CI nightlies cpu/gpu & cleanup (#75)
This commit is contained in:
Simon Alibert
GitHub
parent
659c69a1c0
commit
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# Misc
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.git
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tmp
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wandb
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data
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outputs
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.vscode
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rl
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media
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# Logging
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logs
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# HPC
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nautilus/*.yaml
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*.key
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# Slurm
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sbatch*.sh
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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pip-wheel-metadata/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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!tests/data
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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coverage.xml
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*.cover
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*.py,cover
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.hypothesis/
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.pytest_cache/
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# Translations
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*.mo
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*.pot
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# Django stuff:
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*.log
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local_settings.py
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db.sqlite3
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db.sqlite3-journal
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# Flask stuff:
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instance/
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.webassets-cache
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||||||
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# Scrapy stuff:
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.scrapy
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# Sphinx documentation
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||||||
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docs/_build/
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# PyBuilder
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# pyenv
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.python-version
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||||||
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# pipenv
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# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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||||||
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
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||||||
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# having no cross-platform support, pipenv may install dependencies that don't work, or not
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||||||
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# install all needed dependencies.
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#Pipfile.lock
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||||||
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow
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__pypackages__/
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# Celery stuff
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||||||
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celerybeat-schedule
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celerybeat.pid
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# SageMath parsed files
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||||||
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*.sage.py
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||||||
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# Spyder project settings
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||||||
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.spyderproject
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||||||
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.spyproject
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# Rope project settings
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||||||
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.ropeproject
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Pyre type checker
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.pyre/
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@ -1,12 +1,29 @@
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# What does this PR do?
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# What does this PR do?
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||||||
Example: Fixes # (issue)
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Examples:
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- Fixes # (issue)
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- Adds new dataset
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- Optimizes something
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## How was it tested?
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Examples:
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- Added `test_something` in `tests/test_stuff.py`.
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- Added `new_feature` and checked that training converges with policy X on dataset/environment Y.
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- Optimized `some_function`, it now runs X times faster than previously.
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## How to checkout & try? (for the reviewer)
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Examples:
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```bash
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DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something
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```
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```bash
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python lerobot/scripts/train.py --some.option=true
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```
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## Before submitting
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## Before submitting
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- Read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
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Please read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
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||||||
- Provide a minimal code example for the reviewer to checkout & try.
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- Explain how you tested your changes.
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## Who can review?
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## Who can review?
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@ -0,0 +1,30 @@
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PYPROJECT = "pyproject.toml"
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DEPS = {
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"gym-pusht": '{ git = "git@github.com:huggingface/gym-pusht.git", optional = true}',
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"gym-xarm": '{ git = "git@github.com:huggingface/gym-xarm.git", optional = true}',
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"gym-aloha": '{ git = "git@github.com:huggingface/gym-aloha.git", optional = true}',
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}
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def update_envs_as_path_dependencies():
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with open(PYPROJECT) as file:
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lines = file.readlines()
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new_lines = []
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for line in lines:
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if any(dep in line for dep in DEPS.values()):
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for dep in DEPS:
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if dep in line:
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new_line = f'{dep} = {{ path = "envs/{dep}/", optional = true}}\n'
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new_lines.append(new_line)
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break
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else:
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new_lines.append(line)
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with open(PYPROJECT, "w") as file:
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file.writelines(new_lines)
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if __name__ == "__main__":
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update_envs_as_path_dependencies()
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@ -0,0 +1,207 @@
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# Inspired by
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# https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
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name: Nightly Builds
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on:
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workflow_dispatch:
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workflow_call:
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schedule:
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- cron: "0 1 * * *"
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# concurrency:
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# group: docker-image-builds
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# cancel-in-progress: false
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env:
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PYTHON_VERSION: "3.10"
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# CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
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jobs:
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latest-cpu:
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name: "Build CPU"
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runs-on: ubuntu-latest
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steps:
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- name: Cleanup disk
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run: |
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sudo df -h
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# sudo ls -l /usr/local/lib/
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# sudo ls -l /usr/share/
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sudo du -sh /usr/local/lib/
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sudo du -sh /usr/share/
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sudo rm -rf /usr/local/lib/android
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sudo rm -rf /usr/share/dotnet
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sudo du -sh /usr/local/lib/
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sudo du -sh /usr/share/
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sudo df -h
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Check out code
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uses: actions/checkout@v4
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- name: Checkout gym-aloha
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uses: actions/checkout@v4
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with:
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repository: huggingface/gym-aloha
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path: envs/gym-aloha
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ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
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- name: Checkout gym-xarm
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uses: actions/checkout@v4
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with:
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repository: huggingface/gym-xarm
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path: envs/gym-xarm
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ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
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- name: Checkout gym-pusht
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uses: actions/checkout@v4
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with:
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repository: huggingface/gym-pusht
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path: envs/gym-pusht
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ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
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# HACK(aliberts): to be removed for release
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# -----------------------------------------
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- name: Set up Python 3.10
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uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- name: Change envs dependencies as local path
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run: python .github/scripts/dep_build.py
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# -----------------------------------------
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- name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_PASSWORD }}
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- name: Build and Push CPU
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uses: docker/build-push-action@v5
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with:
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context: .
