Computes Jacobian in the root frame inside the DifferentialInverseKinematicsAction class
#1819
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| name: Build & deploy docs | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| check-secrets: | |
| name: Check secrets | |
| runs-on: ubuntu-latest | |
| outputs: | |
| trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }} | |
| steps: | |
| - id: trigger-deploy | |
| env: | |
| REPO_NAME: ${{ secrets.REPO_NAME }} | |
| BRANCH_REF: ${{ secrets.BRANCH_REF }} | |
| if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}" | |
| run: echo "defined=true" >> "$GITHUB_OUTPUT" | |
| build-docs: | |
| name: Build Docs | |
| runs-on: ubuntu-latest | |
| needs: [check-secrets] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v2 | |
| - name: Setup python | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: "3.10" | |
| architecture: x64 | |
| - name: Install dev requirements | |
| working-directory: ./docs | |
| run: pip install -r requirements.txt | |
| - name: Check branch docs building | |
| working-directory: ./docs | |
| if: needs.check-secrets.outputs.trigger-deploy != 'true' | |
| run: make current-docs | |
| - name: Generate multi-version docs | |
| working-directory: ./docs | |
| run: | | |
| git fetch --prune --unshallow --tags | |
| make multi-docs | |
| - name: Upload docs artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: docs-html | |
| path: ./docs/_build | |
| deploy-docs: | |
| name: Deploy Docs | |
| runs-on: ubuntu-latest | |
| needs: [check-secrets, build-docs] | |
| if: needs.check-secrets.outputs.trigger-deploy == 'true' | |
| steps: | |
| - name: Download docs artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: docs-html | |
| path: ./docs/_build | |
| - name: Deploy to gh-pages | |
| uses: peaceiris/actions-gh-pages@v3 | |
| with: | |
| github_token: ${{ secrets.GITHUB_TOKEN }} | |
| publish_dir: ./docs/_build |