name: Tests
on:
pull_request:
branches:
- main
types: [opened, synchronize, reopened, labeled]
push:
branches:
- main
jobs:
tests:
if: |
${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
${{ github.event_name == 'push' }}
runs-on: ubuntu-latest
env:
POETRY_VERSION: 1.8.2
DATA_DIR: tests/data
MUJOCO_GL: egl
steps:
#----------------------------------------------
# check-out repo and set-up python
#----------------------------------------------
- name: Check out repository
uses: actions/checkout@v4
with:
lfs: true
- name: Set up python
id: setup-python
uses: actions/setup-python@v5
with:
python-version: '3.10'
#----------------------------------------------
# install & configure poetry
#----------------------------------------------
- name: Load cached Poetry installation
id: restore-poetry-cache
uses: actions/cache/restore@v3
with:
path: ~/.local
key: poetry-${{ 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 }}-${{ hashFiles('**/poetry.lock') }}
- name: Install dependencies
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
env:
TMPDIR: ~/tmp
TEMP: ~/tmp
TMP: ~/tmp
run: |
mkdir ~/tmp
poetry install --no-interaction --no-root
- name: Save cached venv
if: |
steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
github.ref_name == 'main'
id: save-dependencies-cache
uses: actions/cache/save@v3
with:
path: .venv
key: venv-${{ 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
#----------------------------------------------
# install project
#----------------------------------------------
- name: Install project
run: poetry install --no-interaction
#----------------------------------------------
# run tests & coverage
#----------------------------------------------
- name: Run tests
env:
LEROBOT_TESTS_DEVICE: cpu
run: |
source .venv/bin/activate
pytest --cov=./lerobot --cov-report=xml 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
#----------------------------------------------
# run end-to-end tests
#----------------------------------------------
- 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 \
device=cpu \
save_model=true \
save_freq=2 \
horizon=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
# TODO(aliberts): This takes ~2mn to run, needs to be improved
# - name: Test eval ACT on ALOHA end-to-end (policy is None)
# run: |
# source .venv/bin/activate
# python lerobot/scripts/eval.py \
# --config lerobot/configs/default.yaml \
# policy=act \
# env=aloha \
# eval_episodes=1 \
# device=cpu
- 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 \
device=cpu \
save_model=true \
save_freq=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 eval Diffusion on PushT end-to-end (policy is None)
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
policy=diffusion \
env=pusht \
eval_episodes=1 \
device=cpu
- name: Test train TDMPC on Simxarm end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=tdmpc \
env=simxarm \
wandb.enable=False \
offline_steps=1 \
online_steps=1 \
device=cpu \
save_model=true \
save_freq=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
- name: Test eval TDPMC on Simxarm end-to-end (policy is None)
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
policy=tdmpc \
env=simxarm \
eval_episodes=1 \
device=cpu