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file: ./docker/lerobot-cpu/Dockerfile
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push: true
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tags: huggingface/lerobot-cpu
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build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
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# - name: Post to a Slack channel
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# id: slack
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# #uses: slackapi/slack-github-action@v1.25.0
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||||||
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# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
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||||||
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# with:
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||||||
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# # Slack channel id, channel name, or user id to post message.
|
||||||
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# # See also: https://api.slack.com/methods/chat.postMessage#channels
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# channel-id: ${{ env.CI_SLACK_CHANNEL }}
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# # For posting a rich message using Block Kit
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# payload: |
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# {
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# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
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# "blocks": [
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# {
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# "type": "section",
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# "text": {
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# "type": "mrkdwn",
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# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
|
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# }
|
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# }
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# ]
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# }
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# env:
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# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||||
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|
||||||
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latest-cuda:
|
||||||
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name: "Build GPU"
|
||||||
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runs-on: ubuntu-latest
|
||||||
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steps:
|
||||||
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- name: Cleanup disk
|
||||||
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run: |
|
||||||
|
sudo df -h
|
||||||
|
# sudo ls -l /usr/local/lib/
|
||||||
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# sudo ls -l /usr/share/
|
||||||
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sudo du -sh /usr/local/lib/
|
||||||
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sudo du -sh /usr/share/
|
||||||
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sudo rm -rf /usr/local/lib/android
|
||||||
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sudo rm -rf /usr/share/dotnet
|
||||||
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sudo du -sh /usr/local/lib/
|
||||||
|
sudo du -sh /usr/share/
|
||||||
|
sudo df -h
|
||||||
|
- name: Set up Docker Buildx
|
||||||
|
uses: docker/setup-buildx-action@v3
|
||||||
|
|
||||||
|
- name: Check out code
|
||||||
|
uses: actions/checkout@v4
|
||||||
|
|
||||||
|
- name: Checkout gym-aloha
|
||||||
|
uses: actions/checkout@v4
|
||||||
|
with:
|
||||||
|
repository: huggingface/gym-aloha
|
||||||
|
path: envs/gym-aloha
|
||||||
|
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||||
|
|
||||||
|
- name: Checkout gym-xarm
|
||||||
|
uses: actions/checkout@v4
|
||||||
|
with:
|
||||||
|
repository: huggingface/gym-xarm
|
||||||
|
path: envs/gym-xarm
|
||||||
|
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||||
|
|
||||||
|
- name: Checkout gym-pusht
|
||||||
|
uses: actions/checkout@v4
|
||||||
|
with:
|
||||||
|
repository: huggingface/gym-pusht
|
||||||
|
path: envs/gym-pusht
|
||||||
|
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||||
|
|
||||||
|
# HACK(aliberts): to be removed for release
|
||||||
|
# -----------------------------------------
|
||||||
|
- name: Set up Python 3.10
|
||||||
|
uses: actions/setup-python@v5
|
||||||
|
with:
|
||||||
|
python-version: "3.10"
|
||||||
|
|
||||||
|
- name: Change envs dependencies as local path
|
||||||
|
run: python .github/scripts/dep_build.py
|
||||||
|
# -----------------------------------------
|
||||||
|
|
||||||
|
- name: Login to DockerHub
|
||||||
|
uses: docker/login-action@v3
|
||||||
|
with:
|
||||||
|
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||||
|
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||||
|
|
||||||
|
- name: Build and Push GPU
|
||||||
|
uses: docker/build-push-action@v5
|
||||||
|
with:
|
||||||
|
context: .
