Add CI and a single test command

.github/workflows/ci.yml

@@ -0,0 +1,62 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+concurrency:
+  group: ci-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  viewer:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: oven-sh/setup-bun@v2
+        with:
+          bun-version: 1.2.21
+      - uses: actions/setup-node@v4
+        with:
+          node-version: 24
+      - uses: astral-sh/setup-uv@v6
+      - run: bun install --frozen-lockfile
+      - run: bunx --bun tsc --noEmit
+      - run: bun run format:check
+      - run: bun run test
+
+  site:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: site
+    steps:
+      - uses: actions/checkout@v4
+      - uses: oven-sh/setup-bun@v2
+        with:
+          bun-version: 1.2.21
+      - run: bun install --frozen-lockfile
+      - run: bunx --bun tsc --noEmit
+      - run: bun run format:check
+
+  admin:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: admin
+    steps:
+      - uses: actions/checkout@v4
+      - uses: oven-sh/setup-bun@v2
+        with:
+          bun-version: 1.2.21
+      - run: bun install --frozen-lockfile
+      - run: bunx --bun tsc --noEmit
+
+  python:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v6
+      - run: uv run --locked --only-group dev ruff check scripts worker orchestrator
+      - run: uv lock --check

docs/DEVELOPING.md

@@ -206,18 +206,18 @@ and recovery without duplicate Marble generations.
 ```sh
 bun run build
 bun run format:check
-bun run test:shared-assets
-bun run test:pull-assets
-bun run test:publish-hook
-bun run test:marble
-bun run test:audio
+bun run lint:python
+bun run test
+```
+
+CI (`.github/workflows/ci.yml`) runs these, plus type checks in `site/` and `admin/`, on every
+pull request. `bun run test` covers every unit test that needs no browser or server. The browser
+checks need Chrome and a running server:
+
+```sh
 bun run test:audio-browser
-bun run test:audio-package
-bun run test:person-motion
-bun run test:static-colliders
-bun run test:walk-collision
 bun run test:walk-clearance-browser
-bun run test:xr-turning
+bun run test:xr-browser
 ```
 
 Python checks and formatting need `uv`; viewer-only use needs just Bun.

orchestrator/cli.py

@@ -15,7 +15,6 @@
 import argparse
 import json
 import os
-import shlex
 import subprocess
 import sys
 import time

orchestrator/supervisor.py

@@ -13,7 +13,6 @@
 
 import argparse
 import os
-import sys
 import time
 from pathlib import Path
 

package.json

@@ -11,6 +11,10 @@
     "prepare:worlds": "bun scripts/prepare-worlds.ts",
     "runs:publish": "node scripts/publish-runs.ts",
     "assets:pull": "bun scripts/pull-assets.ts",
+    "test": "bun run test:unit && bun run test:node",
+    "test:unit": "bun test ./scripts/test-admin-blocks.ts ./scripts/test-bottle-agent-client.ts ./scripts/test-bottle-agent.ts ./scripts/test-bottle-floor.ts ./scripts/test-bottle-physics.ts ./scripts/test-bottle-scene.ts ./scripts/test-bottle-visual.ts ./scripts/test-fourd-audio.ts ./scripts/test-gaussian-ply.ts ./scripts/test-interaction-approach.ts ./scripts/test-object-track.ts ./scripts/test-person-motion-roundtrip.ts ./scripts/test-person-motion.ts ./scripts/test-person-size.ts ./scripts/test-person-stance.ts ./scripts/test-person-visibility.ts ./scripts/test-playback-time.ts ./scripts/test-prepared-world-server.ts ./scripts/test-prepared-world.ts ./scripts/test-pull-assets.ts ./scripts/test-quest-view.ts ./scripts/test-recorded-object.ts ./scripts/test-scene-config.ts ./scripts/test-scene-session.js ./scripts/test-shared-assets.ts ./scripts/test-static-colliders.ts ./scripts/test-walk-collision.ts ./scripts/test-xr-animation-cadence.ts ./scripts/test-xr-body-geometry.ts ./scripts/test-xr-body.ts ./scripts/test-xr-hands.ts ./scripts/test-xr-physical-walk.ts ./scripts/test-xr-render-policy.ts ./scripts/test-xr-replay-button.ts ./scripts/test-xr-scene-sidebar.ts ./scripts/test-xr-teleport.ts",
+    "test:node": "node --test scripts/test-publish-transport.ts scripts/test-publish-policy.ts",
+    "lint:python": "uv run --locked --only-group dev ruff check scripts worker orchestrator",
     "test:pull-assets": "bun test ./scripts/test-pull-assets.ts",
     "test:shared-assets": "bun test ./scripts/test-shared-assets.ts",
     "test:publish-transport": "node --test scripts/test-publish-transport.ts",
@@ -36,8 +40,8 @@
     "capture:audio": "bun scripts/capture-audio-demo.ts",
     "test:person-motion": "bun test ./scripts/test-person-motion.ts ./scripts/test-gaussian-ply.ts ./scripts/test-person-motion-roundtrip.ts ./scripts/test-person-stance.ts ./scripts/test-person-visibility.ts",
     "format": "bun run format:python && bun run format:web",
-    "format:check": "uv run --locked --group dev ruff format --check scripts worker && bunx --bun prettier --check \"src/**/*.{ts,js}\" \"scripts/**/*.{ts,js}\" \"server/**/*.ts\" \"*.html\" vite.config.ts package.json tsconfig.json",
-    "format:python": "uv run --locked --group dev ruff format scripts worker",
+    "format:check": "uv run --locked --only-group dev ruff format --check scripts worker orchestrator && bunx --bun prettier --check \"src/**/*.{ts,js}\" \"scripts/**/*.{ts,js}\" \"server/**/*.ts\" \"*.html\" vite.config.ts package.json tsconfig.json",
+    "format:python": "uv run --locked --only-group dev ruff format scripts worker orchestrator",
     "format:web": "bunx --bun prettier --write \"src/**/*.{ts,js}\" \"scripts/**/*.{ts,js}\" \"server/**/*.ts\" \"*.html\" vite.config.ts package.json tsconfig.json"
   },
   "dependencies": {

