botop fixes and tests on real #20
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| name: CMake | |
| on: [push, pull_request] | |
| env: | |
| BUILD_TYPE: Release | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: 'recursive' | |
| - name: install ubuntu dependencies | |
| run: | | |
| sudo apt-get install --yes build-essential clang cmake curl git libpoco-dev libeigen3-dev libccd-dev libboost-system-dev portaudio19-dev libglu1-mesa-dev | |
| APTGETYES=1 make -C rai -j1 installUbuntuAll | |
| mkdir -p $HOME/git $HOME/.local | |
| - name: install installer | |
| run: wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod a+x install.sh | |
| - name: install PhysX | |
| run: ./install.sh physx | |
| - name: install FCL | |
| run: ./install.sh fcl | |
| - name: install libfranka | |
| run: ./install.sh libfranka | |
| - name: install python and pybind | |
| run: | | |
| sudo apt install --yes python3 python3-dev python3-pip | |
| echo 'export PATH="${PATH}:$HOME/.local/bin"' >> ~/.bashrc #add this to your .bashrc, if not done already | |
| source ~/.bashrc | |
| python3 -m pip install --user numpy jupyter nbconvert matplotlib pybind11 | |
| - name: setup build files | |
| run: | | |
| export PYTHONVERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"` | |
| cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_INSTALL_PREFIX=$HOME/.local -DUSE_PHYSX=ON -DUSE_REALSENSE=OFF -DUSE_OPENCV=OFF -DUSE_OPENCV_LOCAL=OFF -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_QHULL8=ON | |
| - name: Build | |
| run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} | |
| - name: install | |
| run: cmake --install ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} |