|
||||||
|
file: ./docker/lerobot-gpu/Dockerfile
|
||||||
|
push: true
|
||||||
|
tags: huggingface/lerobot-gpu
|
||||||
|
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
|
||||||
|
|
||||||
|
# - name: Post to a Slack channel
|
||||||
|
# id: slack
|
||||||
|
# #uses: slackapi/slack-github-action@v1.25.0
|
||||||
|
# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
|
||||||
|
# with:
|
||||||
|
# # Slack channel id, channel name, or user id to post message.
|
||||||
|
# # See also: https://api.slack.com/methods/chat.postMessage#channels
|
||||||
|
# channel-id: ${{ env.CI_SLACK_CHANNEL }}
|
||||||
|
# # For posting a rich message using Block Kit
|
||||||
|
# payload: |
|
||||||
|
# {
|
||||||
|
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
|
||||||
|
# "blocks": [
|
||||||
|
# {
|
||||||
|
# "type": "section",
|
||||||
|
# "text": {
|
||||||
|
# "type": "mrkdwn",
|
||||||
|
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
|
||||||
|
# }
|
||||||
|
# }
|
||||||
|
# ]
|
||||||
|
# }
|
||||||
|
# env:
|
||||||
|
# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||||
|
|
@ -0,0 +1,85 @@
|
||||||
|
# Inspired by
|
||||||
|
# https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
|
||||||
|
name: Nightly Tests
|
||||||
|
|
||||||
|
on:
|
||||||
|
workflow_dispatch:
|
||||||
|
schedule:
|
||||||
|
- cron: "0 2 * * *"
|
||||||
|
|
||||||
|
env:
|
||||||
|
DATA_DIR: tests/data
|
||||||
|
# SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
|
||||||
|
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
run_all_tests_cpu:
|
||||||
|
name: "Test CPU"
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
container:
|
||||||
|
image: huggingface/lerobot-cpu:latest
|
||||||
|
options: --shm-size "16gb"
|
||||||
|
credentials:
|
||||||
|
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||||
|
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||||
|
defaults:
|
||||||
|
run:
|
||||||
|
shell: bash
|
||||||
|
working-directory: /lerobot
|
||||||
|
steps:
|
||||||
|
- name: Tests
|
||||||
|
env:
|
||||||
|
DATA_DIR: tests/data
|
||||||
|
run: pytest -v --cov=./lerobot --disable-warnings tests
|
||||||
|
- name: Tests end-to-end
|
||||||
|
env:
|
||||||
|
DATA_DIR: tests/data
|
||||||
|
run: make test-end-to-end
|
||||||
|
|
||||||
|
run_all_tests_single_gpu:
|
||||||
|
name: "Test GPU"
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
runs-on: [single-gpu, nvidia-gpu, t4, ci]
|
||||||
|
env:
|
||||||
|
CUDA_VISIBLE_DEVICES: "0"
|
||||||
|
TEST_TYPE: "single_gpu"
|
||||||
|
container:
|
||||||
|
image: huggingface/lerobot-gpu:latest
|
||||||
|
options: --gpus all --shm-size "16gb"
|
||||||
|
credentials:
|
||||||
|
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||||
|
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||||
|
defaults:
|
||||||
|
run:
|
||||||
|
shell: bash
|
||||||
|
working-directory: /lerobot
|
||||||
|
steps:
|
||||||
|
- name: Nvidia-smi
|
||||||
|
run: nvidia-smi
|
||||||
|
- name: Test
|
||||||
|
run: pytest -v --cov=./lerobot --cov-report=xml --disable-warnings tests
|
||||||
|
# TODO(aliberts): Link with HF Codecov account
|
||||||
|
# - name: Upload coverage reports to Codecov with GitHub Action
|
||||||
|
# uses: codecov/codecov-action@v4
|
||||||
|
# with:
|
||||||
|
# files: ./coverage.xml
|
||||||
|
# verbose: true
|
||||||
|
- name: Tests end-to-end
|
||||||
|
run: make test-end-to-end
|
||||||
|
- name: Tailscale Wait
|
||||||
|
if: ${{ failure() || runner.debug == '1' }}
|
||||||
|
uses: huggingface/tailscale-action@v1
|
||||||
|
with:
|
||||||
|
waitForSSH: true
|
||||||
|
authkey: ${{ secrets.TAILSCALE_SSH_AUTHKEY }}
|
||||||
|
slackChannel: ${{ secrets.SLACK_CIFEEDBACK_CHANNEL }}
|
||||||
|
slackToken: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||||
|
|
||||||