pyproject.toml

@@ -66,3 +66,7 @@ required-version = "==0.16.8"
 target-version = "py311"
 line-length = 100
 cache-dir = ".context/ruff-cache"
+
+[tool.ruff.lint]
+# Pyflakes and syntax errors only for now; widen once the backlog is cleared.
+select = ["E9", "F"]

scripts/anchor_checks.py

@@ -241,7 +241,6 @@ def check_obs_mask(clip: str, sidecar: Path | None, frames: int = 3) -> dict:
     `inMask` stayed at 0.99: on that clip the shadow really is re-observed. A clip where `inMask`
     stays near 1 AND the mask changes nothing is the one to distrust.
     """
-    import cv2
     import export_observation_confidence as eo
 
     wd = ROOT / "public" / "worlds" / WORLD_DIR.get(clip, f"{clip}-4d")

scripts/finetune_import.py

@@ -15,7 +15,7 @@
 import numpy as np
 
 sys.path.insert(0, str(Path(__file__).resolve().parent))
-from bake_video_colours import ROOT, SH_C0, SPZ_COLOR_SCALE, read_spz  # noqa: E402
+from bake_video_colours import ROOT, SPZ_COLOR_SCALE, read_spz  # noqa: E402
 from finetune_export import quat_mul, rotmat_to_quat_xyzw  # noqa: E402
 
 

scripts/frame_align.py

@@ -729,7 +729,7 @@ def scale_report(clip):
     Stature is the body's longest principal extent, which a rotation does not change, so the scale
     moves only because the camera ruler moved.
     """
-    from place_solve import world_splats, person_frames, fit_plane
+    from place_solve import world_splats, person_frames
 
     world, pi3x, spz, floor, preset_scale = CLIPS[clip]
     fa = json.load(open(ROOT / "public/worlds" / world / "framealign.json"))

scripts/motion_jitter.py

@@ -5,7 +5,7 @@
 splat i at frame t is the same body point: position differences are real motion.
 """
 
-import argparse, json, sys
+import argparse, json
 import numpy as np
 
 HDR_END = b"end_header\n"

scripts/package_multiperson.py

@@ -35,7 +35,6 @@
     orthonormal,
     quat_from_matrix,
     quat_mul,
-    transform_ply,
 )
 from sfm_frame import camera0_reframe, describe as describe_frame  # noqa: E402
 

scripts/place_solve.py

@@ -751,15 +751,15 @@ def main():
     tracks = load_tracks(cfg)
     print(f"[{a.clip}] {len(tracks)} track(s), world {cfg['world']}", flush=True)
 
-    feats, bodyH0, low0 = [], None, None
+    feats, low0 = [], None
     rng = np.random.default_rng(0)
     for tid, seq, tr, _man in tracks:
         fr = list(person_frames(seq))
         op0 = fr[0][0]
         ys = np.sort(op0[:, 1])
         l0 = float(ys[int(len(ys) * 0.01)])
         if low0 is None:
-            low0, bodyH0 = l0, float(fr[0][1][:, 1].max() - fr[0][1][:, 1].min())
+            low0 = l0
         feats.append([tid, fr, tr, l0, json.load(open(seq))])
         print(f"  {tid}: {len(fr)} frames, frame-0 low {l0:.4f}", flush=True)
 
