CI for Mujoco (#1585)

* add uv run ruff check to CI

* make tests pass

* add test to CI

* format pyproject tomls

* use alpine image

* use example github actions from uv website

* also check lock file

* persist uv cache

* fix lints

.github/workflows/pull-request.yml

@@ -170,3 +170,107 @@ jobs:
         run: pip install mkdocs-material
       - name: Build docs
         run: mkdocs build --strict
+
+  check-mujoco:
+    name: Check Mujoco
+    runs-on:
+      - self-hosted
+      - v3
+    container:
+      image: ghcr.io/hulks/hulk-ci:1.81.0
+      options: --user=1000:1000
+    defaults:
+      run:
+        working-directory: tools/machine-learning/mujoco
+        shell: bash
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          version: "0.5.21"
+          enable-cache: true
+          cache-local-path: "/__w/hulk/.uv-cache"
+      - name: Check
+        run: |
+          uv run ruff check --no-fix
+
+  test-mujoco:
+    name: Test Mujoco
+    runs-on:
+      - self-hosted
+      - v3
+    container:
+      image: ghcr.io/hulks/hulk-ci:1.81.0
+      options: --user=1000:1000
+    defaults:
+      run:
+        working-directory: tools/machine-learning/mujoco
+        shell: bash
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          version: "0.5.21"
+          enable-cache: true
+          cache-local-path: "/__w/hulk/.uv-cache"
+      - name: Test
+        run: |
+          uv run pytest
+
+  format-mujoco:
+    name: Format Mujoco
+    runs-on:
+      - self-hosted
+      - v3
+    container:
+      image: ghcr.io/hulks/hulk-ci:1.81.0
+      options: --user=1000:1000
+    defaults:
+      run:
+        working-directory: tools/machine-learning/mujoco
+        shell: bash
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          version: "0.5.21"
+          enable-cache: true
+          cache-local-path: "/__w/hulk/.uv-cache"
+      - name: Format
+        run: |
+          uv run ruff format --check
+
+  check-mujoco-lock:
+    name: Check Mujoco uv.lock
+    runs-on:
+      - self-hosted
+      - v3
+    container:
+      image: ghcr.io/hulks/hulk-ci:1.81.0
+      options: --user=1000:1000
+    defaults:
+      run:
+        working-directory: tools/machine-learning/mujoco
+        shell: bash
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          version: "0.5.21"
+          enable-cache: true
+          cache-local-path: "/__w/hulk/.uv-cache"
+      - name: Check Lockfile
+        run: |
+          uv sync --locked

tools/machine-learning/mujoco/packages/common_types/pyproject.toml

@@ -0,0 +1,10 @@
+[project]
+name = "common_types"
+version = "0.1.0"
+description = "Add your description here"
+requires-python = ">=3.13"
+dependencies = []
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"

tools/machine-learning/mujoco/packages/common_types/src/common_types/__init__.py

@@ -0,0 +1,6 @@
+from enum import Enum
+
+
+class Side(Enum):
+    LEFT = 0
+    RIGHT = 1

tools/machine-learning/mujoco/packages/kinematics/pyproject.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 description = "Add your description here"
 requires-python = ">=3.10"
 
-dependencies = ["numpy>=1.2", "robot-dimensions", "transforms"]
+dependencies = ["common-types", "numpy>=1.2", "robot-dimensions", "transforms"]
 
 [build-system]
 requires = ["hatchling"]

tools/machine-learning/mujoco/packages/kinematics/src/kinematics/forward_kinematics.py

@@ -3,6 +3,7 @@
 from dataclasses import dataclass
 
 import numpy as np
+from common_types import Side
 from numpy.typing import NDArray
 from robot_dimensions import (
     ANKLE_TO_SOLE,
@@ -16,7 +17,6 @@
     isometry_from_translation,
     rotation_from_axisangle,
 )
-from walking_engine.walking_types import Side
 
 from .inverse_kinematics import LegJoints
 

tools/machine-learning/mujoco/packages/kinematics/tests/test_inverse_kinematics.py

@@ -19,18 +19,18 @@ def test_fuzz() -> None:
         left_leg = LegJoints(**frame["joints"]["left_leg"])
         right_leg = LegJoints(**frame["joints"]["right_leg"])
 