|
# - name: Generate Report
|
||||||
|
# if: always()
|
||||||
|
# run: |
|
||||||
|
# pip install slack_sdk tabulate
|
||||||
|
# python scripts/log_reports.py >> $GITHUB_STEP_SUMMARY
|
||||||
|
|
@ -0,0 +1,120 @@
|
||||||
|
# name: Tests poetry
|
||||||
|
|
||||||
|
# on:
|
||||||
|
# pull_request:
|
||||||
|
# branches:
|
||||||
|
# - main
|
||||||
|
# push:
|
||||||
|
# branches:
|
||||||
|
# - main
|
||||||
|
|
||||||
|
# jobs:
|
||||||
|
# tests:
|
||||||
|
# runs-on: ubuntu-latest
|
||||||
|
# env:
|
||||||
|
# POETRY_VERSION: 1.8.2
|
||||||
|
# DATA_DIR: tests/data
|
||||||
|
# MUJOCO_GL: egl
|
||||||
|
# steps:
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # check-out repo and set-up python
|
||||||
|
# #----------------------------------------------
|
||||||
|
# - name: Check out repository
|
||||||
|
# uses: actions/checkout@v4
|
||||||
|
# with:
|
||||||
|
# lfs: true
|
||||||
|
|
||||||
|
# - name: Set up python
|
||||||
|
# id: setup-python
|
||||||
|
# uses: actions/setup-python@v5
|
||||||
|
# with:
|
||||||
|
# python-version: '3.10'
|
||||||
|
|
||||||
|
# - name: Add SSH key for installing envs
|
||||||
|
# uses: webfactory/ssh-agent@v0.9.0
|
||||||
|
# with:
|
||||||
|
# ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||||
|
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # install & configure poetry
|
||||||
|
# #----------------------------------------------
|
||||||
|
# - name: Load cached Poetry installation
|
||||||
|
# id: restore-poetry-cache
|
||||||
|
# uses: actions/cache/restore@v3
|
||||||
|
# with:
|
||||||
|
# path: ~/.local
|
||||||
|
# key: poetry-${{ env.POETRY_VERSION }}
|
||||||
|
|
||||||
|
# - name: Install Poetry
|
||||||
|
# if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
|
||||||
|
# uses: snok/install-poetry@v1
|
||||||
|
# with:
|
||||||
|
# version: ${{ env.POETRY_VERSION }}
|
||||||
|
# virtualenvs-create: true
|
||||||
|
# installer-parallel: true
|
||||||
|
|
||||||
|
# - name: Save cached Poetry installation
|
||||||
|
# if: |
|
||||||
|
# steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
|
||||||
|
# github.ref_name == 'main'
|
||||||
|
# id: save-poetry-cache
|
||||||
|
# uses: actions/cache/save@v3
|
||||||
|
# with:
|
||||||
|
# path: ~/.local
|
||||||
|
# key: poetry-${{ env.POETRY_VERSION }}
|
||||||
|
|
||||||
|
# - name: Configure Poetry
|
||||||
|
# run: poetry config virtualenvs.in-project true
|
||||||
|
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # install dependencies
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # TODO(aliberts): move to gpu runners
|
||||||
|
# - name: Select cpu dependencies # HACK
|
||||||
|
# run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
|
||||||
|
|
||||||
|
# - name: Load cached venv
|
||||||
|
# id: restore-dependencies-cache
|
||||||
|
# uses: actions/cache/restore@v3
|
||||||
|
# with:
|
||||||
|
# path: .venv
|
||||||
|
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||||
|
|
||||||
|
# - name: Install dependencies
|
||||||
|
# if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
||||||
|
# run: poetry install --no-interaction --no-root --all-extras
|
||||||
|
|
||||||
|
# - name: Save cached venv
|
||||||
|
# if: |
|
||||||
|
# steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
|
||||||
|
# github.ref_name == 'main'
|
||||||
|
# id: save-dependencies-cache
|
||||||
|
# uses: actions/cache/save@v3
|
||||||
|
# with:
|
||||||
|
# path: .venv
|
||||||
|
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||||
|
|
||||||
|
# - name: Install EGL
|
||||||
|
# run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
|
||||||
|
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # install project
|
||||||
|
# #----------------------------------------------
|
||||||
|
