feat: add mppi like sampling of parameters #61

	name: Upload Python Package

	on:
	push:

	permissions:
	contents: read

	jobs:
	ruff-check:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v3
	- name: Install Python
	uses: actions/setup-python@v4
	with:
	python-version: "3.11"
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install ruff==0.1.11
	# Update output format to enable automatic inline annotations.
	- name: Run Ruff
	# run: ruff check --output-format=github .
	run: ruff format --diff .

	tests:
	runs-on: ubuntu-latest
	needs: ruff-check
	steps:
	- uses: actions/checkout@v3
	- name: Set up Python
	uses: actions/setup-python@v3
	with:
	python-version: "3.10"
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install .[mjx_cpu]
	pip install pytest robot_descriptions pin
	- name: Run tests
	run: pytest

	deploy:
	runs-on: ubuntu-latest
	needs: ruff-check
	# run on tag only
	if: startsWith(github.ref, 'refs/tags/')
	steps:
	- uses: actions/checkout@v3
	- name: Set up Python
	uses: actions/setup-python@v3
	with:
	python-version: "3.10"
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install build
	- name: Build package
	run: python -m build --wheel
	- name: Publish package
	uses: pypa/gh-action-pypi-publish@27b31702a0e7fc50959f5ad993c78deac1bdfc29
	with:
	user: __token__
	password: ${{ secrets.PYPI_TOKEN }}

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