[constraint] Improve speed in constructing A matrix in LCP #365
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| name: Publish dartpy | |
| on: | |
| push: | |
| branches: | |
| - "**" | |
| paths-ignore: | |
| - ".github/workflows/cache_*.yml" | |
| - "docker/dev/**" | |
| schedule: | |
| - cron: "0 10 * * 0,3" | |
| workflow_dispatch: | |
| # This workflow will install Python dependencies, run tests and lint with a | |
| # variety of Python versions. For more information see: | |
| # - https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions | |
| # - https://github.com/pypa/cibuildwheel/blob/main/examples/github-deploy.yml | |
| jobs: | |
| check_format: | |
| name: Check format | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set up Python 3.11 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: 3.11 | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install black -U | |
| pip install isort -U | |
| - name: Check format | |
| run: | | |
| black --check --diff . | |
| - name: Check import | |
| run: | | |
| isort --check --diff . | |
| build_wheels: | |
| name: ${{ matrix.os }}-${{ matrix.build }} | |
| runs-on: ${{ matrix.os }} | |
| continue-on-error: ${{ matrix.experimental }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest] | |
| build: ["cp38-manylinux_x86_64"] | |
| experimental: [false] | |
| release_only: [true] | |
| include: | |
| - os: ubuntu-latest | |
| build: "cp39-manylinux_x86_64" | |
| experimental: false | |
| release_only: true | |
| - os: ubuntu-latest | |
| build: "cp310-manylinux_x86_64" | |
| experimental: false | |
| release_only: true | |
| - os: ubuntu-latest | |
| build: "cp311-manylinux_x86_64" | |
| experimental: false | |
| release_only: true | |
| - os: ubuntu-latest | |
| build: "cp312-manylinux_x86_64" | |
| experimental: false | |
| release_only: false | |
| - os: macos-latest | |
| build: "cp312-macosx_x86_64" | |
| experimental: false | |
| release_only: false | |
| - os: windows-latest | |
| build: "cp312-win_amd64" | |
| experimental: false | |
| release_only: false | |
| - os: windows-latest | |
| build: "cp312-win_arm64" | |
| experimental: true | |
| release_only: true | |
| env: | |
| CIBW_BUILD: ${{ matrix.build }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set up Vcpkg | |
| if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }} | |
| uses: johnwason/vcpkg-action@v6 | |
| with: | |
| pkgs: > | |
| assimp | |
| ccd | |
| eigen3 | |
| fcl | |
| fmt | |
| spdlog | |
| bullet3 | |
| coin-or-ipopt | |
| freeglut | |
| glfw3 | |
| imgui | |
| nlopt | |
| ode | |
| opengl | |
| osg | |
| pagmo2 | |
| tinyxml2 | |
| urdfdom | |
| triplet: x64-windows | |
| revision: "2024.03.19" | |
| github-binarycache: true | |
| token: ${{ github.token }} | |
| - name: Build wheels | |
| if: ${{ matrix.os != 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }} | |
| uses: pypa/[email protected] | |
| env: | |
| # Common | |
| DART_IN_CI: ON | |
| # macOS | |
| MACOSX_DEPLOYMENT_TARGET: 10.15 | |
| # Windows | |
| CMAKE_TOOLCHAIN_FILE: "" | |
| - name: Build wheels (Windows) | |
| if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }} | |
| uses: pypa/[email protected] | |
| env: | |
| # Common | |
| DART_IN_CI: ON | |
| # macOS | |
| MACOSX_DEPLOYMENT_TARGET: 10.15 | |
| # Windows | |
| CMAKE_TOOLCHAIN_FILE: ${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| path: ./wheelhouse/*.whl | |
| name: ${{ matrix.os }}-${{ matrix.build }} | |
| # TODO: Disabled because installing from source doesn't work when the deps are not | |
| # installed in the system | |
| # build_sdist: | |
| # name: Build source distribution | |
| # runs-on: ubuntu-latest | |
| # steps: | |
| # - uses: actions/checkout@v4 | |
| # - name: Build SDist | |
| # run: pipx run build --sdist | |
| # - uses: actions/upload-artifact@v4 | |
| # with: | |
| # path: dist/*.tar.gz | |
| upload_pypi: | |
| # needs: [build_wheels, build_sdist] | |
| needs: [build_wheels] | |
| runs-on: ubuntu-latest | |
| # if: github.event_name == 'push' && github.ref == 'refs/heads/main' | |
| # upload to PyPI on every tag starting with 'release-' | |
| # if: github.event_name == 'push' && startsWith(github.ref, 'release-') | |
| # alternatively, to publish when a GitHub Release is created, use the following rule: | |
| if: github.event_name == 'release' | |
| steps: | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| # unpacks default artifact into dist/ | |
| # if `name: artifact` is omitted, the action will create extra parent dir | |
| # name: artifact | |
| path: dist | |
| merge-multiple: true | |
| - name: List files in dist | |
| run: ls -lR dist/ | |
| - uses: pypa/[email protected] | |
| with: | |
| user: __token__ | |
| password: ${{ secrets.PYPI_TOKEN }} | |
| # To test: repository_url: https://test.pypi.org/legacy/ | |
| skip-existing: true |