SofaRobotics.CI

Scripts and GitHub actions to package SOFA for Compliance Robotics.

Specificities:

• Bundled Python
• Compliance Robotics GUI

Action Usage

Warning

Avoid using this action if you just want the default SOFA Robotics binaries you can download from the release page of SofaRobotics.CI/release. Binaries are generated weekly on Sundays. Also avoid using it in a scheduled job.

• This action builds SOFA from source to allow for custom plugin and dependencies.
• Build SOFA-Robotics binaries for Linux, Windows and MacOS.
• By default, it builds the latest:
  • SOFA from master branch,
  • SoftRobots,
  • SoftRobots.Inverse,
  • STLIB,
  • SofaPython3,
  • BeamAdapter,
  • Cosserat, and
  • Compliance Robotics SofaGLFW/robotics plugins
• It then uploads the binaries as artifacts to the workflow run.
• To retrieve the artifacts, go to the workflow run and download them from the "Artifacts" section. Or from within your action, use the actions/download-artifact action.

Inputs

- uses: SofaComplianceRobotics/SofaRobotics.CI@main
  with:
    # [Required] Operating system to build for (ubuntu-22.04, windows-2025, macos-14)
    os:

    # [Optional] SOFA branch or commit to build
    # Default is 'master'
    sofa_target:

    # [Optional] Plugins repository to add (custom link, branch, commit). Specified as JSON with repo url as key and branch as value. Example: {"https://github.com/SofaComplianceRobotics/SofaPython3.git": "master", "my/repo/path.git": "my-branch"}
    # Default is {"https://github.com/sofa-framework/BeamAdapter.git": "master",
    #    "https://github.com/SofaComplianceRobotics/SofaPython3.git": "pr_bundlepython",
    #    "https://github.com/SofaDefrost/SoftRobots.git": "master",
    #    "https://github.com/SofaDefrost/SoftRobots.Inverse.git": "main",
    #    "https://github.com/SofaDefrost/Cosserat.git": "master",
    #    "https://github.com/SofaDefrost/STLIB.git": "master",
    #    "https://github.com/SofaComplianceRobotics/SofaGLFW.git": "robotics"
    #    }
    plugins_repos:

    # [Optional] Python version to use (in: 3.10.21, 3.11.16, 3.12.14, 3.13.15, 3.14.7, 3.15.0)
    # Default is '3.14.7'
    python_version:

    # [Optional] URL or path to requirements.txt file for Python dependencies
    # Default is empty
    requirements_file:

    # [Optional] The SOFA version in the binaries filename. If empty, it will take the value of the sofa_target input.
    # Default is empty
    sofa_version: