ci.yml

name: CI

on:
  pull_request:
    branches: [main]
    types: [opened, synchronize, reopened, ready_for_review]
    paths-ignore:
      - "LICENSE"
      - ".github/CODEOWNERS"
      - ".github/ISSUE_TEMPLATE/**"
      - ".github/pull_request_template.md"
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.event.pull_request.number || github.ref_name }}
  cancel-in-progress: true

permissions:
  contents: read

env:
  UV_FROZEN: "1"

jobs:
  ruff-lint:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 5
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies(only dev group)
        run: uv sync --only-group dev
      - name: Check
        run: uv run --no-sync ruff check --output-format=github .

  ruff-format:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 5
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies(only dev group)
        run: uv sync --only-group dev
      - name: Check
        run: uv run --no-sync ruff format --check .

  mypy:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies
        run: |
          uv sync --extra unirl \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.10.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Check
        run: uv run --no-sync mypy src/unilab

  pyright:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies
        run: |
          uv sync --extra unirl \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.10.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Check
        run: uv run --no-sync pyright

  benchmark-smoke:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
          python-version: '3.11'
      - name: Install dependencies
        run: |
          uv sync --extra mujoco \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.10.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Benchmark entrypoint smoke test
        run: uv run --no-sync python scripts/benchmark/smoke_test.py

  test:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    # Keep the complete not-slow suite on every PR, but split it by owner area
    # so one slow area no longer serializes all test feedback. The shards are
    # stable directory partitions; do not solve overlap by deselecting tests.
    timeout-minutes: 20
    strategy:
      fail-fast: false
      matrix:
        shard:
          - name: core
            paths: >-
              tests/base
              tests/architecture
              tests/assets
              --ignore
              tests/base/test_sim_backend.py
          - name: environments
            paths: >-
              tests/envs
              tests/managers
              tests/tasks
              tests/terrains
          - name: applications
            paths: >-
              tests/algos
              tests/benchmark
              tests/config
              tests/scripts
              tests/training
              tests/utils
              tests/visualization
              tests/test_bones_seed_csv.py
              tests/test_cli.py
              tests/test_cli_runtime_requirements.py
              tests/test_completion.py
              tests/test_dependency_contracts.py
              tests/test_import_robot.py
              tests/test_library_import_boundary.py
              tests/test_pull_assets.py
              tests/test_render_teaser.py
              tests/test_unreachable_branch_cleanup.py
          - name: rl
            paths: tests/rl
    name: test-${{ matrix.shard.name }}
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
          # python-version: ${{ matrix.python-version }}
          python-version: '3.11'
      - name: Install system dependencies
        run: sudo apt-get update && sudo apt-get install -y libwayland-client0
      - name: Install dependencies
        run: |
          uv sync --extra mujoco --extra mjwarp --extra unirl \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.10.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Cache robot assets
        uses: actions/cache@v4.2.3
        with:
          path: src/unilab/assets/robots
          key: ${{ runner.os }}-robot-assets-v1-${{ hashFiles('src/unilab/assets/hub.py') }}
      - name: Keep git-tracked assets at the checked-out commit
        # The robots cache persists HF-downloaded meshes across runs, but it
        # also snapshots git-tracked scene XMLs and would silently roll them
        # back to the cached revision. Restore tracked files from the index;
        # untracked downloads stay untouched.
        run: git restore --worktree -- src/unilab/assets/robots
      - name: Pull robot assets
        run: uv run --no-sync unilab-pull-assets --robot all
      - name: Test with coverage
        env:
          COVERAGE_SOURCE: ${{ matrix.shard.name == 'rl' && 'src/unilab/rl' || 'src/unilab' }}
          COVERAGE_FAIL_UNDER: ${{ matrix.shard.name == 'rl' && '50' || '0' }}
          # Some tests change the process working directory; keep shard data at
          # a stable absolute path instead of relying on a relative .coverage.
          COVERAGE_FILE: ${{ github.workspace }}/coverage-${{ matrix.shard.name }}.dat
        run: >-
          uv run --no-sync pytest
          ${{ matrix.shard.paths }}
          --cov=${COVERAGE_SOURCE}
          --cov-report=term-missing
          --cov-fail-under=${COVERAGE_FAIL_UNDER}
      - name: Upload shard coverage
        if: always()
        uses: actions/upload-artifact@v4.6.2
        with:
          name: coverage-data-${{ matrix.shard.name }}
          path: coverage-${{ matrix.shard.name }}.dat
          retention-days: 1

  coverage:
    needs: test
    # Run even when a shard fails so contributors can inspect total coverage,
    # while the failed shard remains the merge-blocking result.
    if: always() && !cancelled() && (github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request')
    timeout-minutes: 5
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
          python-version: '3.11'
      - name: Install coverage tools
        run: uv sync --only-group dev
      - name: Download shard coverage
        uses: actions/download-artifact@v4.3.0
        with:
          pattern: coverage-data-*
          path: coverage-data
      - name: Normalize shard coverage names
        # download-artifact keeps one directory per artifact, while coverage
        # combine expects sibling files named ".coverage.<suffix>".
        run: |
          for shard_dir in coverage-data/coverage-data-*; do
            shard="${shard_dir##*/coverage-data-}"
            mv "$shard_dir/coverage-${shard}.dat" "coverage-data/.coverage.${shard}"
          done
      - name: Combine and enforce repository coverage
        # The repository-wide gate is evaluated after all shard data is combined;
        # the RL shard independently preserves its 50% gate (issue #2372).
        #
        # Keep the literal --cov=src/unilab source path: repository-hygiene tests
        # reject package-name-only coverage invocations.
        run: |
          uv run --no-sync coverage combine coverage-data
          uv run --no-sync coverage report --format=markdown >> "${GITHUB_STEP_SUMMARY}"
          uv run --no-sync coverage report --fail-under=25