[FEATURE] Add analytical collisions for capsule-capsule and capsule-sphere. #3803
Workflow file for this run
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| name: Production | |
| on: | |
| # Trigger the workflow on push on the master branch, or for any pull request | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| concurrency: | |
| # Cancel all workflows that are still running if any when updating branches associated with PRs, | |
| # BUT don't do anything for workflows that are not triggered by PRs. | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} | |
| cancel-in-progress: ${{ github.event_name == 'pull_request' }} | |
| env: | |
| # Note that secrets are not passed to workflows that are triggered by a pull request from a fork | |
| HF_TOKEN: ${{ secrets.HF_TOKEN }} | |
| HF_HUB_DOWNLOAD_TIMEOUT: 60 | |
| GENESIS_IMAGE_VER: "1_21" | |
| TIMEOUT_MINUTES: 60 | |
| FORCE_COLOR: 1 | |
| PY_COLORS: 1 | |
| MADRONA_DISABLE_CUDA_HEAP_SIZE: "1" | |
| jobs: | |
| unit-tests: | |
| name: production-unit_tests-${{ matrix.GS_ENABLE_NDARRAY == '0' && 'field' || 'ndarray' }} | |
| runs-on: [self-hosted, coreweave, genesis-world] | |
| strategy: | |
| fail-fast: true | |
| max-parallel: 1 | |
| matrix: | |
| GS_ENABLE_NDARRAY: ["0", "1"] | |
| env: | |
| GS_ENABLE_NDARRAY: ${{ matrix.GS_ENABLE_NDARRAY }} | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Spawn Slurm job | |
| if: github.event_name == 'pull_request' | |
| run: | | |
| SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)" | |
| CONTAINER_NAME="${SLURM_JOB_NAME}" | |
| SRUN_CONTAINER_OPTS="--container-name=${CONTAINER_NAME} \ | |
| --container-mounts=${{ github.workspace }}:/root/workspace,${HOME}/.cache/uv:/root/.cache/uv \ | |
| --no-container-mount-home \ | |
| --container-workdir=/root/workspace" | |
| SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY}" | |
| JOBID_FIFO="${{ github.workspace }}/.slurm_job_id_fifo" | |
| [[ -e "$JOBID_FIFO" ]] && rm -f "$JOBID_FIFO" | |
| mkfifo "$JOBID_FIFO" | |
| salloc --job-name="${SLURM_JOB_NAME}" \ | |
| --partition=hpc-high --nodes=1 --gpus=8 --exclusive \ | |
| --time="${TIMEOUT_MINUTES}" \ | |
| bash -c "echo \$SLURM_JOB_ID > $JOBID_FIFO; sleep ${TIMEOUT_MINUTES}m" & | |
| SLURM_JOB_ID=$(cat "$JOBID_FIFO") | |
| rm -f "$JOBID_FIFO" | |
| SRUN_COMMON="--overlap --jobid=${SLURM_JOB_ID} ${SRUN_CONTAINER_OPTS} --export=${SLURM_ENV_VARS}" | |
| srun --jobid=${SLURM_JOB_ID} \ | |
| --container-image=/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh \ | |
| ${SRUN_CONTAINER_OPTS} \ | |
| --export=${SLURM_ENV_VARS} \ | |
| echo "Container ready" | |
| echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV | |
| echo "SRUN_COMMON=${SRUN_COMMON}" >> "$GITHUB_ENV" | |
| - name: Initialize Python virtual env | |
| if: github.event_name == 'pull_request' | |
| run: srun ${SRUN_COMMON} bash .github/workflows/scripts/production_build.sh | |
| - name: Run unit tests | |
| if: github.event_name == 'pull_request' | |
| run: | | |
| srun ${SRUN_COMMON} bash -s <<'EOF' | |
| source /venv/bin/activate | |
| # sudo apt update | |
| # sudo apt install -y tmate | |
| # tmate -S /tmp/tmate.sock new-session -d | |
| # tmate -S /tmp/tmate.sock wait tmate-ready | |
| # tmate -S /tmp/tmate.sock display -p '#{tmate_ssh}' | |
| pytest -v -ra --backend gpu --dev --forked ./tests | |
| # tmate -S /tmp/tmate.sock wait tmate-exit | |
| EOF | |
| - name: Kill Slurm job | |
| if: always() | |
| run: | | |
| if [ -n "${SLURM_JOB_NAME}" ] ; then | |
| scancel --user=${USER} --name="${SLURM_JOB_NAME}" | |
| fi | |
| benchmarks: | |
| name: production-benchmarks-${{ matrix.GS_ENABLE_NDARRAY == '0' && 'field' || 'ndarray' }} | |
