Optimize CI Jobs (#1875)

dartsim · Nov 11, 2024 · 26664f5 · 26664f5
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diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml
@@ -22,38 +22,13 @@ on:
 
 jobs:
   build:
-    name: ${{ matrix.os }}-${{ matrix.build_type }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [macos-latest]
-        build_type: [Release]
-        enable_simd: [ON]
-    env:
-      COMPILER: clang
-      BUILD_TYPE: ${{ matrix.build_type }}
-      BUILD_DARTPY: OFF
-      DART_USE_SYSTEM_IMGUI: OFF
-      IN_CI: ON
-      ENABLE_SIMD: ${{ matrix.enable_simd }}
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Install Dependencies
-        env:
-          INSTALL_OSG_HEAD: OFF # To avoid building OSG, until 3.7 is released.
-        run: scripts/install_osx.sh
-      - name: Build
-        run: sudo -E scripts/build.sh
-
-  build_on_pixi:
-    name: ${{ matrix.os }}-pixi
+    name: ${{ matrix.os == 'macos-latest-large' && 'x86_64' || 'arm64' }}-${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [macos-latest]
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -64,12 +39,19 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
 
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -21,20 +21,13 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_on_docker:
+  coverage:
     if: github.event_name != 'workflow_dispatch'
-    name: linux-docker-${{ matrix.os }}-${{ matrix.build_type }}
+    name: coverage
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        # Supported LTS versions
-        os: [ubuntu-jammy, ubuntu-noble, ubuntu-oracular]
-        build_type: [Release]
-        codecov: [OFF]
-        check_format: [OFF]
-        build_dartpy: [ON]
-        enable_simd: [ON]
         include:
           # For code coverage report to Codecov
           - os: ubuntu-jammy
@@ -79,9 +72,13 @@ jobs:
             $DART_DEV_IMAGE:$DOCKER_TAG \
             /bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh"
 
-  build_on_pixi:
-    name: ubuntu-pixi
+  build:
+    name: ${{ matrix.build_type }}
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -97,12 +94,19 @@ jobs:
           version: 1.0
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
-  
+
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -22,80 +22,12 @@ on:
 
 jobs:
   build:
-    name: win-${{ matrix.build_type }}
+    name: ${{ matrix.build_type }}
     runs-on: windows-latest
     strategy:
       fail-fast: false
       matrix:
-        toolset: [""]
-        build_type: [Release]
-        build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - uses: johnwason/vcpkg-action@v6
-        with:
-          # TODO: Add ode and coin-or-ipopt
-          pkgs: >
-            assimp
-            eigen3
-            fcl
-            fmt
-            spdlog
-            bullet3
-            freeglut
-            glfw3
-            imgui[opengl2-binding]
-            nlopt
-            opengl
-            osg
-            pagmo2
-            tinyxml2
-            tracy
-            urdfdom
-          triplet: x64-windows
-          revision: "2024.06.15"
-          github-binarycache: true
-          token: ${{ github.token }}
-
-      - name: Install Python dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U pytest
-
-      - name: Build
-        shell: cmd
-        run: |
-          cmake ^
-            -S . ^
-            -B build ^
-            -G "Visual Studio 17 2022" ^
-            -A x64 ^
-            -Wno-dev ${{ matrix.toolset }} ^
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
-            -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
-            -DDART_MSVC_DEFAULT_OPTIONS=ON ^
-            -DDART_VERBOSE=ON ^
-            -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
-            -DDART_USE_SYSTEM_IMGUI=ON ^
-            || exit /b
-          cmake ^
-            --build build ^
-            --config ${{ matrix.build_type }} ^
-            --target ALL_BUILD ^
-            --parallel ^
-            || exit /b
-          ctest ^
-            --test-dir build ^
-            --output-on-failure ^
-            --build-config ${{ matrix.build_type }} ^
-            || exit /b
-
-  build_on_pixi:
-    name: win-pixi
-    runs-on: windows-latest
+        build_type: ["Release"] # TODO: Add Debug
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -106,12 +38,17 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
-          pixi run test # TODO: Change to test-all
-  
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
+          pixi run test-all
+
       - name: Install
         run: |
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
           pixi run install
diff --git a/README.md b/README.md
@@ -5,6 +5,90 @@
   <img src="https://raw.githubusercontent.com/dartsim/dart/master/docs/dart_logo_377x107.jpg" alt="DART: Dynamic Animation and Robotics Toolkit">
 </p>
 
+DART (Dynamic Animation and Robotics Toolkit) is an open-source library that
+provides data structures and algorithms for kinematic and dynamic applications
+in robotics and computer animation. Renowned for its accuracy and stability,
+DART utilizes generalized coordinates to represent articulated rigid body
+systems and employs Featherstone's Articulated Body Algorithm to compute motion
+dynamics.
+
+## Getting Started
+
+DART provides both C++ and Python interfaces, which can be installed using
+various package managers. For cross-platform compatibility, we recommend using
+Conda or Pixi.
+
+### C++
+
+#### Cross-Platform (Recommended)
+
+Conda:
+
+```shell
+conda install -c conda-forge dartsim-cpp
+```
+
+Pixi:
+
+```shell
+pixi add dartsim-cpp
+```
+
+#### Linux
+
+Ubuntu:
+
+```shell
+sudo apt install libdart-all-dev
+```
+
+Arch Linux:
+
+```shell
+yay -S libdart
+```
+
+FreeBSD:
+
+```shell
+pkg install dartsim
+```
+
+#### macOS (Homebrew)
+
+```shell
+brew install dartsim
+```
+
+#### Windows (Vcpkg)
+
+```shell
+vcpkg install dartsim:x64-windows
+```
+
+### Python
+
+For the Python interface, we recommend using Conda or Pixi. Note that the PyPI
+package is being deprecated to reduce maintenance—contributions are welcome!
+
+Conda:
+
+```shell
+conda install -c conda-forge dartpy
+```
+
+Pixi:
+
+```shell
+pixi add dartpy
+```
+
+PyPI (deprecated):
+
+```shell
+pip install dartpy
+```
+
 ## Documentation
 
 For more information on DART, please visit the DART documentation: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/) (WIP)