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tests

fix moveP test IK failure on CI, fix ty type error in trajectory.py #80

	name: tests

	on:
	workflow_dispatch:
	push:
	paths:
	- '**'
	pull_request:
	paths:
	- '**'

	jobs:
	lint:
	name: Lint (pre-commit)
	runs-on: ubuntu-latest
	steps:
	- name: Checkout repository
	uses: actions/checkout@v4
	- name: Setup Python
	uses: actions/setup-python@v5
	with:
	python-version: '3.11'
	- name: Install dependencies for mypy
	run: \|
	python -m pip install --upgrade pip
	pip install -e ".[dev]"
	- name: Run pre-commit
	uses: pre-commit/action@v3.0.1
	test:
	name: ${{ matrix.os }} / Python ${{ matrix.python-version }}
	runs-on: ${{ matrix.os }}
	timeout-minutes: 30
	strategy:
	fail-fast: false
	matrix:
	os: [ubuntu-latest, windows-latest, macos-latest]
	python-version: ['3.11', '3.12', '3.13', '3.14']

	steps:
	- name: Checkout repository (with submodules)
	uses: actions/checkout@v4

	- name: Setup Python
	uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	cache: pip
	cache-dependency-path: pyproject.toml

	- name: Upgrade pip and install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install -e ".[dev]" pytest-timeout

	- name: Show environment
	run: \|
	python -V
	pip list

	- name: Run tests
	env:
	PYTHONUNBUFFERED: '1'
	PYTHONUTF8: '1'
	run: \|
	pytest