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ReeceHumphreysReeceHumphreys
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Update workflows to use composite actions
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‎.github/workflows/canary.yml‎

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Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ name: "Canary Build"
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on:
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schedule:
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- cron: '0 0 * * 0' # Run weekly on Sunday at midnight
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- cron: "0 0 * * 0" # Run weekly on Sunday at midnight
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workflow_dispatch:
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pull_request:
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branches:
@@ -19,70 +19,47 @@ jobs:
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timeout-minutes: 75
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strategy:
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matrix:
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python-version: [ "3.13" ]
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python-version: ["3.13"]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install Homebrew
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run: |
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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brew install swig doxygen
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- name: "Create virtual Environment"
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run: python3 -m venv .venv
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- name: "Capture initial package versions"
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- name: Capture initial package versions
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run: |
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source .venv/bin/activate
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pip freeze > initial_versions.txt
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echo "Initial package versions:" >> $GITHUB_STEP_SUMMARY
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cat initial_versions.txt >> $GITHUB_STEP_SUMMARY
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echo "\n" >> $GITHUB_STEP_SUMMARY
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- name: "Install canary requirements"
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run: |
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source .venv/bin/activate
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pip3 install -r .github/workflows/requirements.txt
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pip3 install -r .github/workflows/requirements_dev.txt
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pip3 install -r .github/workflows/requirements_doc.txt
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pip3 install pytest-error-for-skips
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- name: "Capture final package versions"
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- name: Build Basilisk
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uses: ./.github/actions/build
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with:
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python-version: ${{ matrix.python-version }}
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build-mode: conan
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conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True --pyPkgCanary True
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is-canary: true
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install-doc-reqs: true
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- name: Capture final package versions
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run: |
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source .venv/bin/activate
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pip freeze > final_versions.txt
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echo "Final package versions:" >> $GITHUB_STEP_SUMMARY
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cat final_versions.txt >> $GITHUB_STEP_SUMMARY
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echo "\n" >> $GITHUB_STEP_SUMMARY
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echo "Package version changes:" >> $GITHUB_STEP_SUMMARY
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diff -u initial_versions.txt final_versions.txt | grep -E '^[+-]' | grep -v '^+++' | grep -v '^---' >> $GITHUB_STEP_SUMMARY
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- name: "Build basilisk with latest dependencies"
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run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
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- name: "Run Python Tests"
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run: |
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source .venv/bin/activate
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cd src
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pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
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- name: Run Python Tests
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working-directory: src
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run: pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
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if: ${{ always() }}
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- name: "Run C/C++ Tests"
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- name: Run C/C++ Tests
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working-directory: ./dist3
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run: ctest -C Release
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if: ${{ always() }}
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- name: "Build Documentation"
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run: |
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source .venv/bin/activate
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cd docs
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make html SPHINXOPTS="-W"
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if: ${{ always() }}
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- name: "Upload package version logs"
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- name: Build docs
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uses: ./.github/actions/docs
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- name: Upload package version logs
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if: always()
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uses: actions/upload-artifact@v4
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with:

‎.github/workflows/merge.yml‎

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name: Merge to develop
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on:
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push:
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branches: [develop]
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workflow_dispatch:
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permissions:
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contents: write
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actions: read
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concurrency:
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group: merge-develop
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cancel-in-progress: false
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jobs:
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bump_version:
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name: Bump version (skip if already bumped)
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runs-on: ubuntu-latest
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if: ${{ github.actor != 'AVSlabBot' }}
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steps:
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- uses: actions/checkout@v4
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with:
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ref: develop
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fetch-depth: 0
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token: ${{ secrets.BOT_ACCESS_TOKEN }}
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- name: Bump version
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run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
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- name: Commit and push
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run: |
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git config user.name "AVSlabBot"
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git config user.email "cuavslab@gmail.com"
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git commit -a -m "[AUTO] Bump version number" || echo "No changes"
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git push || true
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build-ubuntu-latest-wheels:
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name: Build ubuntu-latest wheels
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needs: bump_version
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# Allow for manual runs to generate new wheels
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if: ${{ always() }}
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.9", "3.10", "3.11"]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- uses: ./.github/actions/build
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with:
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python-version: ${{ matrix.python-version }}
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build-mode: pip
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extra-apt: "cmake"
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- name: Build wheel
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run: |
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python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
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- uses: actions/upload-artifact@v4
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with:
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name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
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path: /tmp/wheelhouse/**/*asilisk*.whl
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build_documentation:
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name: macOS Docs Deployment
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needs: bump_version
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runs-on: macos-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build Basilisk
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uses: ./.github/actions/build
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with:
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python-version: 3.13
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build-mode: conan
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conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
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- name: Build docs
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uses: ./.github/actions/docs
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- name: Deploy
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if: ${{ success() }} # deploy only if prior steps ok
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uses: peaceiris/actions-gh-pages@v3
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: ./docs/build/html
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force_orphan: true

‎.github/workflows/pre-commit.yml‎

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name: Pre-commit
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on:
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workflow_dispatch:
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jobs:
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pre-commit:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- uses: ./.github/actions/pre-commit

‎.github/workflows/pull-request-closed.yml‎

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