tests

docs(envs): sync reach.rst to the canonical 0.02 reach tolerance #67

	name: tests

	on:
	push:
	branches: [main, master, gymnasium, tier2-2026]
	pull_request:
	branches: [main, master, gymnasium, tier2-2026]
	workflow_dispatch: {}

	jobs:
	pytest:
	runs-on: ubuntu-22.04
	strategy:
	fail-fast: false
	matrix:
	# 3.8 = ROS Noetic's bundled Python (the only runtime where
	# the framework actually works against real rospy / Gazebo).
	# 3.10 = forward-compat smoke test for the day the framework
	# ports to ROS 2 (the test suite stubs rospy so it can run on
	# newer Pythons even though real-world use is 3.8-only).
	python-version: ["3.8", "3.10"]

	steps:
	- uses: actions/checkout@v4

	- uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}

	- name: Install package + test deps
	working-directory: uniros
	run: \|
	python -m pip install --upgrade pip
	# The package's setup.py imports catkin_pkg + uses distutils (from
	# stdlib up to 3.11). Install build deps in the OUTER env, then
	# pip install -e with --no-build-isolation so the build subprocess
	# can see them. Without --no-build-isolation, pip creates a clean
	# build sandbox and catkin_pkg won't be visible there.
	pip install setuptools wheel catkin_pkg pytest
	# Pin gymnasium to match the supported runtime. gymnasium 1.x
	# removed wrapper attribute passthrough that the proxy depends on.
	pip install "gymnasium==0.29.1" "gymnasium_robotics==1.2.4" numpy
	# Tests stub the rospy ecosystem in conftest.py; no ROS install needed.
	pip install -e . --no-build-isolation

	- name: Run pytest
	working-directory: uniros
	run: pytest tests/ -v

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