planner.forward_kinematics and planner.forward_kinematics_to_link #917

	name: integration

	on:
	push:
	branches:
	- main
	- wip
	pull_request:

	jobs:
	build:
	name: ubuntu-py39-integration
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: '3.9'
	- name: Set up docker containers
	run: \|
	docker-compose -f "tests/integration_setup/docker-compose.yml" up -d --build
	docker ps -a
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	python -m pip install wheel
	- name: Install
	run: \|
	python -m pip install --no-cache-dir -r requirements-dev.txt
	- name: Run integration tests
	run: \|
	pytest --doctest-modules
	pytest docs
	- name: Tear down docker containers
	run: \|
	docker-compose -f "tests/integration_setup/docker-compose.yml" down

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