.head.repo.full_name != github.repository && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target')) | |
| && | |
| !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg sudo | |
| apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
| echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
| # Create non-root user for running repository setup / tests | |
| useradd -m -s /bin/bash runner | |
| echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| submodules: recursive | |
| - name: checkout solutions | |
| env: | |
| SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }} | |
| run: | | |
| if [[ -z "${SOLUTIONS_TOKEN}" ]]; then | |
| echo "SOLUTIONS_TOKEN not available; skipping solutions checkout" | |
| exit 0 | |
| fi | |
| git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: install dependencies | |
| run: | | |
| # Fix ownership of the workspace | |
| chown -R runner:runner . | |
| # Switch to runner user for remaining commands | |
| sudo -H -u runner ./setup/submodule_checkout | |
| # Install system packages as root | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb | |
| rm -rf ./manipulation # remove local module, force pip module. | |
| sudo -H -u runner python3 -m pip install --user --break-system-packages --upgrade manipulation[all] pytest pytest-timeout | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: test | |
| run: | | |
| set -euo pipefail | |
| find book/htmlbook -type f -name 'test_*.py' -delete # remove htmlbook tests (extra Python requirements) | |
| sudo -H -u runner MANIPULATION_DATA_DIR="$(pwd)/book/data" xvfb-run \ | |
| --auto-servernum \ | |
| --server-args='-screen 0 1280x1024x24 -ac +extension GLX +extension RANDR +render -noreset' \ | |
| python3 -m pytest -ra | |
| shell: bash | |
| sequoia: | |
| name: macos sequoia 15 | |
| runs-on: macos-15 | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| github.event.pull_request.head.repo.full_name != github.repository && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| submodules: recursive | |
| - name: setup python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.13' | |
| - name: checkout solutions | |
| env: | |
| SOLUTIONS_TOKEN: ${{ secrets.SOLUTIONS_TOKEN }} | |
| run: | | |
| if [[ -z "${SOLUTIONS_TOKEN}" ]]; then | |
| echo "SOLUTIONS_TOKEN not available; skipping solutions checkout" | |
| exit 0 | |
| fi | |
| git clone https://x-access-token:${SOLUTIONS_TOKEN}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: zsh -efuo pipefail {0} | |
| - name: setup | |
| run: | | |
| ./setup/submodule_checkout | |
| ./setup/mac/install_prereqs.sh | |
| python -m pip install --user poetry==2.1.4 | |
| python -m poetry config virtualenvs.in-project true | |
| python -m poetry env use "$(python -c 'import sys; print(sys.executable)')" | |
| python -m poetry install --all-extras --with dev | |
| # Enable lcm multicast; see drake #22322 for details. | |
| sudo route -nv delete 224.0.0.0/4 | |
| sudo route -nv add -net 224.0.0.0/4 -interface lo0 | |
| shell: zsh -efuo pipefail {0} | |
| - name: test | |
| run: | | |
| set -euo pipefail | |
| .venv/bin/python -m pytest -ra | |
| shell: zsh -efuo pipefail {0} | |
| lint: | |
| runs-on: ubuntu-latest | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| github.event.pull_request.head.repo.full_name != github.repository && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| - name: checkout repo | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v6 | |
| with: | |
| submodules: recursive | |
| - name: setup python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: black | |
| uses: psf/black@stable | |
| with: | |
| version: 24.10.0 | |
| jupyter: true | |
| - name: isort | |
| uses: isort/isort-action@master | |
| with: | |
| configuration: "--profile black --check-only" | |
| isort-version: 5.12.0 | |
| - name: autoflake | |
| uses: creyD/autoflake_action@master | |
| with: | |
| options: --remove-all-unused-imports --in-place | |
| # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1 | |
| - name: Install and configure Poetry | |
| uses: snok/install-poetry@v1 | |
| with: | |
| version: 2.1.4 | |
| virtualenvs-create: true | |
| virtualenvs-in-project: true | |
| - name: build the docs | |
| run: | | |
| poetry install --only docs | |
| source .venv/bin/activate | |
| sphinx-build -M html manipulation book/python | |
| shell: bash | |
| - name: Test full poetry install | |
| run: poetry install |