Test

Extend support for body input components #121

	# Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

	name: Test

	on:
	pull_request:
	push:
	branches:
	- main
	workflow_dispatch:

	permissions:
	contents: read

	concurrency:
	group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha \|\| ''}}
	cancel-in-progress: true

	defaults:
	run:
	shell: bash

	jobs:
	test-export:
	name: Test Export Core Package
	runs-on: ubuntu-22.04
	timeout-minutes: 20
	steps:
	- name: Checkout
	uses: actions/checkout@v6

	- name: Setup pixi
	uses: prefix-dev/setup-pixi@v0.9.5
	with:
	pixi-version: v0.67.2
	frozen: true
	cache: false

	- name: Run Tests
	run: pixi run test-python-core --capture=no

	test-controller:
	name: Test Controller Environment
	runs-on: ubuntu-22.04
	timeout-minutes: 40
	steps:
	- name: Checkout
	uses: actions/checkout@v6

	- name: Setup pixi
	uses: prefix-dev/setup-pixi@v0.9.5
	with:
	pixi-version: v0.67.2
	frozen: true
	cache: false

	- name: Build Controller
	run: pixi run build-cpp

	- name: Run Controller Tests
	run: pixi run test-cpp

	pre-commit:
	name: Pre-commit Hooks
	runs-on: ubuntu-22.04
	timeout-minutes: 20
	steps:
	- name: Checkout
	uses: actions/checkout@v6

	- name: Setup pixi
	uses: prefix-dev/setup-pixi@v0.9.5
	with:
	pixi-version: v0.67.2
	frozen: true
	cache: false

	- name: Run pre-commit Hooks
	run: pixi run pre-commit-ci

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