ci.yml

name: CI

# Pull-request gate that needs no simulator or GPU: lint at the pre-commit pin and the
# simulator-free test suite (`-k general`) on the supported CPython versions. Simulator-backed
# suites still run in the merge-queue workflow (premerge-ci.yml) on the GPU runner.

on:
  pull_request:
  push:
    branches: [main]
  workflow_dispatch:

concurrency:
  group: ci-${{ github.ref }}
  cancel-in-progress: true

jobs:
  lint:
    runs-on: ubuntu-latest
    timeout-minutes: 10
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: "3.11"
      - run: python -m pip install "ruff==0.14.5"  # keep equal to .pre-commit-config.yaml
      - run: python -m ruff check --output-format=github .
      - run: python -m ruff format --check .

  general:
    runs-on: ubuntu-latest
    timeout-minutes: 25
    strategy:
      fail-fast: false
      matrix:
        python-version: ["3.10", "3.11"]
    name: general (${{ matrix.python-version }})
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}
          cache: pip
          cache-dependency-path: pyproject.toml
      - name: Install (CPU torch first so pip cannot pick a CUDA wheel)
        run: |
          python -m pip install --upgrade pip
          python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cpu
          python -m pip install -e ".[dev,examples,mujoco]"  # examples: rootutils/tyro used by test modules; mujoco: module-level imports in general tests
      - name: Simulator-free test suite
        env:
          MUJOCO_GL: disable
        run: python -m pytest -k "general and not falls_back_to_private" -q -rs