Tests

Add torchaudio (#110) #560

	name: Tests

	on:
	pull_request:
	branches:
	- main
	paths:
	- "lerobot/**"
	- "tests/**"
	- "examples/**"
	- ".github/**"
	- "poetry.lock"
	push:
	branches:
	- main
	paths:
	- "lerobot/**"
	- "tests/**"
	- "examples/**"
	- ".github/**"
	- "poetry.lock"

	jobs:
	tests:
	runs-on: ubuntu-latest
	env:
	DATA_DIR: tests/data
	MUJOCO_GL: egl
	steps:
	- name: Add SSH key for installing envs
	uses: webfactory/[email protected]
	with:
	ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}

	- uses: actions/checkout@v4

	- name: Install EGL
	run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev

	- name: Install poetry
	run: \|
	pipx install poetry && poetry config virtualenvs.in-project true
	echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH

	- name: Set up Python 3.10
	uses: actions/setup-python@v5
	with:
	python-version: "3.10"
	cache: "poetry"

	- name: Install poetry dependencies
	run: \|
	poetry install --all-extras

	- name: Test with pytest
	run: pytest -v --cov=./lerobot --durations=0 tests

	- name: Test end-to-end
	run: make test-end-to-end

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