From 72d91b028d46ac06d4c513ba7c0ad80db5a7baaf Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 27 Feb 2024 12:01:55 +0100
Subject: [PATCH 1/4] Add workflow_dispatch and schedule events to ci_cd
 workflow

---
 .github/workflows/ci_cd.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index ace19db5c..f172043c8 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -1,11 +1,17 @@
 name: Python CI/CD
 
 on:
+  workflow_dispatch:
   push:
   pull_request:
   release:
     types:
       - published
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
 
 jobs:
 

From 9b98ef1d0667022ac82b26cd6aaf2efa2ec3faf1 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 27 Feb 2024 12:50:44 +0100
Subject: [PATCH 2/4] Document installed packages in ci_cd workflow

---
 .github/workflows/ci_cd.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index f172043c8..ec4dbf118 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -89,6 +89,10 @@ jobs:
         shell: bash
         run: pip install "$(find dist/ -type f -name '*.whl')"
 
+      - name: Document installed pip packages
+        shell: bash
+        run: pip list --verbose
+      
       - name: Import the package
         run: python -c "import jaxsim"
 

From 345cc6ca075ed0f20cafd4f75fafb9b009e29d2f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Tue, 27 Feb 2024 16:28:46 +0100
Subject: [PATCH 3/4] Constraint jax to avoid 0.4.25

---
 setup.cfg | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/setup.cfg b/setup.cfg
index 32bc02968..7357fdeb9 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -53,8 +53,8 @@ package_dir =
 python_requires = >=3.11
 install_requires =
     coloredlogs
-    jax >= 0.4.13
-    jaxlib
+    jax >= 0.4.13,< 0.4.25
+    jaxlib >= 0.4.13,< 0.4.25
     jaxlie >= 1.3.0
     jax_dataclasses >= 1.4.0
     pptree

From c3d9e4026bec163eddbd4b3ced58c2b86fcdcd1e Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Tue, 27 Feb 2024 17:24:23 +0100
Subject: [PATCH 4/4] Revert "Run `pytest` in CI only in PRs that update either
 sources or tests (#80)"

This reverts commit 217f7434a5d97fc8872e3c993882c6f871348836.
---
 .github/workflows/ci_cd.yml | 21 ++-------------------
 1 file changed, 2 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index ec4dbf118..200fce627 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -99,32 +99,15 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            src: &src
-              - 'src/**'
-            tests: &tests
-              - 'tests/**'
-            src_and_tests:
-              - *src
-              - *tests
 
       - name: Install Gazebo Classic
-        if: |
-          contains(matrix.os, 'ubuntu') &&
-          (github.event_name != 'pull_request' ||
-           steps.changes.outputs.src_and_tests == 'true')
+        if: contains(matrix.os, 'ubuntu')
         run: |
           sudo apt-get update
           sudo apt-get install gazebo
 
       - name: Run the Python tests
-        if: |
-          contains(matrix.os, 'ubuntu') &&
-          (github.event_name != 'pull_request' ||
-           steps.changes.outputs.src_and_tests == 'true')
+        if: contains(matrix.os, 'ubuntu')
         run: pytest
         env:
           JAX_PLATFORM_NAME: cpu