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| # Copyright (c) 2020, Massachusetts Institute of Technology. | |
| # All rights reserved. | |
| # | |
| # Redistribution and use in source and binary forms, with or without | |
| # modification, are permitted provided that the following conditions are met: | |
| # | |
| # * Redistributions of source code must retain the above copyright notice, this | |
| # list of conditions and the following disclaimer. | |
| # | |
| # * Redistributions in binary form must reproduce the above copyright notice, | |
| # this list of conditions and the following disclaimer in the documentation | |
| # and/or other materials provided with the distribution. | |
| # | |
| # * Neither the name of the copyright holder nor the names of its contributors | |
| # may be used to endorse or promote products derived from this software | |
| # without specific prior written permission. | |
| # | |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| # POSSIBILITY OF SUCH DAMAGE. | |
| --- | |
| name: CI | |
| on: | |
| pull_request: | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| pull_request_target: | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| - labeled | |
| push: | |
| branches: | |
| - master | |
| schedule: | |
| - cron: '0 8 * * *' | |
| jobs: | |
| # First job: Check if we should run tests with solutions | |
| check-approval: | |
| name: Check PR approval status | |
| runs-on: ubuntu-latest | |
| if: github.event_name == 'pull_request_target' | |
| outputs: | |
| should-run: ${{ steps.check.outputs.should-run }} | |
| is-trusted: ${{ steps.check.outputs.is-trusted }} | |
| steps: | |
| - name: Check approval status | |
| id: check | |
| run: | | |
| # Check if this is a trusted contributor | |
| if [[ "${{ github.event.pull_request.author_association }}" == "COLLABORATOR" ]] || \ | |
| [[ "${{ github.event.pull_request.author_association }}" == "MEMBER" ]] || \ | |
| [[ "${{ github.event.pull_request.author_association }}" == "OWNER" ]]; then | |
| echo "is-trusted=true" >> $GITHUB_OUTPUT | |
| echo "should-run=true" >> $GITHUB_OUTPUT | |
| echo "✅ Trusted contributor - running tests automatically" | |
| elif [[ "${{ contains(github.event.pull_request.labels.*.name, 'approved-for-ci') }}" == "true" ]]; then | |
| echo "is-trusted=false" >> $GITHUB_OUTPUT | |
| echo "should-run=true" >> $GITHUB_OUTPUT | |
| echo "✅ First-time contributor approved via label - running tests" | |
| else | |
| echo "is-trusted=false" >> $GITHUB_OUTPUT | |
| echo "should-run=false" >> $GITHUB_OUTPUT | |
| echo "⏳ First-time contributor - waiting for maintainer approval" | |
| echo "To approve this PR for CI, add the 'approved-for-ci' label" | |
| fi | |
| noble: | |
| name: ubuntu 24.04 noble | |
| runs-on: ubuntu-24.04 | |
| container: ubuntu:24.04 | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg | |
| apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
| echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: checkout solutions | |
| run: | | |
| git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: setup and build | |
| run: | | |
| ./setup/submodule_checkout | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| # Run bazel operations as root (Python 3.12 via .bazelrc linux config) | |
| bazel fetch //... | |
| bazel run //manipulation:prefetch_remotes | |
| shell: bash | |
| # - name: Check disk space | |
| # run: | | |
| # dpkg-query -Wf '${Installed-Size}\t${Package}\n' | sort -nr | head | |
| # df . -h | |
| # du /usr/ -hx -d 4 --threshold=1G | sort -hr | head | |
| # shell: bash | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/noble/test | |
| shell: bash | |
| sonoma: | |
| name: macos sonoma 14 | |
| runs-on: macos-14 | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: checkout solutions | |
| run: | | |
| git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: zsh -efuo pipefail {0} | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: zsh -efuo pipefail {0} | |
| - name: setup | |
| run: | | |
| ./book/htmlbook/workflows/ci/sonoma/setup | |
| bazel run //manipulation:prefetch_remotes | |
| shell: zsh -efuo pipefail {0} | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/sonoma/test | |
| shell: zsh -efuo pipefail {0} | |
| lint: | |
| runs-on: ubuntu-latest | |
| needs: [check-approval] | |
| if: > | |
| (github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target') | |
| steps: | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout repo | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: setup python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: black | |
| uses: psf/black@stable | |
| with: | |
| version: 24.10.0 | |
| jupyter: true | |
| - name: isort | |
| uses: isort/isort-action@master | |
| with: | |
| configuration: "--profile black --check-only" | |
| isort-version: 5.12.0 | |
| - name: autoflake | |
| uses: creyD/autoflake_action@master | |
| with: | |
| options: --remove-all-unused-imports --in-place | |
| # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1 | |
