Fix workflow file

Author: urfeex

.github/workflows/ci.yml

@@ -10,19 +10,21 @@ jobs:
   build:
     timeout-minutes: 30
     runs-on: ubuntu-latest
-    name: build (${{matrix.URSIM_VERSION}}-${{matrix.ROBOT_MODEL}})
+    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
     strategy:
       fail-fast: false
       matrix:
-        - ROBOT_MODEL: 'ur5'
-          URSIM_VERSION: '3.14.3'
-          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
-        - ROBOT_MODEL: 'ur5e'
-          URSIM_VERSION: '5.9.4'
-          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-        - ROBOT_MODEL: 'ur20'
-          URSIM_VERSION: 'latest'
-          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+        env:
+          - ROBOT_MODEL: 'ur5'
+            URSIM_VERSION: '3.14.3'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
+          - ROBOT_MODEL: 'ur5e'
+            URSIM_VERSION: '5.9.4'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+          - ROBOT_MODEL: 'ur20'
+            URSIM_VERSION: 'latest'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+        HEADLESS: [true, false]
 
     steps:
       - uses: actions/checkout@v4
@@ -31,9 +33,10 @@ jobs:
           scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
         env:
           DOCKER_RUN_OPTS: --network ursim_net
-          ROBOT_MODEL: ${{matrix.ROBOT_MODEL}}
-          URSIM_VERSION: ${{matrix.URSIM_VERSION}}
-          PROGRAM_FOLDER: ${{matrix.PROGRAM_FOLDER}}
+          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
+          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
+          HEADLESS_MODE: ${{matrix.HEADLESS}}
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
@@ -76,15 +79,15 @@ jobs:
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.ROBOT_MODEL}}_${{matrix.URSIM_VERSION}}_URSim_Logs
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
           path: ursim_logs
           if-no-files-found: error
           retention-days: 10
       - name: Upload test artifacts
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.ROBOT_MODEL}}_${{matrix.URSIM_VERSION}}_test_artifacts
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
           path: test_artifacts
           if-no-files-found: error
           retention-days: 10