From a6e98726cd311be2f0b22baa87d67f8670220ca7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 5 Feb 2024 12:58:02 +0100
Subject: [PATCH] [sq]

---
 .github/workflows/ci_cd.yml | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index b8d46e334..dc4e03ddd 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -86,14 +86,6 @@ jobs:
       - name: Import the package
         run: python -c "import jaxsim"
 
-      - name: Install Gazebo Classic
-        if: |
-          contains(matrix.os, 'ubuntu') &&
-          steps.changes.outputs.src_and_tests == 'true'
-        run: |
-          sudo apt-get update
-          sudo apt-get install gazebo
-
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
@@ -109,6 +101,15 @@ jobs:
               - *src
               - *tests
 
+      - name: Install Gazebo Classic
+        if: |
+          contains(matrix.os, 'ubuntu') &&
+          (github.event_name != 'pull_request' ||
+           steps.changes.outputs.src_and_tests == 'true')
+        run: |
+          sudo apt-get update
+          sudo apt-get install gazebo
+
       - name: Run the Python tests
         if: |
           contains(matrix.os, 'ubuntu') &&