# - name: Install project
|
||||||
|
# run: poetry install --no-interaction --all-extras
|
||||||
|
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # run tests & coverage
|
||||||
|
# #----------------------------------------------
|
||||||
|
# - name: Run tests
|
||||||
|
# run: |
|
||||||
|
# source .venv/bin/activate
|
||||||
|
# pytest -v --cov=./lerobot tests
|
||||||
|
|
||||||
|
# #----------------------------------------------
|
||||||
|
# # run end-to-end tests
|
||||||
|
# #----------------------------------------------
|
||||||
|
# - name: Tests end-to-end
|
||||||
|
# run: |
|
||||||
|
# source .venv/bin/activate
|
||||||
|
# make test-end-to-end
|
||||||
|
|
@ -4,210 +4,43 @@ on:
|
||||||
pull_request:
|
pull_request:
|
||||||
branches:
|
branches:
|
||||||
- main
|
- main
|
||||||
types: [opened, synchronize, reopened, labeled]
|
|
||||||
push:
|
push:
|
||||||
branches:
|
branches:
|
||||||
- main
|
- main
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
tests:
|
tests:
|
||||||
if: |
|
|
||||||
${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
|
|
||||||
${{ github.event_name == 'push' }}
|
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
env:
|
env:
|
||||||
POETRY_VERSION: 1.8.2
|
|
||||||
DATA_DIR: tests/data
|
DATA_DIR: tests/data
|
||||||
MUJOCO_GL: egl
|
MUJOCO_GL: egl
|
||||||
steps:
|
steps:
|
||||||
#----------------------------------------------
|
|
||||||
# check-out repo and set-up python
|
|
||||||
#----------------------------------------------
|
|
||||||
- name: Check out repository
|
|
||||||
uses: actions/checkout@v4
|
|
||||||
with:
|
|
||||||
lfs: true
|
|
||||||
|
|
||||||
- name: Set up python
|
|
||||||
id: setup-python
|
|
||||||
uses: actions/setup-python@v5
|
|
||||||
with:
|
|
||||||
python-version: '3.10'
|
|
||||||
|
|
||||||
- name: Add SSH key for installing envs
|
- name: Add SSH key for installing envs
|
||||||
uses: webfactory/ssh-agent@v0.9.0
|
uses: webfactory/ssh-agent@v0.9.0
|
||||||
with:
|
with:
|
||||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||||
|
|
||||||
#----------------------------------------------
|
- uses: actions/checkout@v4
|
||||||
# install & configure poetry
|
|
||||||
#----------------------------------------------
|
|
||||||
- name: Load cached Poetry installation
|
|
||||||
id: restore-poetry-cache
|
|
||||||
uses: actions/cache/restore@v3
|
|
||||||
with:
|
with:
|
||||||
path: ~/.local
|
lfs: true
|
||||||
key: poetry-${{ env.POETRY_VERSION }}
|
|
||||||
|
|
||||||
- name: Install Poetry
|
- name: Set up Python 3.10
|
||||||
if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
|
uses: actions/setup-python@v5
|
||||||
uses: snok/install-poetry@v1
|
|
||||||
with:
|
with:
|
||||||
version: ${{ env.POETRY_VERSION }}
|
python-version: "3.10"
|
||||||
virtualenvs-create: true
|
cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
|
||||||
installer-parallel: true
|
cache-dependency-path: pyproject.toml
|
||||||
|
|
||||||
- name: Save cached Poetry installation
|
- name: Install EGL
|
||||||
if: |
|
|
||||||
steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
|
|
||||||
github.ref_name == 'main'
|
|
||||||
id: save-poetry-cache
|
|
||||||
uses: actions/cache/save@v3
|
|
||||||
with:
|
|
||||||
path: ~/.local
|
|
||||||
key: poetry-${{ env.POETRY_VERSION }}
|
|
||||||
|
|
||||||
- name: Configure Poetry
|
|
||||||
run: poetry config virtualenvs.in-project true
|
|
||||||
|
|
||||||
#----------------------------------------------
|
|
||||||
# install dependencies
|
|
||||||
#----------------------------------------------
|
|
||||||
# TODO(aliberts): move to gpu runners
|
|
||||||
- name: Select cpu dependencies # HACK
|
|
||||||
run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
|
|
||||||
|
|
||||||
- name: Load cached venv
|
|
||||||
