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Browse Source 
Upstream: https://github.com/michaelgillett/mjlab
Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047
Upstream-Branch: main
This commit is contained in:
Upstream Snapshot
2026-08-28 15:42:17 +08:00
commit 32a241c28f
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.github/workflows/ci.yml
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name: tests
on:
push:
branches: [main]
paths-ignore:
- '**.md'
- '**.rst'
- 'docs/**'
- 'Makefile'
- 'LICENSE'
- 'scripts/benchmarks/**'
pull_request:
branches: [main]
paths-ignore:
- '**.md'
- '**.rst'
- 'docs/**'
- 'Makefile'
- 'LICENSE'
- 'scripts/benchmarks/**'
env:
UV_FROZEN: "1"
jobs:
lint-format:
runs-on: ubuntu-latest
steps:
- name: Checkout repository
uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
enable-cache: true
version: "0.12.1"
- name: Run lint
run: uvx ruff@0.16.1 check --diff
- name: Run format
run: uvx ruff@0.16.1 format --diff
tests:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
python-version: ["3.10", "3.11", "3.12", "3.13"]
resolution: ["locked"]
# Also test against a fresh resolve of the latest compatible
# dependencies so a new upstream release breaks a PR instead of a
# release.
include:
- python-version: "3.13"
resolution: "unlocked"
steps:
- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
python-version: ${{ matrix.python-version }}
enable-cache: true
version: "0.12.1"
- name: Restore Warp kernel cache
uses: actions/cache@55cc8345863c7cc4c66a329aec7e433d2d1c52a9 # v6.1.0
with:
path: ~/.cache/warp
key: warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.resolution }}-${{ hashFiles('uv.lock', 'mjlab/**/*.py') }}
restore-keys: |
warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.resolution }}-
- name: Test with python ${{ matrix.python-version }} (locked deps)
if: matrix.resolution == 'locked'
run: uv run --extra cpu pytest
- name: Test with python ${{ matrix.python-version }} (latest deps)
if: matrix.resolution == 'unlocked'
env:
UV_FROZEN: "0"
run: uv run --extra cpu --upgrade pytest
pyright:
runs-on: ubuntu-latest
strategy:
matrix:
python-version: ["3.10", "3.11", "3.12", "3.13"]
steps:
- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
python-version: ${{ matrix.python-version }}
enable-cache: true
version: "0.12.1"
- name: Test with python ${{ matrix.python-version }}
run: uv run --extra cpu pyright
ty-check:
runs-on: ubuntu-latest
strategy:
matrix:
python-version: ["3.10", "3.11", "3.12", "3.13"]
steps:
- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
python-version: ${{ matrix.python-version }}
enable-cache: true
version: "0.12.1"
- name: Type check with python ${{ matrix.python-version }}
run: uv run --extra cpu ty check
stubs:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
enable-cache: true
version: "0.12.1"
- name: Sync environment
run: uv sync --extra cpu
- name: Regenerate MuJoCo stubs
run: bash typings/generate_mujoco_stubs.sh
- name: Verify stubs are up to date
run: |
if ! git diff --exit-code typings/mujoco; then
echo "::error::MuJoCo type stubs are out of date. Run 'make stubs' and commit the result."
exit 1
fi
# Mirrors the release smoke test: build the artifacts and import mjlab from an
# isolated, freshly resolved install, so packaging and clean-install issues
# surface on the PR instead of at publish time.
smoke-test:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
- name: Setup uv
uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
with:
enable-cache: true
version: "0.12.1"
- name: Install Python 3.13
run: uv python install 3.13
- name: Build
run: uv build
# MUJOCO_GL=disable so `import mujoco` skips its GL backend import; the
# runner has no GL libraries and the smoke test does not render.
- name: Smoke test (wheel)
run: uv run --isolated --no-project --with dist/*.whl tests/smoke_test.py
env:
MUJOCO_GL: disable
- name: Smoke test (source distribution)
run: uv run --isolated --no-project --with dist/*.tar.gz tests/smoke_test.py
env:
MUJOCO_GL: disable