Edit pull-request.yml to run mujoco tests in some jobs #1967

Workflow file for this run

.github/workflows/pull-request.yml at 7a997e5

	name: "Pull Request"

	on:
	pull_request:
	workflow_dispatch:

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

	jobs:
	pre-commit:
	runs-on: ubuntu-20.04
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: 3.11
	- id: file_changes
	uses: tj-actions/changed-files@v44
	- uses: pre-commit/action@v3.0.1
	with:
	extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}}

	build-linux:
	name: Linux 20.04
	strategy:
	matrix:
	python-version: [3.8, 3.9]
	runs-on: ubuntu-20.04
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	- name: Install dependencies
	run: \|
	sudo apt-get update && sudo apt-get install build-essential swig cmake -y
	sudo apt-get install python${{ matrix.python-version }}-venv -y
	- name: Create virtual environment and install packages
	run: \|
	python3 -m venv .venv
	source .venv/bin/activate
	pip install -r requirements_dev.txt
	- name: Build basilisk
	run: \|
	source .venv/bin/activate
	python3 conanfile.py
	- name: Run Python Tests
	if: ${{ always() }}
	run: \|
	source .venv/bin/activate
	cd src && pytest -n auto -m "not ciSkip" -rs
	- name: Run C/C++ Tests
	if: ${{ always() }}
	working-directory: ./dist3
	run: ctest


	build-linux-3-10:
	name: Linux 22.04
	runs-on: ubuntu-22.04
	strategy:
	matrix:
	python-version: ["3.10"]
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	- name: "Install swig and cmake"
	run: sudo apt-get update && sudo apt-get install build-essential swig cmake -y
	- name: "Install python packages"
	run: sudo apt-get install python3-setuptools python3-tk python3.10-venv
	- name: "Create virtual Environment"
	run: python3 -m venv .venv
	- name: "Install requirements_dev.txt"
	run: source .venv/bin/activate && pip3 install -r requirements_dev.txt
	- name: "Build basilisk"
	run: source .venv/bin/activate && python3 conanfile.py
	- name: "Run Python Tests"
	run: \|
	source .venv/bin/activate
	cd src && pytest -n auto -m "not ciSkip" -rs

	- name: "Run C/C++ Tests"
	working-directory: ./dist3
	run: ctest
	if: ${{ always() }}


	build-linux-3-11:
	name: Linux 22.04 All Tests
	runs-on: ubuntu-22.04
	strategy:
	matrix:
	python-version: ["3.11"]
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}

	- name: "Install cmake"
	run: sudo apt-get update && sudo apt-get install build-essential libgtk2.0 cmake -y
	- name: Install SWIG 4.2.1
	uses: mmomtchev/setup-swig@v3
	with:
	version: v4.2.1
	- name: "Install python packages"
	run: sudo apt-get install python3-setuptools python3-tk python3.11-venv
	- name: "Create virtual Environment"
	run: python3 -m venv .venv
	- name: "Install requirements_dev.txt"
	run: source .venv/bin/activate && pip3 install -r requirements_dev.txt pytest-error-for-skips
	- name: "Build basilisk"
	run: source .venv/bin/activate && python3 conanfile.py --opNav True --mujoco True --mujocoReplay True

	- name: "Run Python Tests"
	run: \|
	source .venv/bin/activate
	cd src && pytest -n auto -m "not ciSkip" -rs --error-for-skips

	- name: "Run C/C++ Tests"
	working-directory: ./dist3
	run: ctest
	if: ${{ always() }}

	build-linux-3-11-pip:
	name: Linux 22.04 pip
	runs-on: ubuntu-22.04
	strategy:
	matrix:
	python-version: ["3.11"]
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}

