CI-iRonCub-models.yml

name: Debug iRonCub Models

on:
  push:
  pull_request:
  schedule:
    - cron: '0 3 * * 1'

jobs:

  build:
    name: 'iRonCub Model Build'
    runs-on: ubuntu-latest

    steps:
    - name: Install git
      shell: bash -l {0}
      run: |
        sudo apt-get update
        sudo apt-get install -y git
        
    - uses: actions/checkout@v3    
    - uses: conda-incubator/setup-miniconda@v2
      with:
        miniforge-variant: Mambaforge
        miniforge-version: latest
        channels: conda-forge,robotology
        channel-priority: true
        environment-file: environment.yml

    - name: Conda status
      shell: bash -l {0}
      run: |
        conda info
        conda list
        conda config --show-sources
        conda config --show
        printenv | sort

    - name: Setup git
      shell: bash -l {0}
      run: |
        git config --global --add safe.directory /__w/component_ironcub/component_ironcub
        git config --global user.name "GitHub Actions"
        git config --global user.email "actions@github.com"
        git status

    - name: Build models
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake .. -DENABLE_MK1_MODEL_GENERATION=ON -DENABLE_MK1_1_MODEL_GENERATION=ON
        make

    - name: Compare URDFs
      shell: bash -l {0}
      if: github.event_name != 'pull_request'
      run: |
        git status
        if git diff-index --quiet HEAD; then
            echo $'\nThe generated URDFs are equal\n'
         else
            echo "::warning::The generated URDFs are different"
            git diff
         fi

    - name: Print robot mass
      shell: bash -l {0}
      run: |
        find models -name "model.urdf" | while read -r URDF_FILE; do
          echo ""
          echo "Processing: $URDF_FILE"
          idyntree-model-info -m "$URDF_FILE" --total-mass
        done

    - name: Push URDFs
      shell: bash -l {0}
      if: github.event_name == 'push' &&  github.ref != 'refs/heads/master' && contains(github.event.head_commit.message, '[urdf]')
      run: |
        cd models
        git status
        git add *.urdf
        git pull
        if git diff-index --quiet HEAD; then
            echo "No URDF uploaded"
         else
            echo "New URDF uploaded"
            # create commit message
            git_hash=$(git rev-parse --short "$GITHUB_SHA")
            echo "Automatic build of iRonCub_Model.urdf - Triggered by ${git_hash}" >> ${GITHUB_WORKSPACE}/deploy_commit_message
            git commit -a -F ${GITHUB_WORKSPACE}/deploy_commit_message
            git push
         fi