Enhance Pink IK controller with null-space posture control and improv… #360
Workflow file for this run
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | |
| # All rights reserved. | |
| # | |
| # SPDX-License-Identifier: BSD-3-Clause | |
| name: Check Python Dependency Licenses | |
| on: | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| license-check: | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v3 | |
| # - name: Install jq | |
| # run: sudo apt-get update && sudo apt-get install -y jq | |
| - name: Set up Python | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' # Adjust as needed | |
| - name: Install dependencies using ./isaaclab.sh -i | |
| run: | | |
| # first install isaac sim | |
| pip install --upgrade pip | |
| pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com | |
| chmod +x ./isaaclab.sh # Make sure the script is executable | |
| # install all lab dependencies | |
| ./isaaclab.sh -i | |
| - name: Install pip-licenses | |
| run: | | |
| pip install pip-licenses | |
| pip install -r tools/template/requirements.txt | |
| pip install -r docs/requirements.txt | |
| # Optional: Print the license report for visibility | |
| - name: Print License Report | |
| run: pip-licenses --from=mixed --format=markdown | |
| - name: Check licenses against whitelist and exceptions | |
| run: | | |
| # Define the whitelist of allowed licenses | |
| ALLOWED_LICENSES="MIT Apache BSD ISC zlib" | |
| # Load the exceptions list from the exceptions.json file | |
| EXCEPTIONS_FILE=".github/workflows/license-exceptions.json" | |
| # Initialize counter for failed packages | |
| FAILED_PACKAGES=0 | |
| # Get the list of installed packages and their licenses | |
| pip-licenses --from=mixed --format=json > licenses.json | |
| # Check the output of pip-licenses to ensure it is valid JSON | |
| if ! jq empty licenses.json; then | |
| echo "ERROR: Failed to parse pip-licenses output. Exiting..." | |
| exit 1 | |
| fi | |
| # Split ALLOWED_LICENSES into individual words | |
| IFS=' ' read -r -a allowed_licenses <<< "$ALLOWED_LICENSES" | |
| # Loop through the installed packages and their licenses | |
| for pkg in $(jq -r '.[].Name' licenses.json); do | |
| LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json) | |
| # Check if any of the allowed licenses are a substring of the package's license | |
| match_found=false | |
| for allowed_license in "${allowed_licenses[@]}"; do | |
| if [[ "$LICENSE" == *"$allowed_license"* ]]; then | |
| match_found=true | |
| break | |
| fi | |
| done | |
| if [ "$match_found" = false ]; then | |
| # Check if the package is in the exceptions list | |
| EXCEPTION=$(jq -r --arg pkg "$pkg" --arg license "$LICENSE" \ | |
| '.[] | select(.package == $pkg)' "$EXCEPTIONS_FILE") | |
| # If the package is in the exceptions list | |
| if [ -n "$EXCEPTION" ]; then | |
| # If the license is provided in the exceptions list, check the license | |
| EXCEPTION_LICENSE=$(echo "$EXCEPTION" | jq -r '.license') | |
| # echo "Comparing licenses for $pkg:" | |
| # echo " EXCEPTION_LICENSE='${EXCEPTION_LICENSE}' (len=${#EXCEPTION_LICENSE})" | |
| # echo " LICENSE='${LICENSE}' (len=${#LICENSE})" | |
| # If the exceptions list has a license and doesn't match the current license | |
| if [ "$EXCEPTION_LICENSE" != "null" ] && [ "$EXCEPTION_LICENSE" != "$LICENSE" ]; then | |
| echo "ERROR: $pkg has license: $LICENSE" | |
| FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter | |
| fi | |
| else | |
| # If the package is not in the exceptions list | |
| echo "ERROR: $pkg has license: $LICENSE" | |
| FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter | |
| fi | |
| fi | |
| done | |
| # After all packages are processed, check if there were any errors | |
| if [ "$FAILED_PACKAGES" -gt 0 ]; then | |
| echo "ERROR: $FAILED_PACKAGES packages were flagged." | |
| exit 1 # Fail the build | |
| else | |
| echo "All packages were checked." | |
| fi | |
| # Print pipdeptree | |
| - name: Print pipdeptree | |
| run: | | |
| pip install pipdeptree | |
| pipdeptree |