MADDENING/.github/workflows/ci.yml at main · Microrobotics-Simulation-Framework/MADDENING · GitHub

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name: CI

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

jobs:
  test:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: ["3.11", "3.12"]

    steps:
      - 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: |
          python -m pip install --upgrade pip
          # Pin JAX to known-good version to avoid jaxlib segfaults
          pip install "jax==0.10.2" "jaxlib==0.10.2"
          pip install -e ".[ci]"

      - name: Run tests
        env:
          JAX_PLATFORMS: cpu
          XLA_FLAGS: "--xla_gpu_autotune_level=0"
          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
        run: |
          python -m pytest tests/ -v --tb=short --ignore=tests/viz

  test-usd:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.12"

      - name: Install dependencies (with USD)
        run: |
          python -m pip install --upgrade pip
          pip install "jax==0.10.2" "jaxlib==0.10.2"
          pip install -e ".[ci,usd]"

      - name: Run USD tests
        env:
          JAX_PLATFORMS: cpu
          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
        run: |
          python -m pytest tests/usd/ -v --tb=short

  compliance:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.12"

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install "jax==0.10.2" "jaxlib==0.10.2"
          pip install -e ".[ci]"

      - name: Validate anomaly registry
        run: python scripts/check_anomalies.py

      - name: Check implementation mapping
        run: python scripts/check_impl_mapping.py

      - name: Check bibliography citations
        run: python scripts/check_citations.py

      - name: Check transform registry
        run: python scripts/check_transforms.py

      - name: Run compliance tests
        env:
          JAX_PLATFORMS: cpu
          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
        run: |
          python -m pytest tests/compliance/ -v --tb=short

  verify-stelling:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.12"

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install "jax==0.10.2" "jaxlib==0.10.2"
          pip install -e ".[ci]"

      - name: Run stelling formal verification
        env:
          JAX_PLATFORMS: cpu
          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
        run: |
          python -m pytest tests/verification/stelling/ -v --tb=short -p stelling.overflow

  verify-hypothesis:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.12"

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install "jax==0.10.2" "jaxlib==0.10.2"
          pip install -e ".[ci]"

      - name: Run hypothesis property tests
        env:
          JAX_PLATFORMS: cpu
          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
        run: |
          python -m pytest tests/verification/hypothesis/ -v --tb=short