Control simulated robot with real leader #2512
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Tests | |
| on: | |
| pull_request: | |
| branches: | |
| - main | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "poetry.lock" | |
| - "Makefile" | |
| - ".cache/**" | |
| push: | |
| branches: | |
| - main | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "poetry.lock" | |
| - "Makefile" | |
| - ".cache/**" | |
| jobs: | |
| pytest: | |
| name: Pytest | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| # portaudio19-dev is needed to install pyaudio | |
| run: | | |
| sudo apt-get update && \ | |
| sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| cache: "poetry" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --all-extras | |
| - name: Test with pytest | |
| run: | | |
| pytest tests -v --cov=./lerobot --durations=0 \ | |
| -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \ | |
| -W ignore::UserWarning:torch.utils.data.dataloader:558 \ | |
| -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ | |
| && rm -rf tests/outputs outputs | |
| pytest-minimal: | |
| name: Pytest (minimal install) | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| run: sudo apt-get update && sudo apt-get install -y ffmpeg | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --extras "test" | |
| - name: Test with pytest | |
| run: | | |
| pytest tests -v --cov=./lerobot --durations=0 \ | |
| -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \ | |
| -W ignore::UserWarning:torch.utils.data.dataloader:558 \ | |
| -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ | |
| && rm -rf tests/outputs outputs | |
| end-to-end: | |
| name: End-to-end | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| # portaudio19-dev is needed to install pyaudio | |
| run: | | |
| sudo apt-get update && \ | |
| sudo apt-get install -y libegl1-mesa-dev portaudio19-dev | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| cache: "poetry" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --all-extras | |
| - name: Test end-to-end | |
| run: | | |
| make test-end-to-end \ | |
| && rm -rf outputs |