-        computed_left_leg, computed_right_leg = leg_angles(
+        lower_body_joints = leg_angles(
             left_foot,
             right_foot,
         )
 
         np.testing.assert_allclose(
-            computed_left_leg.to_numpy(),
+            lower_body_joints.left.to_numpy(),
             left_leg.to_numpy(),
             atol=1e-4,
         )
         np.testing.assert_allclose(
-            computed_right_leg.to_numpy(),
+            lower_body_joints.right.to_numpy(),
             right_leg.to_numpy(),
             atol=1e-4,
         )

tools/machine-learning/mujoco/packages/transforms/tests/test_transforms.py

@@ -1,6 +1,6 @@
 import numpy as np
 from transforms import (
-    isometry_from_rotation,
+    isometry_from_euler,
     isometry_from_translation,
     rotation_from_isometry,
     translation_from_isometry,
@@ -9,7 +9,7 @@
 
 def test_rotation_from_euler() -> None:
     vector = np.array([1.0, 0.0, 0.0, 0.0])
-    rotation = isometry_from_rotation(0.0, 0.0, np.pi / 2)
+    rotation = isometry_from_euler(0.0, 0.0, np.pi / 2)
 
     np.testing.assert_allclose(
         rotation @ vector,
@@ -38,9 +38,8 @@ def test_translation_from_vector() -> None:
 
 def test_isometry_from_parts() -> None:
     position = isometry_from_translation(np.array([1.0, -1.0, 1.0]))
-    rotation = isometry_from_rotation(0.0, 0.0, np.pi / 2)
+    rotation = isometry_from_euler(0.0, 0.0, np.pi / 2)
 
-    print(position)
     pose = position @ rotation
 
     np.testing.assert_allclose(
@@ -50,7 +49,7 @@ def test_isometry_from_parts() -> None:
     )
 
     translation = isometry_from_translation(np.array([1.0, 2.0, 3.0]))
-    rotation = isometry_from_rotation(0.0, 0.0, np.pi / 2)
+    rotation = isometry_from_euler(0.0, 0.0, np.pi / 2)
     transform = translation @ rotation
 
     result = transform @ pose
@@ -65,6 +64,6 @@ def test_isometry_from_parts() -> None:
     )
     np.testing.assert_allclose(
         result_rotation,
-        rotation_from_isometry(isometry_from_rotation(0.0, 0.0, np.pi)),
+        rotation_from_isometry(isometry_from_euler(0.0, 0.0, np.pi)),
         atol=1e-11,
     )

tools/machine-learning/mujoco/packages/walking_engine/pyproject.toml

@@ -3,7 +3,12 @@ name = "walking-engine"
 version = "0.1.0"
 description = "Add your description here"
 requires-python = ">=3.10"
-dependencies = ["numpy>=1.2.0", "robot-dimensions"]
+dependencies = [
+  "common-types",
+  "kinematics",
+  "numpy>=1.2.0",
+  "robot-dimensions",
+]
 
 [build-system]
 requires = ["hatchling"]

tools/machine-learning/mujoco/packages/walking_engine/src/walking_engine/walking_types.py

@@ -1,7 +1,7 @@
 from dataclasses import dataclass
-from enum import Enum
 from typing import Self
 
+from common_types import Side
 from transforms import Pose2
 
 
@@ -16,11 +16,6 @@ class Parameters:
     foot_offset_right: float
 
 
-class Side(Enum):
-    LEFT = 0
-    RIGHT = 1
-
-
 @dataclass
 class Feet:
     support_sole: Pose2

tools/machine-learning/mujoco/pyproject.toml

@@ -16,6 +16,7 @@ dependencies = [
   "tensorboard>=2.18.0",
   "wandb>=0.19.1",
   # Project dependencies
+  "common_types",
   "kinematics",
   "nao-env",
   "nao-interface",
@@ -27,6 +28,7 @@ dependencies = [
 ]
 
 [tool.uv.sources]
+common_types = { workspace = true }
 kinematics = { workspace = true }
 nao_env = { workspace = true }
 nao_interface = { workspace = true }
@@ -98,6 +100,8 @@ ignore = [
   "E731",
   # any-type
   "ANN401",
+  # flake8-trailing-comma (handled by formatter)
+  "COM812",
 ]
 
 [tool.ruff.lint.per-file-ignores]