	- name: "Install swig and cmake"
	run: sudo apt-get update && sudo apt-get install build-essential swig cmake -y
	- name: "Install python packages"
	run: sudo apt-get install python3-setuptools python3-tk python3.11-venv
	- name: "Create virtual Environment"
	run: python3 -m venv .venv
	- name: "Build basilisk"
	run: \|
	source .venv/bin/activate
	pip install . -v
	bskLargeData
	- name: "Run Python Tests"
	run: \|
	source .venv/bin/activate
	pip install pytest pytest-xdist
	cd src && pytest -n auto -m "not ciSkip" -rs


	build-windows:
	name: Windows All Tests
	runs-on: windows-2019
	strategy:
	matrix:
	python-version: ["3.11"]
	env:
	MPLBACKEND: agg
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	# - name: Choco help
	# uses: crazy-max/ghaction-chocolatey@v3
	# with:
	# args: -h
	# - name: "Install swig and cmake"
	# shell: pwsh
	# run: choco install swig cmake -y
	- name: "Install SWIG 4.2.1"
	shell: pwsh
	run: \|
	$swigDir = "C:\SWIG"
	if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir \| Out-Null}
	$swigZip = "$swigDir\swigwin-4.2.1.zip"
	$swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
	Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
	if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
	Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
	echo $swigDir
	ls $swigDir
	- name: "Create python virtual env"
	shell: pwsh
	run: python -m venv venv
	- name: "Install requirements_dev.txt"
	shell: pwsh
	run: \|
	venv\Scripts\activate
	pip install -r requirements_dev.txt pytest-error-for-skips
	- name: "Add basilisk and cmake path to env path"
	shell: pwsh
	run: \|
	$oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
	$newpath = “C:\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk;C:\Program Files\CMake\bin;C:\SWIG\swigwin-4.2.1”
	Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH -Value $newPath
	where.exe swig
	- name: "Build basilisk"
	shell: pwsh
	run: \|
	venv\Scripts\activate
	python conanfile.py --opNav True --mujoco True --mujocoReplay True
	- name: "Run Python Tests"
	shell: pwsh
	run: \|
	Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name MPLBACKEND -Value ${MPLBACKEND}
	venv\Scripts\activate
	cd src
	pytest -n auto -m "not ciSkip" -rs --error-for-skips
	if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
	- name: "C/C++ Tests"
	if: ${{ always() }}
	shell: pwsh
	run: \|
	cd dist3
	ctest
	if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}

	build-macOS:
	name: macOS All Tests Docs
	runs-on: macos-14
	strategy:
	matrix:
	python-version: [ "3.11", "3.12" ]
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}

	- name: Install Homebrew
	run: \|
	/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
	brew install swig doxygen

	- name: "Create virtual Environment"
	run: python3 -m venv .venv
	- name: "Install requirements_dev.txt"
	run: \|
	source .venv/bin/activate
	pip3 install cmake -r requirements_dev.txt pytest-error-for-skips

	- name: "Build basilisk with OpNav"
	run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True

	- name: "Run Python Tests"
	run: \|
	source .venv/bin/activate
	cd src
	pytest -n auto -m "not ciSkip" -rs --error-for-skips
	if: ${{ always() }}
	- name: "Run C/C++ Tests"
	working-directory: ./dist3
	run: ctest -C Release
	if: ${{ always() }}

	- name: "Build Documentation"
	run: \|
	source .venv/bin/activate
	cd docs
	make html SPHINXOPTS="-W"
	if: ${{ always() }}

	build-macOS-no-vizInterface:
	name: macOS no vizInterface
	runs-on: macos-14
	strategy:
	matrix:
	python-version: [ "3.11" ]
	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}

	- name: Install Homebrew
	run: \|
	/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
	brew install swig

	- name: "Create virtual Environment"
	run: python3 -m venv .venv
	- name: "Install requirements_dev.txt"
	run: \|
	source .venv/bin/activate
	pip3 install cmake -r requirements_dev.txt

	- name: "Build basilisk without vizInterface"
	run: source .venv/bin/activate && python3 conanfile.py --vizInterface False
	- name: "Run Python Tests"
	run: \|
	source .venv/bin/activate
	cd src
	pytest -n auto -m "not ciSkip" -rs

	if: ${{ always() }}

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Edit pull-request.yml to run mujoco tests in some jobs #1967

Workflow file

Edit pull-request.yml to run mujoco tests in some jobs #1967

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Workflow file for this run