New calibration so100 #3256
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| # Copyright 2024 The HuggingFace Inc. team. All rights reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| name: Tests | |
| on: | |
| pull_request: | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "pyproject.toml" | |
| - ".pre-commit-config.yaml" | |
| - "Makefile" | |
| - ".cache/**" | |
| push: | |
| branches: | |
| - main | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "pyproject.toml" | |
| - ".pre-commit-config.yaml" | |
| - "Makefile" | |
| - ".cache/**" | |
| permissions: {} | |
| env: | |
| UV_VERSION: "0.6.0" | |
| jobs: | |
| pytest: | |
| name: Pytest | |
| runs-on: ubuntu-latest | |
| env: | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| persist-credentials: false | |
| - 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 uv and python | |
| uses: astral-sh/setup-uv@v5 | |
| with: | |
| enable-cache: true | |
| version: ${{ env.UV_VERSION }} | |
| python-version: "3.10" | |
| - name: Install lerobot (all extras) | |
| run: uv sync --all-extras | |
| - name: Test with pytest | |
| run: | | |
| uv 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: | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| persist-credentials: false | |
| - name: Install apt dependencies | |
| run: sudo apt-get update && sudo apt-get install -y ffmpeg | |
| - name: Install uv and python | |
| uses: astral-sh/setup-uv@v5 | |
| with: | |
| enable-cache: true | |
| version: ${{ env.UV_VERSION }} | |
| python-version: "3.10" | |
| - name: Install lerobot | |
| run: uv sync --extra "test" | |
| - name: Test with pytest | |
| run: | | |
| uv 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: | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| persist-credentials: false | |
| - 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 uv and python | |
| uses: astral-sh/setup-uv@v5 | |
| with: | |
| enable-cache: true | |
| version: ${{ env.UV_VERSION }} | |
| python-version: "3.10" | |
| - name: Install lerobot (all extras) | |
| run: | | |
| uv venv | |
| uv sync --all-extras | |
| - name: venv | |
| run: | | |
| echo "PYTHON_PATH=${{ github.workspace }}/.venv/bin/python" >> $GITHUB_ENV | |
| - name: Test end-to-end | |
| run: | | |
| make test-end-to-end \ | |
| && rm -rf outputs |