name: lekiwi-compatibility

on:
  workflow_dispatch:
  push:
    paths:
      - 'contracts/**'
      - 'control_bridge/**'
      - 'integrations/lerobot/**'
      - 'examples/lekiwi/**'
      - 'robot_profiles/**'
      - 'web_platform/**'
      - 'package*.json'
      - '.github/workflows/lekiwi-compat.yml'
  pull_request:
    paths:
      - 'contracts/**'
      - 'control_bridge/**'
      - 'integrations/lerobot/**'
      - 'examples/lekiwi/**'
      - 'robot_profiles/**'
      - 'web_platform/**'
      - 'package*.json'
      - '.github/workflows/lekiwi-compat.yml'

permissions:
  contents: read

jobs:
  cpu-compatibility:
    runs-on: ubuntu-24.04
    timeout-minutes: 25
    steps:
      - uses: actions/checkout@v6
      - uses: actions/setup-node@v6
        with:
          node-version-file: .nvmrc
          cache: npm
      - uses: actions/setup-python@v6
        with:
          python-version: '3.12'
          cache: pip
          cache-dependency-path: |
            integrations/lerobot/requirements-cpu.txt
            examples/lekiwi/requirements-collision.txt
      - run: npm install --global npm@11.17.0
      - run: npm ci
      - run: npx playwright install --with-deps chromium
      - run: python -m pip install -e control_bridge
      - uses: actions/cache@v5
        with:
          path: build/lekiwi
          key: lekiwi-efa608d7-${{ hashFiles('robot_profiles/lekiwi-v1.json', 'examples/lekiwi/prepare_assets.py') }}
      - name: Prepare pinned upstream assets (never skipped)
        run: |
          if [ -f build/lekiwi/URDF/LeKiwi.urdf ]; then
            python examples/lekiwi/prepare_assets.py --source build/lekiwi --output build/lekiwi-verified
            cp build/lekiwi-verified/lekiwi-v1.zip build/lekiwi/lekiwi-v1.zip
          else
            python examples/lekiwi/prepare_assets.py --download
          fi
      - name: Rebuild and verify collision recipe in its own environment
        run: |
          python -m venv build/venvs/collision
          build/venvs/collision/bin/python -m pip install -r examples/lekiwi/requirements-collision.txt
          build/venvs/collision/bin/python -m unittest discover -s examples/lekiwi/tests -v
          build/venvs/collision/bin/python examples/lekiwi/generate_full_collisions.py --check
        env:
          PYTHONPATH: ''
          PYTHONNOUSERSITE: '1'
      - run: python examples/lekiwi/setup_lerobot.py
      - run: build/venvs/lerobot/bin/python -m unittest discover -s integrations/lerobot/tests -v
        env:
          PYTHONPATH: ''
          PYTHONNOUSERSITE: '1'
      - run: npm run test:e2e:lekiwi
        env:
          BRIDGE_PYTHON: python3
          LEROBOT_PYTHON: build/venvs/lerobot/bin/python
      - uses: actions/upload-artifact@v6
        if: always()
        with:
          name: lekiwi-compatibility-evidence
          path: |
            build/e2e/lekiwi/
            build/lerobot-environment.json
            build/lekiwi/source-manifest.json