update drake and crocoddyl functions. gh workflow for ubuntu 22/pytho…

…n 3.10

.github/workflows/test_ub22.yml

@@ -0,0 +1,79 @@
+name: Ubuntu22 Py3.10
+
+on:                       # Run action when changes are pushed or pull requests are accepted
+  push:
+    branches-ignore: 
+      - 'docs'            # Run on pushes to any branch except the doc hosting branch
+  pull_request:
+    branches-ignore:
+      - 'docs'            # Run on pull requests to any branch except the doc hosting branch
+
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+   # ===========================
+   #
+   #         Ubuntu 22
+   #
+   # ===========================
+   ub20:
+     runs-on: ubuntu-22.04
+     defaults:
+       run:
+         shell: bash
+
+     steps:
+     - name: Set up Git repository
+       uses: actions/checkout@v3
+       with:
+         fetch-depth: 0
+     # Load environment variables from config.env =================
+     - name: Load config variables into env
+       run: |
+         grep -v '^#' config.env | tr -d "[:blank:]" >> $GITHUB_ENV
+     # Setup ======================================================
+     - name: Set up Python 3.10
+       if: env.run_tests == 'true'
+       uses: actions/setup-python@v2
+       with:
+         python-version: 3.10
+     - name: Install pytest
+       if: env.run_tests == 'true'
+       run: |
+         python -m pip install --upgrade pip
+         pip install pytest
+         # - name: Install coverage and emblem
+         #   if: env.run_tests == 'true'
+         #   run: |
+         #     pip install coverage
+         #     pip install emblem
+     - name: Install Python dev headers
+       if: env.run_tests == 'true'
+       run: |
+         sudo apt-get update
+         sudo apt-get install python3-dev
+         sudo apt install libpython3.10-dev
+     - name: Install curl
+       if: env.run_tests == 'true'
+       run: |
+         sudo apt-get install curl
+     - name: Install drake dependencies
+       if: env.run_tests == 'true'
+       run: |
+         sudo apt-get update
+         sudo apt-get install --no-install-recommends \
+           libpython3.10 libx11-6 libsm6 libxt6 libglib2.0-0
+     - name: Install project dependencies
+       if: env.run_tests == 'true'
+       run: |
+         make install
+     # Run unit tests =============================================
+     - name: Run tests
+       if: env.run_tests == 'true'
+       id: tests
+       run: |
+         # Run tests
+         cd $codedir
+         python -m pytest

Makefile

@@ -15,4 +15,4 @@ doc:
 	make -C $(DOC_ROOT) html
 
 tests:
-	make -C $(PYTHON_ROOT)
+	make -C $(PYTHON_ROOT) test

README.md

@@ -2,8 +2,7 @@
 <a style="border-width:0" href="https://doi.org/10.21105/joss.03884">
   <img src="https://joss.theoj.org/papers/10.21105/joss.03884/status.svg" alt="DOI badge" >
 </a>
-![Ubuntu 18 Py3.6](https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/actions/workflows/test_ub18.yml/badge.svg)
-![Ubuntu 20 Py3.8](https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/actions/workflows/test_ub20.yml/badge.svg)
+![Ubuntu 22 Py3.10](https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/actions/workflows/test_ub22.yml/badge.svg)
 ![Documentation](https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/actions/workflows/docs.yml/badge.svg)
 
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