id: restore-dependencies-cache
|
|
||||||
uses: actions/cache/restore@v3
|
|
||||||
with:
|
|
||||||
path: .venv
|
|
||||||
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
|
||||||
|
|
||||||
- name: Install dependencies
|
|
||||||
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
|
||||||
env:
|
|
||||||
TMPDIR: ~/tmp
|
|
||||||
TEMP: ~/tmp
|
|
||||||
TMP: ~/tmp
|
|
||||||
run: |
|
|
||||||
mkdir ~/tmp
|
|
||||||
poetry install --no-interaction --no-root --all-extras
|
|
||||||
|
|
||||||
- name: Save cached venv
|
|
||||||
if: |
|
|
||||||
steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
|
|
||||||
github.ref_name == 'main'
|
|
||||||
id: save-dependencies-cache
|
|
||||||
uses: actions/cache/save@v3
|
|
||||||
with:
|
|
||||||
path: .venv
|
|
||||||
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
|
||||||
|
|
||||||
- name: Install libegl1-mesa-dev (to use MUJOCO_GL=egl)
|
|
||||||
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
|
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
|
||||||
|
|
||||||
#----------------------------------------------
|
- name: Install pip dependencies
|
||||||
# install project
|
|
||||||
#----------------------------------------------
|
|
||||||
- name: Install project
|
|
||||||
run: poetry install --no-interaction --all-extras
|
|
||||||
|
|
||||||
#----------------------------------------------
|
|
||||||
# run tests & coverage
|
|
||||||
#----------------------------------------------
|
|
||||||
- name: Run tests
|
|
||||||
run: |
|
run: |
|
||||||
source .venv/bin/activate
|
python -m pip install --upgrade pip
|
||||||
pytest -v --cov=./lerobot --cov-report=xml tests
|
pip install -e ".[test, aloha, xarm, pusht]"
|
||||||
|
|
||||||
# TODO(aliberts): Link with HF Codecov account
|
- name: Test with pytest
|
||||||
# - name: Upload coverage reports to Codecov with GitHub Action
|
run: pytest -v --cov=./lerobot tests
|
||||||
# uses: codecov/codecov-action@v4
|
|
||||||
# with:
|
|
||||||
# files: ./coverage.xml
|
|
||||||
# verbose: true
|
|
||||||
|
|
||||||
#----------------------------------------------
|
- name: Test end-to-end
|
||||||
# run end-to-end tests
|
run: make test-end-to-end
|
||||||
#----------------------------------------------
|
|
||||||
- name: Test train ACT on ALOHA end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/train.py \
|
|
||||||
policy=act \
|
|
||||||
env=aloha \
|
|
||||||
wandb.enable=False \
|
|
||||||
offline_steps=2 \
|
|
||||||
online_steps=0 \
|
|
||||||
eval_episodes=1 \
|
|
||||||
device=cpu \
|
|
||||||
save_model=true \
|
|
||||||
save_freq=2 \
|
|
||||||
policy.n_action_steps=20 \
|
|
||||||
policy.chunk_size=20 \
|
|
||||||
policy.batch_size=2 \
|
|
||||||
hydra.run.dir=tests/outputs/act/
|
|
||||||
|
|
||||||
- name: Test eval ACT on ALOHA end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/eval.py \
|
|
||||||
--config tests/outputs/act/.hydra/config.yaml \
|
|
||||||
eval_episodes=1 \
|
|
||||||
env.episode_length=8 \
|
|
||||||
device=cpu \
|
|
||||||
policy.pretrained_model_path=tests/outputs/act/models/2.pt
|
|
||||||
|
|
||||||
- name: Test train Diffusion on PushT end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/train.py \
|
|
||||||
policy=diffusion \
|
|
||||||
env=pusht \
|
|
||||||
wandb.enable=False \
|
|
||||||
offline_steps=2 \
|
|
||||||
online_steps=0 \
|
|
||||||
eval_episodes=1 \
|
|
||||||
device=cpu \
|
|
||||||
save_model=true \
|
|
||||||
save_freq=2 \
|
|
||||||
policy.batch_size=2 \
|
|
||||||
hydra.run.dir=tests/outputs/diffusion/
|
|
||||||
|
|
||||||
- name: Test eval Diffusion on PushT end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/eval.py \
|
|
||||||
--config tests/outputs/diffusion/.hydra/config.yaml \
|
|
||||||
eval_episodes=1 \
|
|
||||||
env.episode_length=8 \
|
