Changes for Sumo #482

	name: Precommit

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

	permissions:
	contents: read

	jobs:
	precommit:
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v6

	- uses: prefix-dev/setup-pixi@v0.9.3
	with:
	pixi-version: latest
	environments: dev-mjwarp
	cache: true

	# ── Stubs cache ────────────────────────────────────────────────
	- name: Restore typings cache
	uses: actions/cache@v5
	id: typings-cache
	with:
	path: typings
	key: typings-${{ matrix.os }}-${{ hashFiles('pyproject.toml') }}

	- name: Generate stubs if cache miss
	if: steps.typings-cache.outputs.cache-hit != 'true'
	run: pixi run -e dev-mjwarp pybind11-stubgen mujoco -o typings/

	# ── Linting & type checking ────────────────────────────────────
	- name: Run Ruff Linter
	run: pixi run -e dev-mjwarp ruff check judo/ tests/ --output-format=github

	- name: Run Ruff Formatter
	run: pixi run -e dev-mjwarp ruff format judo/ tests/ --diff

	- name: Run Pyright
	run: pixi run -e dev-mjwarp pyright

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