ambersim/.github/workflows/code_checks.yml at main · Caltech-AMBER/ambersim · GitHub

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name: Code Checks

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

permissions:
  contents: read

jobs:
  build:
    runs-on: ubuntu-latest

    steps:
      # checks out ambersim
      - uses: actions/checkout@v4

      # checks the cache for pip packages
      - uses: actions/cache@v3
        with:
          path: ~/.cache/pip
          key: ${{ runner.os }}-${{ hashFiles('pyproject.toml') }}
          restore-keys: |
            ${{ runner.os }}-pip-

      # download the cached artifacts
      - name: Download mujoco artifact
        id: download-artifact-mujoco
        uses: dawidd6/action-download-artifact@v2
        with:
          workflow: mujoco_nightly.yml
          name_is_regexp: true
          name: "mujoco_wheel-*"
          path: ${{ github.workspace }}
          check_artifacts: true
          search_artifacts: true
          if_no_artifact_found: warn
      - name: Download mjx artifact
        id: download-artifact-mjx
        uses: dawidd6/action-download-artifact@v2
        with:
          workflow: mujoco_nightly.yml
          name_is_regexp: true
          name: "mjx_wheel-*"
          path: ${{ github.workspace }}
          check_artifacts: true
          search_artifacts: true
          if_no_artifact_found: warn
      - name: Install dependencies
        working-directory: ${{ github.workspace }}
        shell: bash -l {0}
        run: |
          python -m pip install --upgrade pip
          bash ./ambersim/_scripts/install.sh -d  # -d means dev, don't use -s because we manually install mj/mjx from source here

          # upgrade mujoco to use nightly build
          mujoco_whl_path=$(find ${{ github.workspace }} -name "mujoco-*.whl")
          mjx_whl_path=$(find ${{ github.workspace }} -name "mujoco_mjx-*.whl")
          if [ -n "$mujoco_whl_path" ]; then
              pip install --no-deps --force-reinstall $mujoco_whl_path
          fi
          if [ -n "$mjx_whl_path" ]; then
              pip install --no-deps --force-reinstall $mjx_whl_path
          fi

      # run all code checks
      - name: Run black
        shell: bash -l {0}
        run: black --check .
      - name: Run flake8
        shell: bash -l {0}
        run: |
          # stop the build if there are Python syntax errors or undefined names
          flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
      - name: Run pyright
        shell: bash -l {0}
        run: |
          pyright
      - name: Test with pytest
        shell: bash -l {0}
        run: |
          pytest