|
||||||
device=cpu \
|
|
||||||
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
|
|
||||||
|
|
||||||
- name: Test train TDMPC on Simxarm end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/train.py \
|
|
||||||
policy=tdmpc \
|
|
||||||
env=xarm \
|
|
||||||
wandb.enable=False \
|
|
||||||
offline_steps=1 \
|
|
||||||
online_steps=2 \
|
|
||||||
eval_episodes=1 \
|
|
||||||
env.episode_length=2 \
|
|
||||||
device=cpu \
|
|
||||||
save_model=true \
|
|
||||||
save_freq=2 \
|
|
||||||
policy.batch_size=2 \
|
|
||||||
hydra.run.dir=tests/outputs/tdmpc/
|
|
||||||
|
|
||||||
- name: Test eval TDMPC on Simxarm end-to-end
|
|
||||||
run: |
|
|
||||||
source .venv/bin/activate
|
|
||||||
python lerobot/scripts/eval.py \
|
|
||||||
--config tests/outputs/tdmpc/.hydra/config.yaml \
|
|
||||||
eval_episodes=1 \
|
|
||||||
env.episode_length=8 \
|
|
||||||
device=cpu \
|
|
||||||
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,84 @@
|
||||||
|
.PHONY: tests
|
||||||
|
|
||||||
|
build-cpu:
|
||||||
|
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
|
||||||
|
|
||||||
|
build-gpu:
|
||||||
|
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
|
||||||
|
|
||||||
|
test-end-to-end:
|
||||||
|
${MAKE} test-act-ete-train
|
||||||
|
${MAKE} test-act-ete-eval
|
||||||
|
${MAKE} test-diffusion-ete-train
|
||||||
|
${MAKE} test-diffusion-ete-eval
|
||||||
|
${MAKE} test-tdmpc-ete-train
|
||||||
|
${MAKE} test-tdmpc-ete-eval
|
||||||
|
|
||||||
|
test-act-ete-train:
|
||||||
|
python lerobot/scripts/train.py \
|
||||||
|
policy=act \
|
||||||
|
env=aloha \
|
||||||
|
wandb.enable=False \
|
||||||
|
offline_steps=2 \
|
||||||
|
online_steps=0 \
|
||||||
|
eval_episodes=1 \
|
||||||
|
device=cpu \
|
||||||
|
save_model=true \
|
||||||
|
save_freq=2 \
|
||||||
|
policy.n_action_steps=20 \
|
||||||
|
policy.chunk_size=20 \
|
||||||
|
policy.batch_size=2 \
|
||||||
|
hydra.run.dir=tests/outputs/act/
|
||||||
|
|
||||||
|
test-act-ete-eval:
|
||||||
|
python lerobot/scripts/eval.py \
|
||||||
|
--config tests/outputs/act/.hydra/config.yaml \
|
||||||
|
eval_episodes=1 \
|
||||||
|
env.episode_length=8 \
|
||||||
|
device=cpu \
|
||||||
|
policy.pretrained_model_path=tests/outputs/act/models/2.pt
|
||||||
|
|
||||||
|
test-diffusion-ete-train:
|
||||||
|
python lerobot/scripts/train.py \
|
||||||
|
policy=diffusion \
|
||||||
|
env=pusht \
|
||||||
|
wandb.enable=False \
|
||||||
|
offline_steps=2 \
|
||||||
|
online_steps=0 \
|
||||||
|
eval_episodes=1 \
|
||||||
|
device=cpu \
|
||||||
|
save_model=true \
|
||||||
|
save_freq=2 \
|
||||||
|
policy.batch_size=2 \
|
||||||
|
hydra.run.dir=tests/outputs/diffusion/
|
||||||
|
|
||||||
|
test-diffusion-ete-eval:
|
||||||
|
python lerobot/scripts/eval.py \
|
||||||
|
--config tests/outputs/diffusion/.hydra/config.yaml \
|
||||||
|
eval_episodes=1 \
|
||||||
|
env.episode_length=8 \
|
||||||
|
device=cpu \
|
||||||
|
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
|
||||||
|
|
||||||
|
test-tdmpc-ete-train:
|
||||||
|
python lerobot/scripts/train.py \
|
||||||
|
policy=tdmpc \
|
||||||
|
env=xarm \
|
||||||
|
wandb.enable=False \
|
||||||
|
offline_steps=1 \
|
||||||
|
online_steps=2 \
|
||||||
|
eval_episodes=1 \
|
||||||
|
env.episode_length=2 \
|
||||||
|
device=cpu \
|
||||||
|
save_model=true \
|
||||||
|
save_freq=2 \
|
||||||
|
policy.batch_size=2 \
|
||||||
|
hydra.run.dir=tests/outputs/tdmpc/
|
||||||
|
|
||||||
|
test-tdmpc-ete-eval:
|
||||||
|
python lerobot/scripts/eval.py \
|
||||||
|
--config tests/outputs/tdmpc/.hydra/config.yaml \
|
||||||
|
eval_episodes=1 \
|
||||||
|
env.episode_length=8 \
|
||||||
|
device=cpu \
|
||||||
|
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
|
||||||
|
|
@ -0,0 +1,31 @@
|
||||||
|
# Configure image
|
||||||
|
ARG PYTHON_VERSION=3.10
