Upload latest changes to update body task model #44
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| name: C/C++ CI | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| os_name=$(uname -s) | |
| if [ "$os_name" = "Linux" ]; then | |
| echo "Installing dependencies for linux." | |
| sudo apt-get update | |
| sudo apt-get install build-essential cmake git libeigen3-dev libtinyxml2-dev libgtest-dev \ | |
| libasound2-dev libusb-1.0.0-dev freeglut3-dev xorg-dev libglew-dev libglfw3-dev \ | |
| libopenal-dev redis libhiredis-dev libjsoncpp-dev tmux | |
| elif [ "$os_name" = "Darwin" ]; then | |
| echo "Installing dependencies for macOS." | |
| brew update | |
| brew install cmake git eigen tinyxml2 googletest glfw3 glew redis hiredis jsoncpp tmux openal-soft | |
| else | |
| echo "ERROR: Unsupported OS. Only Linux and macOS are supported." | |
| exit 1 | |
| fi | |
| echo "Dependencies installed." | |
| - name: Build core libraries | |
| run: | | |
| mkdir -p core | |
| cd core | |
| # Clone all repositories if needed | |
| if [ ! -d "sai2-common" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-common.git | |
| fi | |
| if [ ! -d "sai2-urdfreader" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-urdfreader.git | |
| fi | |
| if [ ! -d "sai2-model" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-model.git | |
| fi | |
| if [ ! -d "chai3d" ]; then | |
| git clone https://github.com/manips-sai-org/chai3d.git | |
| fi | |
| if [ ! -d "sai2-graphics" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-graphics.git | |
| fi | |
| if [ ! -d "sai2-simulation" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-simulation.git | |
| fi | |
| if [ ! -d "sai2-primitives" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-primitives.git | |
| fi | |
| if [ ! -d "sai2-interfaces" ]; then | |
| git clone https://github.com/manips-sai-org/sai2-interfaces.git | |
| fi | |
| # Build all the repositories | |
| cd sai2-common | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-urdfreader | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-model | |
| git checkout master && git pull | |
| cd rbdl | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd chai3d | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-graphics | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-simulation | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-primitives | |
| git checkout master && git pull | |
| cd ruckig | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd sai2-interfaces | |
| git checkout master && git pull | |
| mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8 && cd ../.. | |
| cd .. | |
| - name: Clone and build OpenSai | |
| run: | | |
| git clone https://github.com/manips-sai-org/OpenSai.git | |
| cd OpenSai | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH=${{github.workspace}}/core/chai3d/build:${{github.workspace}}/core/sai2-common/build | |
| make -j8 | |
| - name: Clone and build chaiHapticdeviceRedisDriver | |
| run: | | |
| git clone https://github.com/manips-sai-org/chaiHapticdeviceRedisDriver.git | |
| cd chaiHapticdeviceRedisDriver | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH=${{github.workspace}}/core/chai3d/build:${{github.workspace}}/core/sai2-common/build | |
| make -j8 | |
| - name: Configure CMake | |
| run: | | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_PREFIX_PATH="${{github.workspace}}/core/chai3d/build;${{github.workspace}}/core/sai2-common/build;${{github.workspace}}/core/sai2-urdfreader/build;${{github.workspace}}/core/sai2-model/build;${{github.workspace}}/core/sai2-graphics/build;${{github.workspace}}/core/sai2-simulation/build;${{github.workspace}}/core/sai2-primitives/build;${{github.workspace}}/core/sai2-interfaces/build;${{github.workspace}}/OpenSai/build;${{github.workspace}}/chaiHapticdeviceRedisDriver/build" | |
| - name: Build | |
| run: cmake --build build |