swift/.github/workflows/python-tests.yml at main · jhavl/swift · GitHub

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# Runs Swift's Python test suite (tests/) and the JS unit tests
# (src/swift/public/js/*.test.js) on every push/PR -- previously nothing
# in CI ever ran either; only src/swift/public/**'s vendored-asset check
# existed (see vendor-check.yml).

name: Python tests

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

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

      - uses: actions/setup-python@v5
        with:
          python-version: "3.12"

      - name: Install build-time dependencies
        # roboticstoolbox-python's own setup.py fails inside pip's default
        # isolated build environment (ModuleNotFoundError: No module named
        # 'pip' -- a known class of issue with legacy setup.py's that
        # import pip internally, which an isolated build env doesn't
        # guarantee). --no-build-isolation below runs builds against the
        # ambient environment instead, which needs numpy (swift-sim's own
        # C extension, phys.cpp, imports it at build time) and
        # setuptools/wheel present upfront since nothing will install them
        # into an isolated env for us anymore.
        run: pip install numpy setuptools wheel

      - name: Install roboticstoolbox-python and dev/test tools
        # tests/ exercises Robot.fkine_geometry(q) -- merged into
        # roboticstoolbox-python's main (the feat/fkine-geometry branch it
        # originally landed on is now redundant) but not yet released to
        # PyPI (swift/roboticstoolbox/spatialgeometry are developed together
        # across git branches, ahead of what's actually released -- see
        # jhavl/swift#88). Installing from main directly, same idea as
        # installing spatialgeometry itself from source below.
        run: pip install "git+https://github.com/petercorke/robotics-toolbox-python.git@main" websockets pytest pytest-cov black flake8 pyyaml

      - name: Install spatialgeometry from its own main branch
        # main renamed Path -> Polyline (jhavl/spatialgeometry#42, merged
        # 2026-08-09) but that hasn't been cut into a PyPI release yet --
        # PyPI's latest (1.3.0) predates the rename and tests/ constructs
        # sg.Polyline(...) directly, so the plain PyPI spatialgeometry that
        # roboticstoolbox-python pulled in above fails with AttributeError.
        # A separate --force-reinstall --no-deps step (rather than listing
        # this alongside roboticstoolbox-python above) sidesteps a pip
        # resolver conflict: roboticstoolbox-python's own metadata pins
        # spatialgeometry==1.3.0 exactly, which collides with requesting
        # the git version under that same version string. Switch this back
        # to a plain PyPI pin once a release containing the rename ships.
        run: pip install --force-reinstall --no-deps "git+https://github.com/jhavl/spatialgeometry.git@main"

      - name: Install swift-sim itself (editable, no dependency re-resolution)
        run: pip install --no-build-isolation --no-deps -e .

      - name: Run Python tests
        run: pytest tests/ -v

      - uses: actions/setup-node@v4
        with:
          node-version: "20"

      - name: Run JS unit tests
        run: node --test src/swift/public/js/*.test.js