CICD: Use conda in unit tests and remove tox configuration

Author: stephane-caron

.github/workflows/ci.yml

@@ -90,7 +90,7 @@ jobs:
               run: |
                   black --check --diff pink
                   mypy pink --ignore-missing-imports
-                  pylint pink --exit-zero --rcfile={toxinidir}/tox.ini
+                  pylint pink --exit-zero --rcfile=pyproject.toml
                   ruff check pink
                   ruff format --check pink
 
@@ -105,26 +105,32 @@ jobs:
                 # os: [ubuntu-latest, macos-latest]
                 python-version: ["3.9", "3.10", "3.11", "3.12"]
 
+        defaults:
+            run:
+                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
+                shell: bash -leo pipefail {0}
+
         steps:
             - name: "Checkout sources"
               uses: actions/checkout@v4
 
-            - name: "Set up Python ${{ matrix.python-version }}"
-              uses: actions/setup-python@v4
+            - name: "Install Conda environment with Micromamba"
+              uses: mamba-org/setup-micromamba@v1
               with:
-                  python-version: "${{ matrix.python-version }}"
-
-            - name: "Install dependencies"
-              run: |
-                  python -m pip install --upgrade pip
-                  # tox version: https://github.com/tox-dev/tox/issues/2778
-                  python -m pip install tox==3.28.0 tox-gh-actions
+                  micromamba-version: '1.5.8-0'
+                  environment-name: coverage
+                  create-args: >-
+                      python={{ matrix.python-version }}
+                      pinocchio>=2.6.4
+                      qpsolvers>=2.7.2
+                      quadprog>=0.1.11
+                      robot_descriptions>=1.9.0
+                  cache-environment: true
+                  post-cleanup: 'all'
 
-            - name: "Test with tox for ${{ matrix.os }}"
+            - name: "Run unit tests with Python {{ matrix.python-version }} on ${{ matrix.os }}"
               run: |
-                  tox
-              env:
-                  PLATFORM: ${{ matrix.os }}
+                  python -m unittest discover --failfast
 
     ci_success:
         name: "CI success"

pyproject.toml

@@ -44,6 +44,23 @@ Changelog = "https://github.com/stephane-caron/pink/blob/main/CHANGELOG.md"
 [tool.black]
 line-length = 79
 
+[tool.pylint]
+disable = ["C0103", "E1130", "import-error"]
+generated-members = [
+    "pin.Data",
+    "pin.JointModelFreeFlyer",
+    "pin.Model",
+    "pin.ReferenceFrame",
+    "pin.SE3",
+    "pin.computeJointJacobians",
+    "pin.difference",
+    "pin.getFrameJacobian",
+    "pin.integrate",
+    "pin.neutral",
+    "pin.updateFramePlacements",
+    "pin.Jlog6"
+]
+
 [tool.flit.module]
 name = "pink"