[Feature] Joint friction / frictionloss #420
Workflow file for this run
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| name: Generic | |
| on: | |
| pull_request: | |
| branches: | |
| - main | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} | |
| cancel-in-progress: ${{ github.event_name == 'pull_request' }} | |
| jobs: | |
| generic-cpu: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # See official Github documentation for details: https://shorturl.at/NJgsj | |
| OS: ["ubuntu-22.04", "ubuntu-24.04", "macos-15", "windows-cpu-4-core"] | |
| PYTHON_VERSION: ["3.10", "3.11", "3.12"] | |
| env: | |
| HF_HUB_DOWNLOAD_TIMEOUT: 60 | |
| GS_CACHE_FILE_PATH: ".cache/genesis" | |
| TI_OFFLINE_CACHE: "1" | |
| TI_OFFLINE_CACHE_CLEANING_POLICY: "never" | |
| TI_OFFLINE_CACHE_FILE_PATH: ".cache/taichi" | |
| TI_ENABLE_CUDA: "0" | |
| TI_ENABLE_METAL: "0" | |
| TI_ENABLE_OPENGL: "0" | |
| TI_ENABLE_VULKAN: "0" | |
| runs-on: ${{ matrix.OS }} | |
| steps: | |
| - name: Print system information (Windows) | |
| if: startsWith(matrix.OS, 'windows-') | |
| shell: pwsh | |
| run: | | |
| $cpu = Get-CimInstance -ClassName Win32_Processor | |
| $ram = Get-CimInstance -ClassName Win32_ComputerSystem | |
| [PSCustomObject]@{ | |
| CPU_Name = $cpu.Name | |
| Physical_Cores = ($cpu | Measure-Object -Property NumberOfCores -Sum).Sum | |
| Logical_Processors = ($cpu | Measure-Object -Property NumberOfLogicalProcessors -Sum).Sum | |
| Total_RAM_GB = [math]::Round($ram.TotalPhysicalMemory / 1GB, 2) | |
| } | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 1 | |
| - name: Restore Taichi Kernel Cache | |
| if: always() | |
| uses: actions/cache/restore@v4 | |
| with: | |
| path: .cache | |
| key: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }} | |
| restore-keys: | | |
| ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}- | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| - name: Install system dependencies (Windows) | |
| if: startsWith(matrix.OS, 'windows-') | |
| shell: bash | |
| run: | | |
| curl -L -o mesa.7z https://github.com/pal1000/mesa-dist-win/releases/download/25.1.5/mesa3d-25.1.5-release-msvc.7z | |
| 7z x mesa.7z -omesa | |
| mv -v mesa/x64/* /C/Windows/System32/ | |
| - name: Install system dependencies (Linux) | |
| if: startsWith(matrix.OS, 'ubuntu-') | |
| run: | | |
| sudo apt-get update | |
| sudo apt install -y \ | |
| libgl1 \ | |
| libegl1 \ | |
| libglvnd-dev \ | |
| libglew-dev \ | |
| libegl-dev \ | |
| libx11-6 \ | |
| libxrender1 \ | |
| libglib2.0-0 \ | |
| libosmesa6-dev \ | |
| libglx-mesa0 \ | |
| libglu1-mesa \ | |
| libegl1-mesa-dev \ | |
| libgles2-mesa-dev | |
| - name: Install python dependencies | |
| run: | | |
| pip install --upgrade pip setuptools pkg-info wheel | |
| pip install torch | |
| - name: Black Format Check | |
| if: matrix.OS == 'ubuntu-22.04' && matrix.PYTHON_VERSION == '3.12' | |
| run: | | |
| pip install black | |
| black --line-length 120 --check . | |
| - name: Install Genesis | |
| run: | | |
| pip install -e '.[dev,render]' | |
| - name: Run unit tests | |
| run: | | |
| pytest -v --logical --forked -m required ./tests | |
| - name: Save Updated Taichi Kernel Cache | |
| if: always() | |
| uses: actions/cache/save@v4 | |
| with: | |
| path: .cache | |
| # Note that it is necessary to create a new archive systematically for now: | |
| # See: https://github.com/actions/cache/issues/1594 | |
| key: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ github.run_id }}-${{ github.run_attempt }} |