@@ -803,7 +803,6 @@ def main():
             measure_pad(fr, scale, pos0 + tr, pad, mpu=mpu) for _t, fr, tr, _l, _s in feats
         ]
         normal = pad["n"]
-        probe_xyz = None
     else:
         probe = []
         for _t, fr, tr, _l, _s in feats:

scripts/prepare_lhm_person.py

@@ -20,7 +20,7 @@
 refused by the GPU.
 """
 
-import argparse, hashlib, json, os, subprocess, sys
+import argparse, hashlib, json, os, sys
 from pathlib import Path
 
 import cv2

scripts/run_clip.py

@@ -2504,8 +2504,8 @@ def summary(self, wall):
             if ps:
                 sc, res = ps["sizeCheck"], ps["residualCm"]
                 print(
-                    f"  place: add &place=1 for the per-sample solve "
-                    f"(contact residual "
+                    "  place: add &place=1 for the per-sample solve "
+                    "(contact residual "
                     + ", ".join(
                         f"{res['before'][k]['rms']:.1f}->{res['after'][k]['rms']:.1f}"
                         for k in res["before"]
@@ -2690,8 +2690,8 @@ def status(dep):
             return 1
         if gated:
             print(
-                f"\nSTOPPED AT THE CLEAN-REVIEW GATE before spending any credits. Look at the "
-                f"frames listed above, then re-run the same command with --gate-pass."
+                "\nSTOPPED AT THE CLEAN-REVIEW GATE before spending any credits. Look at the "
+                "frames listed above, then re-run the same command with --gate-pass."
             )
             return 2
         return 0

scripts/score_reference_frames.py

@@ -35,7 +35,7 @@
 detector substitutes for this: torchvision's keypoint R-CNN reads bedroom f198 at 0.999.
 """
 
-import argparse, json, sys
+import argparse, json
 from pathlib import Path
 
 import cv2

scripts/world_collision.py

@@ -16,7 +16,7 @@
   uv run --locked --group inference python scripts/world_collision.py --world elevator-4d --spz public/marble-elevator-clean.spz
 """
 
-import argparse, gzip, json, os, struct, sys
+import argparse, gzip, json, os, struct
 import numpy as np
 
 ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
@@ -367,8 +367,6 @@ def ransac_walls(P, n, d, max_walls, tol, min_inliers, iters, rng, floor_pts):
         bs = np.floor(s / 0.1).astype(np.int64)
         bh = np.floor(h / 0.1).astype(np.int64)
         occ = np.unique(bs * 100000 + bh)
-        ubs = np.unique(bs)
-        ubh = np.unique(bh)
         # a bin column counts only when it holds enough of the sheet, so a stray splat a metre
         # away does not stretch the extent
         cols = np.bincount(bs - bs.min())

scripts/world_ruler.py

@@ -53,7 +53,6 @@
 import json
 import os
 import struct
-import subprocess
 import sys
 from pathlib import Path
 
@@ -882,7 +881,6 @@ def person_masks_for(clip_name: str, ds_shape=None):
     tdirs = sorted((p.parent).glob("track_*"))
     src = {}
     for td in tdirs:
-        t = int(td.name.split("_")[1])
         for f in json.loads((td / "motion.json").read_text())["frames"]:
             src.setdefault(f["sample"], f["sourceIndex"])
     out = {}

worker/stages/dense_pi3x.py

@@ -6,7 +6,7 @@
 """
 
 from __future__ import annotations
-import argparse, gc, hashlib, json, os, shutil, sys, time
+import argparse, gc, hashlib, json, os, sys, time
 from pathlib import Path
 import cv2
 import numpy as np

worker/stages/track_people.py

@@ -220,7 +220,7 @@ def main():
 
     estimator = PoseEstimator("./pretrained_models/human_model_files", device="cuda")
     cap = cv2.VideoCapture(a.video)
-    tracks, closed, next_id = [], [], 0
+    tracks, next_id = [], 0
     overlay_samples = {0, len(indices) // 2, len(indices) - 1}
     mask_store = {}
     unmatched_rcnn_total = 0
@@ -246,7 +246,6 @@ def main():
             break
         raw = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
         h, w = raw.shape[:2]
-        diag = float(np.hypot(w, h))
         padded, ow, oh = estimator.img_center_padding(raw)
         tensor, annotation = estimator._preprocess(padded)
         pl, pt, factor, _, _ = annotation

worker/stages/vlm_judge.py

@@ -15,7 +15,7 @@
 Requires OPENAI_API_KEY (see ~/.openai-env).
 """
 
-import argparse, base64, json, os, ssl, sys, time, urllib.error, urllib.request
+import argparse, base64, json, os, ssl, time, urllib.error, urllib.request
 
 CTX = ssl.create_default_context()
 try: