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install_and_test.yml
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name: Install and test
on:
pull_request: {}
push:
branches:
- main
tags: [ "v*" ]
schedule:
- cron: "0 5 * * *"
#this is 9PM PST
jobs:
pre-commit:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4.1.1
- name: Setup python
uses: actions/setup-python@v5.0.0
with:
python-version: '3.9.16'
- name: install dependencies
run: |-
pip install -U pip setuptools pre-commit
# Install the hooks now so that they'll be cached
pre-commit install-hooks
- name: Check Code Style using pre-commit
run: |-
SKIP=eslint pre-commit run --show-diff-on-failure --all-files
python_lint:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4.1.1
- name: Setup python
uses: actions/setup-python@v5.0.0
with:
python-version: '3.9.16'
- name: setup
run: |-
pip install -U pip
pip install -U --prefer-binary \
black==23.1.0 \
flake8 \
flake8-bugbear==22.6.22 \
flake8-builtins \
flake8-comprehensions \
flake8-return \
flake8-simplify \
hypothesis==6.29.3 \
isort==5.12.0 \
mypy \
numpy==1.26.4 \
pytest \
sphinx \
tqdm
pip install --prefer-binary -r requirements.txt torch --progress-bar off
- name: run black
run: |-
black --version
black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)' src_python/habitat_sim/. examples/. tests/. setup.py --diff
black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)' src_python/habitat_sim/. examples/. tests/. setup.py --check
- name: run isort
run: |-
isort --version
isort src_python/habitat_sim/. examples/. tests/. setup.py --diff
isort src_python/habitat_sim/. examples/. tests/. setup.py --check-only
- name: run flake8
run: |-
flake8 --version
flake8 src_python/habitat_sim/. examples/. tests/. setup.py
- name: run mypy
run: mypy
install_and_test_ubuntu:
runs-on: 4-core-ubuntu-gpu-t4
env:
FPS_THRESHOLD: 900
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
- name: CPU info
run: cat /proc/cpuinfo
- uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
- uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
- name: Build, install habitat-sim
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake312/
#activate conda env
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
#install habitat-sim
cd habitat-sim
pip install -r requirements.txt --progress-bar off
git submodule update --init --recursive --jobs 8
python -u setup.py install --build-type "Release" --lto --headless --bullet
- name: Download test data
run: |-
# Disable clone protection for git lfs
export GIT_CLONE_PROTECTION_ACTIVE=false
git --version
git-lfs --version
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
conda install -y gitpython git-lfs
cd habitat-sim
git lfs install
python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets ycb rearrange_dataset_v2 --replace --data-path data/ --no-prune
ls -la data/scene_datasets/habitat-test-scenes/
- name: Run sim benchmark
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
cd habitat-sim
python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
- name: Run sim tests
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake312/
#activate conda env
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
cd habitat-sim
export PYTHONPATH=$(pwd):$PYTHONPATH
#set pytest to show partial progress
export PYTHONUNBUFFERED=1
# run tests with code coverage
CORRADE_TEST_COLOR=ON GTEST_COLOR=yes ./build.sh --headless \
--bullet \
--with-cuda \
--build-datatool \
--run-tests \
--no-lto \
--cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./
#run the marked pytest-benchmark tests and print the results
PYTHONPATH=src_python pytest -m sim_benchmarks
#re-build without bullet and cuda and run physics tests again
#TODO: instead of reinstall, do this with configuration
./build.sh --headless --cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./ --cov-append tests/test_physics.py tests/test_sensors.py
- name: upload test coverage
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
cd habitat-sim
curl -Os https://uploader.codecov.io/latest/linux/codecov
chmod +x codecov
#Uploading test coverage for Python code
./codecov -f coverage.xml -cF Python
#Uploading test coverage for C++ code
lcov --directory . --capture --output-file coverage.info
# Replaces -1 linecount with zero to prevent lcov from crashing:
# https://github.com/psycofdj/coverxygen/issues/6
sed -i -e 's/,-1$/,0/g' coverage.info
#lcov --remove coverage.info "*/deps/*" --output-file coverage.info > /dev/null
#lcov --remove coverage.info "*/test/*" --output-file coverage.info > /dev/null
#lcov --remove coverage.info "*/tests/*" --output-file coverage.info > /dev/null
./codecov -f coverage.info -cF CPP
- name: install habitat-sim with audio and run audio_agent script
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake312/
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda init
source ~/.bashrc
conda activate habitat
cd habitat-sim
pip install -r requirements.txt --progress-bar off
pip install imageio imageio-ffmpeg
git submodule update --init --recursive --jobs 8
python -u setup.py install --build-type "Release" --lto --headless --audio
python examples/tutorials/audio_agent.py
#NOTE: use the below to debug with ssh: simply move this "job" just before the crashing job to intercept the workflow
#- name: Debugging with tmate
# uses: mxschmitt/action-tmate@v3.18
build_conda_binaries:
runs-on: 4-core-ubuntu-gpu-t4
env:
AIHABITAT_CONDA_USERNAME: aihabitat
AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
- name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
run: |-
echo "NIGHTLY=''" >> $GITHUB_ENV
echo "CI_TEST='true'" >> $GITHUB_ENV
if [[ ${{ github.event_name }} == 'push' ]]; then
if [[ ${GITHUB_REF} == refs/heads/* ]]; then
echo "trigger: a push to main branch"
elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
echo "trigger: a version tag push"
echo "CI_TEST='false'" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
fi
elif [[ ${{ github.event_name }} == 'schedule' ]]; then
echo "trigger: a nightly build"
echo "CI_TEST='false'" >> $GITHUB_ENV
echo "NIGHTLY='--nightly'" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
echo "trigger: a pull request"
fi
- name: Build conda Linux packages
run: |-
cd habitat-sim/conda-build
echo "Current event name: $GITHUB_EVENT_NAME"
echo ${{ env.CI_TEST }}
echo ${{ env.NIGHTLY }}
#pivot on the build type
if [[ ${{ env.CI_TEST }} ]]; then
echo "This is a CI test."
else
echo "This is a full conda build with deployment."
# Install anaconda to work with packages repo
curl -O https://repo.anaconda.com/archive/Anaconda3-2020.11-Linux-x86_64.sh
bash Anaconda3-2020.11-Linux-x86_64.sh -b -p $HOME/anaconda
export PATH=$HOME/anaconda/bin:$PATH
# Delete old nightly builds
#NOTE: The ${{ env.NIGHTLY }} == "--nightly" variable is necessary to trigger this
#python common/delete_old_night_packages.py --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} ${{ env.NIGHTLY }}
fi
#install Docker
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get update
apt-cache policy docker-ce
sudo apt-get install -y docker-ce
#build the container
docker build -t hsim_condabuild_dcontainer -f Dockerfile .
if [[ ${{ env.CI_TEST }} ]]; then
docker run --ipc=host --rm -v $(pwd)/../../:/remote hsim_condabuild_dcontainer /bin/bash -c "source ~/.bashrc && conda activate py39 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && python matrix_builder.py --ci_test"
else
docker run --ipc=host --rm -v $(pwd)/../../:/remote --env ${{ env.CONDA_PWD }} hsim_condabuild_dcontainer /bin/bash -c "source ~/.bashrc && conda activate py39 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && yes | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname "aihabitat-conda-ci-builder-linux" && python matrix_builder.py --conda_upload ${{ env.NIGHTLY }}"
fi
build_conda_osx:
runs-on: macos-14
env:
AIHABITAT_CONDA_USERNAME: aihabitat
AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
- name: Setup miniconda
uses: conda-incubator/setup-miniconda@v3
with:
miniconda-version: "latest"
python-version: "3.9"
activate-environment: "habitat"
- name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
run: |-
echo "NIGHTLY=''" >> $GITHUB_ENV
echo "CI_TEST='true'" >> $GITHUB_ENV
if [[ ${{ github.event_name }} == 'push' ]]; then
if [[ ${GITHUB_REF} == refs/heads/* ]]; then
echo "trigger: a push to main branch"
elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
echo "trigger: a version tag push"
echo "CI_TEST='false'" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
fi
elif [[ ${{ github.event_name }} == 'schedule' ]]; then
echo "trigger: a nightly build"
echo "CI_TEST='false'" >> $GITHUB_ENV
echo "NIGHTLY='--nightly'" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
echo "trigger: a pull request"
fi
#- name: Debugging with tmate
# uses: mxschmitt/action-tmate@v3.18
- name: Build conda OSX packages
run: |-
export PATH=$HOME/miniconda/bin:$PATH
conda init
conda activate habitat
conda install -y anaconda-client ccache cmake git ninja conda-build pip
echo $(which -a python)
pip install gitpython
cd habitat-sim
git submodule update --init --recursive --jobs 8
pip install .
pip uninstall -y habitat-sim
rm -rf build
(yes || true) | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname "aihabitat-conda-ci-builder-macos"
#pivot on the build type
if [[ ${{ env.CI_TEST }} ]]; then
echo "This is a CI test."
cd conda-build
export PYTHONIOENCODING="utf-8"
python matrix_builder.py --ci_test
else
conda config --set anaconda_upload yes
cd conda-build
export PYTHONIOENCODING="utf-8"
python matrix_builder.py ${{ env.NIGHTLY }}
fi