| needs: unit-tests | |
| runs-on: [self-hosted, coreweave, genesis-world] | |
| strategy: | |
| matrix: | |
| GS_ENABLE_NDARRAY: ["0", "1"] | |
| env: | |
| # Note that secrets are not passed to workflows that are triggered by a pull request from a fork | |
| WANDB_API_KEY: ${{ secrets.WANDB_API_KEY }} | |
| GS_ENABLE_NDARRAY: ${{ matrix.GS_ENABLE_NDARRAY }} | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| # Checkout full history is required to shallow cloning while mark HEAD as "grafted". This breaks remote | |
| # tracking thereby making it impossible to detect whether a commit is contained in upstream main. | |
| fetch-depth: 0 | |
| - name: Spawn Slurm job | |
| run: | | |
| SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)" | |
| CONTAINER_NAME="${SLURM_JOB_NAME}" | |
| SRUN_CONTAINER_OPTS="--container-name=${CONTAINER_NAME} \ | |
| --container-mounts=/mnt/data/artifacts:/mnt/data/artifacts,${{ github.workspace }}:/root/workspace,${HOME}/.cache/uv:/root/.cache/uv \ | |
| --no-container-mount-home \ | |
| --container-workdir=/root/workspace" | |
| SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY}" | |
| if [[ "${{ github.repository }}" == 'Genesis-Embodied-AI/Genesis' && "${{ github.ref }}" == 'refs/heads/main' ]] ; then | |
| SLURM_ENV_VARS="${SLURM_ENV_VARS},WANDB_API_KEY" | |
| fi | |
| JOBID_FIFO="${{ github.workspace }}/.slurm_job_id_fifo" | |
| [[ -e "$JOBID_FIFO" ]] && rm -f "$JOBID_FIFO" | |
| mkfifo "$JOBID_FIFO" | |
| salloc --job-name="${SLURM_JOB_NAME}" \ | |
| --partition=hpc-high --nodes=1 --gpus=8 --exclusive \ | |
| --time="${TIMEOUT_MINUTES}" \ | |
| bash -c "echo \$SLURM_JOB_ID > $JOBID_FIFO; sleep ${TIMEOUT_MINUTES}m" & | |
| SLURM_JOB_ID=$(cat "$JOBID_FIFO") | |
| rm -f "$JOBID_FIFO" | |
| SRUN_COMMON="--overlap --jobid=${SLURM_JOB_ID} ${SRUN_CONTAINER_OPTS} --export=${SLURM_ENV_VARS}" | |
| srun --jobid=${SLURM_JOB_ID} \ | |
| --container-image=/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh \ | |
| ${SRUN_CONTAINER_OPTS} \ | |
| --export=${SLURM_ENV_VARS} \ | |
| echo "Container ready" | |
| echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV | |
| echo "SRUN_COMMON=${SRUN_COMMON}" >> "$GITHUB_ENV" | |
| - name: Initialize Python virtual env | |
| run: srun ${SRUN_COMMON} bash .github/workflows/scripts/production_build.sh | |
| - name: Run benchmarks | |
| run: | | |
| srun ${SRUN_COMMON} bash -s <<'EOF' | |
| source /venv/bin/activate | |
| pytest --mem-monitoring-filepath "/mnt/data/artifacts/mem_test_${SLURM_JOB_NAME}.txt" \ | |
| --print -x -m "benchmarks" ./tests | |
| cat speed_test*.txt > "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt" | |
| if [ -n "${WANDB_API_KEY}" ] ; then { | |
| python tests/upload_benchmarks_table_to_wandb.py \ | |
| --in-file "/mnt/data/artifacts/mem_test_${SLURM_JOB_NAME}.txt" \ | |
| --project genesis-benchmarks-2 \ | |
| --metrics max_mem_mb \ | |
| --run-prefix mem | |
| } fi | |
| EOF | |
| - name: Kill Slurm job | |
| if: always() | |
| run: | | |
| if [ -n "${SLURM_JOB_NAME}" ] ; then | |
| scancel --user=${USER} --name="${SLURM_JOB_NAME}" | |
| fi | |
| - name: Display benchmark stats | |
| run: | | |
| cat "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt" | |
| - name: Upload benchmark stats as artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: speed-test-${{ matrix.GS_ENABLE_NDARRAY }} | |
| path: "/mnt/data/artifacts/speed_test_${{ env.SLURM_JOB_NAME }}.txt" | |
| - name: Upload benchmark mem stats as artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mem-test-${{ matrix.GS_ENABLE_NDARRAY }} | |
| path: "/mnt/data/artifacts/mem_test_${{ env.SLURM_JOB_NAME }}.txt" |