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TimSchneider42TimSchneider42
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Utilizing docker scripts in github workflows
1 parent c3e66e7 commit 06fafd4

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+28
-137
lines changed

‎.github/workflows/build_and_test.yml

+6-35
Original file line numberDiff line numberDiff line change
@@ -20,43 +20,14 @@ jobs:
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- name: Install apt dependencies
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run: |
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sudo apt-get update
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sudo apt-get -y install build-essential cmake git libpoco-dev catch2 python3-dev
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sudo apt-get -y install build-essential cmake git libpoco-dev python3-dev
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- name: Install Eigen3
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- name: Install other dependencies
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run: |
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git clone https://gitlab.com/libeigen/eigen.git
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cd eigen
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git checkout 3.4.0
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mkdir build && cd build
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cmake ..
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sudo make install
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- name: Install libfranka
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run: |
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git clone --recursive https://github.com/frankaemika/libfranka.git
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cd libfranka
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git checkout ${{ inputs.libfranka-version }}
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# Cherry-pick missing imports commit
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git config user.email "john.doe@example.com"
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git config user.name "John Doe"
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if ! git merge-base --is-ancestor f1f46fb HEAD; then git cherry-pick -m 1 f1f46fb; fi
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git submodule update
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mkdir build && cd build
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cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
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make -j2
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sudo make install
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- name: Install pybind11
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run: |
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git clone https://github.com/pybind/pybind11.git
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cd pybind11
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git checkout v2.9.1
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mkdir build && cd build
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cmake -DPYBIND11_TEST=OFF ..
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make -j2
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sudo make install
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set -a
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. ./dependency_versions
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set +a
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./docker/common/install-dependencies
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- name: Configure & make
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run: |

‎.github/workflows/build_wheels.yml

+8-97
Original file line numberDiff line numberDiff line change
@@ -23,110 +23,21 @@ jobs:
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with:
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submodules: recursive
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- name: Log Python versions
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- name: Setting up pip
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run: |
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echo "Found the following Python versions:"
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for PYBIN in /opt/python/*/bin; do
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if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
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echo "${PYBIN}" | cut -d / -f 4
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fi
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done
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./docker/common/manylinux-setup-pip
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- name: Install build essentials
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- name: Install dependencies
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run: |
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yum -y install poco-devel*
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for PYBIN in /opt/python/*/bin; do
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if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
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"${PYBIN}/pip" install cmake setuptools wheel --user
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fi
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done
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ln -f -s $HOME/.local/bin/cmake /usr/bin/cmake
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- name: Install Eigen3
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run: |
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git clone https://gitlab.com/libeigen/eigen.git
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cd eigen
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git checkout 3.4.0
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mkdir build && cd build
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cmake ..
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make install -j2
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- name: Install pybind11
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run: |
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git clone https://github.com/pybind/pybind11.git
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cd pybind11
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git checkout v2.11.1
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mkdir build && cd build
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cmake -DPYBIND11_TEST=OFF ..
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make -j2
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make install
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- name: Install Catch2
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run: |
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git clone https://github.com/catchorg/Catch2.git
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cd Catch2
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git checkout v2.13.8
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mkdir build && cd build
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cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF ..
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make install
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- name: Install libfranka
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run: |
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git clone --recursive https://github.com/frankaemika/libfranka.git
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cd libfranka
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git checkout ${{ inputs.libfranka-version }}
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# Cherry-pick missing imports commit
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git config user.email "john.doe@example.com"
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git config user.name "John Doe"
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if ! git merge-base --is-ancestor f1f46fb HEAD; then git cherry-pick -m 1 f1f46fb; fi
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git submodule update
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mkdir build && cd build
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cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
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make -j2
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make install
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set -a
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. ./dependency_versions
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set +a
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./docker/common/install-dependencies
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- name: Python package
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run: |
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yum -y install zip
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mkdir -p wheels
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mkdir -p dist
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mkdir -p dist_full
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# Compile wheels
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for PYBIN in /opt/python/*/bin; do
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if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
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"${PYBIN}/pip" wheel . -w wheels/
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fi
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done
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# Bundle external shared libraries into the wheels
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for whl in wheels/*.whl; do
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if [[ "$whl" =~ wheels/franky_panda-.*\.whl ]]; then
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auditwheel repair "$whl" -w dist_full/
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else
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cp "$whl" dist_full/
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fi
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done
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# Install packages and test
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for PYBIN in /opt/python/*/bin/; do
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if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
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"${PYBIN}/pip" install franky-panda --no-index -f dist_full
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# (cd "$HOME"; "${PYBIN}/nosetests" -w /io/tests)
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fi
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done
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cp dist_full/franky_panda-*.whl dist/
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ls dist
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mkdir -p output
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libfranka_version=${{ inputs.libfranka-version }}
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zip -r "output/libfranka_${libfranka_version//./-}_wheels.zip" dist/
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./docker/common/manylinux-build-wheels
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- name: Upload wheels
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uses: actions/upload-artifact@v3

‎docker/build/Dockerfile

+3-1
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,8 @@ RUN set -a && . /tmp/dependency_versions && set +a \
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&& /tmp/common/install-dependencies
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ARG PYBIN_SUPPORTED_VERSIONS="cp3(7m|8|9|10|11|12)"
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# Preserve argument for runtime
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ENV PYBIN_SUPPORTED_VERSIONS=${PYBIN_SUPPORTED_VERSIONS}
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RUN /tmp/common/manylinux-setup-pip
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# Set working directory
@@ -19,7 +21,7 @@ RUN mkdir -p /build
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VOLUME /code
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VOLUME /build
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WORKDIR /build
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ADD docker/build/build-wheels /usr/bin/
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ADD docker/common/manylinux-build-wheels /usr/bin/build-wheels
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ADD docker/build/run-tests /usr/bin/
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# Cleaning up

‎docker/common/install-catch2

+1-1
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ git checkout "v${CATCH2_VERSION}"
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mkdir build
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cd build
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cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF ..
12-
make install
12+
sudo make install || make install
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cd /
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rm -rf "${TMP_DIR}"
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echo "Catch2 installed successfully"

‎docker/common/install-eigen

+1-1
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ git checkout "${EIGEN_VERSION}"
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mkdir build
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cd build
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cmake ..
12-
make install
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sudo make install || make install
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cd /
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rm -rf "${TMP_DIR}"
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echo "Eigen installed successfully"

‎docker/common/install-libfranka

+1-1
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ mkdir build
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cd build
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cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
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make -j "$(nproc)"
22-
make install
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sudo make install || make install
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2424
cd /
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rm -rf "${TMP_DIR}"

‎docker/common/install-pybind11

+1-1
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ mkdir build
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cd build
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cmake -DPYBIND11_TEST=OFF ..
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make -j "$(nproc)"
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make install
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sudo make install || make install
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cd /
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rm -rf "${TMP_DIR}"
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echo "pybind11 installed successfully"

‎docker/build/build-wheels ‎docker/common/manylinux-build-wheels

File renamed without changes.

‎docker/common/manylinux-setup-pip

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@@ -1,6 +1,13 @@
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#!/bin/bash
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set -e
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4+
echo "Found the following Python versions:"
5+
for PYBIN in /opt/python/*/bin; do
6+
if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
7+
echo "${PYBIN}" | cut -d / -f 4
8+
fi
9+
done
10+
411
echo "Setting up pip..."
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for PYBIN in /opt/python/*/bin; do
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if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then

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