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Add pixi support and migrate CI from conda to pixi
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‎.github/workflows/conda-forge-ci.yml‎

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name: C++ CI Workflow with conda-forge dependencies
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name: C++ CI Workflow with pixi dependencies
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on:
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workflow_dispatch:
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inputs:
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delete_pixi_lock:
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description: 'If true, delete pixi.lock, to test against the latest version of dependencies.'
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required: true
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default: 'false'
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push:
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branches:
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- master
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# Execute a "nightly" build at 2 AM UTC
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- cron: '0 2 * * *'
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# Workaround for https://github.com/conda-forge/mumps-feedstock/issues/125
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# and https://github.com/conda-forge/mumps-feedstock/pull/126#issuecomment-2355357834
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env:
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OMP_NUM_THREADS: 1
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jobs:
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build:
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name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
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name: '[${{ matrix.os }}@pixi]'
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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build_type: [Release]
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os: [ubuntu-latest, windows-2022, macos-latest]
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os: [ubuntu-latest, windows-latest, macos-latest]
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fail-fast: false
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steps:
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- uses: actions/checkout@v4
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- uses: conda-incubator/setup-miniconda@v3
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with:
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miniforge-variant: Miniforge3
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miniforge-version: latest
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channels: conda-forge,robostack-jazzy
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channel-priority: true
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conda-remove-defaults: true
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- name: Dependencies
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shell: bash -l {0}
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run: |
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# Dependencies
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# ros2-distro-mutex=0.13.* is a workaround for https://github.com/gbionics/bipedal-locomotion-framework/pull/1013#issuecomment-3932062597
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conda install cmake compilers make ninja pkg-config \
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"idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
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liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad "spdlog>=1.15.1" \
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nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
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tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" libtrintrin \
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ros2-distro-mutex=0.13.* ros-jazzy-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2
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- name: Linux-only Dependencies [Linux]
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if: contains(matrix.os, 'ubuntu')
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shell: bash -l {0}
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run: |
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conda install manifpy libgl-devel
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- name: Windows-only Dependencies [Windows]
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if: contains(matrix.os, 'windows')
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shell: bash -l {0}
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run: |
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# pybind11 constrained as workaround for https://github.com/conda-forge/pybind11-feedstock/issues/95
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conda install vs2022_win-64 "pybind11<2.12.0"
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- name: Windows-workarounds [Windows]
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if: contains(matrix.os, 'windows')
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shell: cmd /C CALL {0}
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run: |
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:: We delete all the Python executables installed by GitHub Actions as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/910#issuecomment-2589862552
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:: once that is not necessary anymore, remove this
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rmdir /s /q C:\hostedtoolcache\windows\Python
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- uses: actions/checkout@v6
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- name: Print used environment
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shell: bash -l {0}
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# On periodic jobs and when delete_pixi_lock option is true, delete the pixi.lock to check that the project compiles with latest version of dependencies
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- name: Delete pixi.lock on scheduled jobs or if delete_pixi_lock is true
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if: github.event_name == 'schedule' || (github.event_name == 'workflow_dispatch' && github.event.inputs.delete_pixi_lock == 'true')
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shell: bash
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run: |
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conda list
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env
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rm pixi.lock
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- name: Configure [Linux&macOS]
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if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
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shell: bash -l {0}
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run: |
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mkdir -p build
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cd build
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cmake -GNinja -DBUILD_TESTING:BOOL=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
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-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
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- name: Set up pixi
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uses: prefix-dev/setup-pixi@v0.9.4
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- name: Build [Linux&macOS]
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if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
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shell: bash -l {0}
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run: |
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cd build
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cmake --build . --config ${{ matrix.build_type }}
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- uses: hendrikmuhs/ccache-action@v1.2
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- name: Test [Linux&macOS]
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if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
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shell: bash -l {0}
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- name: Print pixi info
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run: |
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cd build
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ctest --output-on-failure -C ${{ matrix.build_type }}
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pixi info
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- name: Install and test installed package [Linux&macOS]
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if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
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shell: bash -l {0}
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run: |
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cd build
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cmake --install . --config ${{ matrix.build_type }}
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cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework
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- name: Configure
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run: pixi run configure
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- name: Configure [Windows]
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if: contains(matrix.os, 'windows')
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shell: cmd /C call {0}
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run: |
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mkdir -p build
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cd build
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cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
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- name: Build
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run: pixi run build
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- name: Build [Windows]
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if: contains(matrix.os, 'windows')
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shell: cmd /C call {0}
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run: |
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cd build
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cmake --build . --config ${{ matrix.build_type }}
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- name: Test [Windows]
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if: contains(matrix.os, 'windows')
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shell: cmd /C call {0}
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run: |
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cd build
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:: Python as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/issues/992
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ctest --output-on-failure -C ${{ matrix.build_type }} -E "Python"
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- name: Test
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run: pixi run test
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- name: Install and test installed package [Windows]
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if: contains(matrix.os, 'windows')
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shell: cmd /C call {0}
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run: |
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cd build
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cmake --install . --config ${{ matrix.build_type }}
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cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework
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- name: Install and test installed package
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run: pixi run cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework

‎.github/workflows/update-pixi-lockfile.yml‎

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name: "Update pixi lockfile"
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permissions:
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contents: write
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pull-requests: write
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on:
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workflow_dispatch:
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schedule:
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- cron: '0 5 1 */3 *'
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jobs:
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pixi-update:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v6
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- name: Set up pixi
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uses: prefix-dev/setup-pixi@v0.9.4
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with:
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run-install: false
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- name: Install pixi-diff-to-markdown
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run: pixi global install pixi-diff-to-markdown
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- name: Update lockfile
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run: |
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set -o pipefail
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pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
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- name: Create pull request
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uses: peter-evans/create-pull-request@v6
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with:
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token: ${{ secrets.GITHUB_TOKEN }}
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commit-message: Update pixi lockfile
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title: Update pixi lockfile
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body-path: diff.md
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branch: update-pixi
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base: master
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delete-branch: true
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add-paths: pixi.lock

‎.gitignore‎

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# build folders
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build*
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.build*
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# emacs
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*~

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