fix: #12 — Academic Citations and Collaboration #285

Workflow file for this run

	name: CI

	on:
	push:
	branches: [main]
	pull_request:
	branches: [main]

	concurrency:
	group: gpu-${{ github.head_ref \|\| github.ref }}
	cancel-in-progress: true

	permissions:
	contents: read

	jobs:
	lint:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4
	- name: Install dependencies
	run: uv pip install --system ruff mypy
	- name: Ruff lint
	run: ruff check .
	- name: Ruff format check
	run: ruff format --check .
	- name: Mypy type check
	run: mypy src/

	test:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	python-version: ["3.10", "3.11", "3.12", "3.13"]
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: ${{ matrix.python-version }}
	- name: Install uv
	uses: astral-sh/setup-uv@v4
	- name: Install package with dev dependencies
	run: uv pip install --system -e ".[dev]"
	- name: Run tests with coverage
	run: pytest

	test-mujoco:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4
	- name: Install system dependencies (OSMesa for headless rendering)
	run: sudo apt-get update && sudo apt-get install -y libosmesa6-dev
	- name: Install package with demo and dev dependencies
	run: uv pip install --system -e ".[demo,dev]"
	- name: Run tests (including MuJoCo-dependent tests)
	env:
	MUJOCO_GL: osmesa
	run: pytest

	mujoco-example:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4

	- name: Install system dependencies (OSMesa for headless rendering)
	run: sudo apt-get update && sudo apt-get install -y libosmesa6-dev

	- name: Install package with demo dependencies
	run: uv pip install --system -e ".[demo]"

	- name: Run MuJoCo grasp example
	env:
	MUJOCO_GL: osmesa
	run: python examples/mujoco_grasp.py --report --assert-success --output-dir ./harness_output

	- name: Upload visual artifacts
	if: always()
	uses: actions/upload-artifact@v4
	with:
	name: mujoco-grasp-output
	path: \|
	harness_output/report.html
	harness_output/mujoco_grasp/trial_001/*/_rgb.png
	harness_output/mujoco_grasp/trial_001/**/metadata.json
	retention-days: 30

	- name: Post summary with checkpoint images
	if: always()
	run: \|
	echo "## MuJoCo Grasp Example Results" >> $GITHUB_STEP_SUMMARY
	echo "" >> $GITHUB_STEP_SUMMARY
	echo "Checkpoint captures from the scripted grasp sequence:" >> $GITHUB_STEP_SUMMARY
	echo "" >> $GITHUB_STEP_SUMMARY
	for cp in harness_output/mujoco_grasp/trial_001/*/; do
	name=$(basename "$cp")
	echo "### ${name}" >> $GITHUB_STEP_SUMMARY
	echo "" >> $GITHUB_STEP_SUMMARY
	if [ -f "${cp}front_rgb.png" ]; then
	echo "![${name} front view](data:image/png;base64,$(base64 -w0 "${cp}front_rgb.png"))" >> $GITHUB_STEP_SUMMARY
	fi
	if [ -f "${cp}metadata.json" ]; then
	step=$(python3 -c "import json; print(json.load(open('${cp}metadata.json'))['step'])")
	sim_time=$(python3 -c "import json; print(f\"{json.load(open('${cp}metadata.json'))['sim_time']:.3f}\")")
	echo "" >> $GITHUB_STEP_SUMMARY
	echo "Step: ${step} \| Sim time: ${sim_time}s" >> $GITHUB_STEP_SUMMARY
	fi
	echo "" >> $GITHUB_STEP_SUMMARY
	done
	echo "---" >> $GITHUB_STEP_SUMMARY
	echo "Download the full artifact (including HTML report) from the Actions tab." >> $GITHUB_STEP_SUMMARY

	lerobot-g1-native-example:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4

	- name: Install system dependencies (OSMesa for headless rendering)
	run: sudo apt-get update && sudo apt-get install -y libosmesa6-dev

	- name: Install package with demo + unitree dependencies
	run: uv pip install --system -e ".[demo,unitree]"

	- name: Install CPU PyTorch and lerobot
	run: \|
	uv pip install --system torch --index-url https://download.pytorch.org/whl/cpu
	uv pip install --system lerobot

	- name: Install lerobot/unitree-g1-mujoco runtime deps
	run: uv pip install --system loguru pygame scipy pyyaml

