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