| - name: Install and configure Poetry | |
| uses: snok/install-poetry@v1 | |
| with: | |
| version: 2.1.4 | |
| virtualenvs-create: true | |
| virtualenvs-in-project: true | |
| - name: build the docs | |
| run: | | |
| poetry install --only docs | |
| source .venv/bin/activate | |
| sphinx-build -M html manipulation book/python | |
| shell: bash | |
| - name: Test full poetry install | |
| run: poetry install | |
| # The following jobs rely on the pip wheels being up to date. They can be disabled for a PR by adding the "requires new pip wheels" label. | |
| docker: | |
| name: dockerfile | |
| runs-on: ubuntu-latest | |
| needs: [check-approval] | |
| if: > | |
| ((github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target')) | |
| && | |
| !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') | |
| container: russtedrake/manipulation:latest | |
| steps: | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: checkout solutions | |
| run: | | |
| git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb | |
| ./setup/submodule_checkout | |
| # Note: we **don't** reinstall drake's dependencies here. If we need | |
| # to do that, we should update our docker image. | |
| # Install manipulation via pip (to mimic student experience) | |
| # Use --break-system-packages to handle externally managed environment | |
| # Only install manipulation[all] to avoid conflicts with system packages | |
| pip install --upgrade manipulation[all] --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages | |
| shell: bash | |
| - name: test | |
| run: | | |
| ./book/htmlbook/workflows/ci/noble/test_wheels | |
| shell: bash | |
| noble-pip-core: | |
| # This should emulate a student's experience if they are doing exercises | |
| # via pip install manipulation. | |
| name: pip notebooks on noble | |
| runs-on: ubuntu-24.04 | |
| needs: [check-approval] | |
| if: > | |
| ((github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target')) | |
| && | |
| !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') | |
| container: ubuntu:24.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb | |
| shell: bash | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: checkout solutions | |
| run: | | |
| git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: setup | |
| run: | | |
| ./setup/submodule_checkout | |
| # Install system dependencies for Drake | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| # Install manipulation via pip (to mimic student experience) | |
| # Handle system package conflicts by using --ignore-installed for problematic packages | |
| pip install manipulation jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages --ignore-installed traitlets | |
| shell: bash | |
| - name: test | |
| run: | | |
| # The manipulation library needs be robust against partial | |
| # installations, but the examples will assume a full installation. So | |
| # we test only the manipulation library here. | |
| ./book/htmlbook/workflows/ci/noble/test_wheels --core-library-only | |
| shell: bash | |
| noble-pip-extra: | |
| # This should emulate a student's experience if they are doing exercises | |
| # via pip install manipulation[all]. | |
| name: pip extra on noble | |
| runs-on: ubuntu-24.04 | |
| needs: [check-approval] | |
| if: > | |
| ((github.event_name == 'pull_request' && | |
| github.event.pull_request.head.repo.full_name == github.repository) | |
| || | |
| (github.event_name == 'pull_request_target' && | |
| needs.check-approval.outputs.should-run == 'true') | |
| || | |
| (github.event_name != 'pull_request' && | |
| github.event_name != 'pull_request_target')) | |
| && | |
| !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') | |
| container: ubuntu:24.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb | |
| shell: bash | |
| # For pull_request_target: carefully checkout PR code excluding .github/ | |
| - name: checkout PR code | |
| if: github.event_name == 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| sparse-checkout: | | |
| * | |
| !.github | |
| sparse-checkout-cone-mode: false | |
| # For regular events: normal checkout | |
| - name: checkout | |
| if: github.event_name != 'pull_request_target' | |
| uses: actions/checkout@v4 | |
| - name: checkout solutions | |
| run: | | |
| git clone https://x-access-token:${{ secrets.SOLUTIONS_TOKEN }}@github.com/RobotLocomotion/manipulation-solutions.git solutions | |
| cd solutions && git checkout $(cat ../solutions_sha.txt) && cd .. | |
| shell: bash | |
| - name: setup | |
| run: | | |
| ./setup/submodule_checkout | |
| # Install system dependencies for Drake | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| # Install manipulation via pip (to mimic student experience) | |
| # Handle system package conflicts by using --ignore-installed for problematic packages | |
| pip install manipulation[all] jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages --ignore-installed traitlets | |
| shell: bash | |
| - name: test | |
| run: | | |
| ./book/htmlbook/workflows/ci/noble/test_wheels | |
| shell: bash | |