	- name: Cache HuggingFace models
	uses: actions/cache@v4
	with:
	path: ~/.cache/huggingface/hub
	key: hf-models-${{ runner.os }}-v1

	- name: Run native LeRobot G1 example (GR00T)
	env:
	MUJOCO_GL: osmesa
	run: python examples/lerobot_g1_native.py --controller groot --report --assert-success --output-dir ./harness_output

	- name: Upload visual artifacts
	if: always()
	uses: actions/upload-artifact@v4
	with:
	name: lerobot-g1-native-output
	path: \|
	harness_output/lerobot_g1_native_groot_report.html
	harness_output/lerobot_g1_native_groot/trial_001/*/_rgb.png
	harness_output/lerobot_g1_native_groot/trial_001/**/metadata.json
	retention-days: 30

	gpu-changes:
	runs-on: ubuntu-latest
	outputs:
	gpu_relevant: ${{ steps.filter.outputs.gpu }}
	steps:
	- uses: actions/checkout@v4
	- uses: dorny/paths-filter@v3
	id: filter
	with:
	filters: \|
	gpu:
	- 'tests/test_gpu_smoke.py'
	- 'tests/test_isaac_lab_gpu.py'
	- 'tests/test_isaac_lab_compat.py'
	- 'src/roboharness/wrappers/gymnasium_wrapper.py'
	- '.cirun.yml'
	- 'Dockerfile.gpu'
	- '.github/workflows/ci.yml'

	gpu-test:
	needs: [gpu-changes]
	runs-on: [self-hosted, cirun-gpu]
	if: \|
	github.event_name == 'push' && github.ref == 'refs/heads/main'
	\|\| contains(github.event.pull_request.labels.*.name, 'gpu-test')
	\|\| needs.gpu-changes.outputs.gpu_relevant == 'true'
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4
	- name: Install package with dev dependencies and torch
	run: \|
	uv pip install --system -e ".[dev]"
	uv pip install --system torch --index-url https://download.pytorch.org/whl/cu121
	- name: Verify GPU
	run: \|
	nvidia-smi
	python -c 'import torch; print(f"CUDA: {torch.cuda.is_available()}, GPUs: {torch.cuda.device_count()}")'
	- name: Run GPU tests
	run: pytest -m gpu -v --no-cov

	lerobot-g1-example:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: "3.12"
	- name: Install uv
	uses: astral-sh/setup-uv@v4

	- name: Install system dependencies (OSMesa for headless rendering)
	run: sudo apt-get update && sudo apt-get install -y libosmesa6-dev

	- name: Install package with demo dependencies
	run: uv pip install --system -e ".[demo]"

	- name: Run LeRobot G1 example
	env:
	MUJOCO_GL: osmesa
	run: python examples/lerobot_g1.py --report --assert-success --output-dir ./harness_output

	- name: Upload visual artifacts
	if: always()
	uses: actions/upload-artifact@v4
	with:
	name: lerobot-g1-output
	path: \|
	harness_output/lerobot_g1_report.html
	harness_output/lerobot_g1/trial_001/*/_rgb.png
	harness_output/lerobot_g1/trial_001/**/metadata.json
	retention-days: 30

	- name: Post summary
	if: always()
	run: \|
	echo "## LeRobot G1 Example Results" >> $GITHUB_STEP_SUMMARY
	echo "" >> $GITHUB_STEP_SUMMARY
	echo "Checkpoint captures from the G1 humanoid validation:" >> $GITHUB_STEP_SUMMARY
	echo "" >> $GITHUB_STEP_SUMMARY
	for cp in harness_output/lerobot_g1/trial_001/*/; do
	name=$(basename "$cp")
	n_images=$(find "$cp" -name '*_rgb.png' 2>/dev/null \| wc -l)
	if [ -f "${cp}metadata.json" ]; then
	step=$(python3 -c "import json; print(json.load(open('${cp}metadata.json'))['step'])")
	echo "- ${name}: step ${step}, ${n_images} captures" >> $GITHUB_STEP_SUMMARY
	else
	echo "- ${name}: ${n_images} captures" >> $GITHUB_STEP_SUMMARY
	fi
	done
	echo "" >> $GITHUB_STEP_SUMMARY
	echo "Download the full artifact (including HTML report and images) from the Actions tab." >> $GITHUB_STEP_SUMMARY

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fix: #12 — Academic Citations and Collaboration #285

Workflow file

fix: #12 — Academic Citations and Collaboration #285

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Workflow file for this run