mujoco_warp/.github/workflows/ci.yml at main · google-deepmind/mujoco_warp · GitHub

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on:
  push:
    branches: [main]
  pull_request:
    branches: [main]
    types: [opened, reopened, synchronize, edited]

jobs:
  format:
    name: Ruff format
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: ["3.14"]

    steps:
      - uses: actions/checkout@v6
      - name: Install uv
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.27"
          python-version: ${{ matrix.python-version }}
      - name: Set up Python ${{ matrix.python-version }}
        run: uv python install
      - name: Format with Ruff
        run: |
          uvx ruff format --check .

  linter:
    name: Ruff linter
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: ["3.14"]

    steps:
      - uses: actions/checkout@v6
      - name: Install uv
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.27"
          python-version: ${{ matrix.python-version }}
      - name: Set up Python ${{ matrix.python-version }}
        run: uv python install
      - name: Lint with Ruff
        run: |
          uvx ruff check --output-format=github .

  pre-commit:
    name: Pre-commit checks
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - name: Install uv
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.27"
          python-version: "3.14"
      - name: Set up Python
        run: uv python install
      - name: Run pre-commit
        run: |
          uvx --with absl-py pre-commit run -a

  test:
    name: Test with ${{ matrix.dep-type }} dependencies (${{ matrix.python-version }})
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: ["3.10", "3.14"]
        dep-type: ["locked uv", stable]
    steps:
      - uses: actions/checkout@v6

      # Setup for locked uv dependencies
      - name: Install uv
        if: matrix.dep-type == 'locked uv'
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.27"
          python-version: ${{ matrix.python-version }}

      - name: Set up Python ${{ matrix.python-version }} (uv)
        if: matrix.dep-type == 'locked uv'
        run: uv python install

      # Setup for stable dependencies
      - name: Set up Python ${{ matrix.python-version }} (standard)
        if: matrix.dep-type == 'stable'
        uses: actions/setup-python@v6
        with:
          python-version: ${{ matrix.python-version }}

      # Common Cache step
      - name: Restore Warp kernel cache
        uses: actions/cache@v4
        with:
          path: ~/.cache/warp
          key: warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.dep-type }}-${{ hashFiles('uv.lock', 'mujoco_warp/**/*.py') }}
          restore-keys: |
            warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.dep-type }}-

      # Install for stable
      - name: Install stable dependencies
        if: matrix.dep-type == 'stable'
        run: |
          python -m pip install --upgrade pip
          python -m pip install pytest pytest-xdist
          python -m pip install .

      # Run tests for locked uv
      - name: Test with pytest (locked uv)
        if: matrix.dep-type == 'locked uv'
        run: |
          uv run --with pytest --with pytest-xdist pytest -n 2

      # Run tests for stable
      - name: Test with pytest (stable)
        if: matrix.dep-type == 'stable'
        run: |
          pytest -n 2

      # Extra step for stable
      - name: Out-of-bounds check for batched model fields
        if: matrix.dep-type == 'stable'
        run: |
          pytest mujoco_warp/_src/io_test.py  -k test_model_batched_fields --debug_mode

  kernel_analyzer:
    name: Kernel analyzer
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v6
        with:
          python-version: ${{ matrix.python-version }}
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install absl-py
      - name: Run kernel analyzer
        run: |
          python contrib/kernel_analyzer/kernel_analyzer/cli.py mujoco_warp/_src/*.py --output=github