Fix some bugs in recently raised issues (capsule support, default torch device bug, and mujoco dependency) #104

	# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
	# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions

	name: Python package

	on:
	push:
	branches: [ "master" ]
	pull_request:
	branches: [ "master" ]

	jobs:
	build:

	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	python-version: [ "3.8", "3.9", "3.10" ]

	steps:
	- uses: actions/checkout@v3
	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v3
	with:
	python-version: ${{ matrix.python-version }}
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	python -m pip install .[test]
	python -m pip install flake8 pytest
	if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
	pip install mujoco
	- name: Clone mujoco_menagerie repository into the tests/ folder
	run: \|
	git clone https://github.com/google-deepmind/mujoco_menagerie
	working-directory: ${{ runner.workspace }}/pytorch_kinematics/tests
	- name: Lint with flake8
	run: \|
	# stop the build if there are Python syntax errors or undefined names
	flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
	# exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
	flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
	- name: Test with pytest
	run: \|
	pytest --ignore=tests/mujoco_menagerie

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