|
||||||
|
|
||||||
|
FROM python:${PYTHON_VERSION}-slim
|
||||||
|
ARG PYTHON_VERSION
|
||||||
|
ARG DEBIAN_FRONTEND=noninteractive
|
||||||
|
|
||||||
|
# Install apt dependencies
|
||||||
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||||
|
build-essential cmake \
|
||||||
|
libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
|
||||||
|
&& apt-get clean && rm -rf /var/lib/apt/lists/*
|
||||||
|
|
||||||
|
# Create virtual environment
|
||||||
|
RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
|
||||||
|
RUN python -m venv /opt/venv
|
||||||
|
ENV PATH="/opt/venv/bin:$PATH"
|
||||||
|
RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
|
||||||
|
|
||||||
|
# Install LeRobot
|
||||||
|
COPY . /lerobot
|
||||||
|
WORKDIR /lerobot
|
||||||
|
RUN pip install --upgrade --no-cache-dir pip
|
||||||
|
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" \
|
||||||
|
--extra-index-url https://download.pytorch.org/whl/cpu
|
||||||
|
|
||||||
|
# Set EGL as the rendering backend for MuJoCo
|
||||||
|
ENV MUJOCO_GL="egl"
|
||||||
|
|
||||||
|
# Execute in bash shell rather than python
|
||||||
|
CMD ["/bin/bash"]
|
||||||
|
|
@ -0,0 +1,29 @@
|
||||||
|
FROM nvidia/cuda:12.4.1-base-ubuntu22.04
|
||||||
|
|
||||||
|
# Configure image
|
||||||
|
ARG PYTHON_VERSION=3.10
|
||||||
|
ARG DEBIAN_FRONTEND=noninteractive
|
||||||
|
|
||||||
|
|
||||||
|
# Install apt dependencies
|
||||||
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||||
|
build-essential cmake \
|
||||||
|
libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
|
||||||
|
python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
|
||||||
|
&& apt-get clean && rm -rf /var/lib/apt/lists/*
|
||||||
|
|
||||||
|
|
||||||
|
# Create virtual environment
|
||||||
|
RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
|
||||||
|
RUN python -m venv /opt/venv
|
||||||
|
ENV PATH="/opt/venv/bin:$PATH"
|
||||||
|
RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
|
||||||
|
|
||||||
|
# Install LeRobot
|
||||||
|
COPY . /lerobot
|
||||||
|
WORKDIR /lerobot
|
||||||
|
RUN pip install --upgrade --no-cache-dir pip
|
||||||
|
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
|
||||||
|
|
||||||
|
# Set EGL as the rendering backend for MuJoCo
|
||||||
|
ENV MUJOCO_GL="egl"
|
||||||
|
|
@ -1164,7 +1164,7 @@ mujoco = "^2.3.7"
|
||||||
type = "git"
|
type = "git"
|
||||||
url = "git@github.com:huggingface/gym-xarm.git"
|
url = "git@github.com:huggingface/gym-xarm.git"
|
||||||
reference = "HEAD"
|
reference = "HEAD"
|
||||||
resolved_reference = "6a88f7d63833705dfbec4b997bf36cac6b4a448c"
|
resolved_reference = "27e65c981f9a8d252eca8f157f83508ba6149db7"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "gymnasium"
|
name = "gymnasium"
|
||||||
|
|
@ -2909,6 +2909,7 @@ files = [
|
||||||
{file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
|
{file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
|
||||||
{file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
|
{file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
|
||||||
{file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
|
{file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
|
||||||
|
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
|
||||||
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
|
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
|
||||||
{file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
|
{file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
|
||||||
{file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
|
{file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
from .utils import DEVICE
|
||||||
|
|
||||||
|
|
||||||
|
def pytest_collection_finish():
|
||||||
|
print(f"\nTesting with {DEVICE=}")
|
||||||
Loading…
Reference in New Issue