Close GR00T dogfood plan #403

Workflow file for this run

	name: CI

	on:
	push:
	branches: [main, claude/test-aws-gpu-ci-gl5Jf]
	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/demos/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/autonomous_report.json
	harness_output/mujoco_grasp/trial_001/alarms.json
	harness_output/mujoco_grasp/trial_001/phase_manifest.json
	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 dependencies
	run: uv pip install --system -e ".[demo]"

	- name: Install unitree SDK directly from fork
	run: \|
	# unitree-sdk2py is installed directly (not via a pyproject extra —
	# PyPI rejects packages with git-based direct references on upload)
	uv pip install --system "unitree-sdk2py @ git+https://github.com/MiaoDX-fork-and-pruning/unitree_sdk2_python_uv.git"

	- 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/demos/g1/lerobot_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/integration/gpu/test_gpu_smoke.py'
	- 'tests/integration/gpu/test_isaac_lab_gpu.py'
	- 'tests/unit/wrappers/test_isaac_lab_compat.py'
	- 'src/roboharness/wrappers/gymnasium_wrapper.py'
	- '.cirun.yml'
	- 'Dockerfile.gpu'
	- '.github/workflows/ci.yml'

	# ─── gpu-test (GCP) PAUSED 2026-04-14 ────────────────────────────────
	# GCP runner is currently paused in .cirun.yml; AWS Sydney is the
	# primary GPU CI. To re-enable, uncomment the block below AND
	# uncomment the GCP runner block in .cirun.yml.
	#
	# gpu-test:
	# needs: [gpu-changes]
	# runs-on: [self-hosted, cirun-gpu]
	# timeout-minutes: 45
	# # Only one GCP GPU job runs at a time globally — we only have quota for
	# # a single T4. `cancel-in-progress: true` so a new push immediately
	# # pre-empts any stale in-progress / queued job in this group; otherwise
	# # a stuck provisioning attempt would hold the slot indefinitely and
	# # every subsequent push would pile up behind it.
	# concurrency:
	# group: gpu-test-gcp
	# cancel-in-progress: true
	# 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
	# ─── End paused gpu-test (GCP) ───────────────────────────────────────

	# AWS GPU smoke test — primary GPU CI. Runs on the cirun-aws-gpu runner
	# provisioned on AWS (g4dn.xlarge in ap-southeast-2 + NVIDIA GPU-Optimized
	# AMI). Gated to the test branch and to the gpu-relevant paths filter so
	# we don't spin up AWS instances on unrelated pushes.
	gpu-test-aws:
	needs: [gpu-changes]
	runs-on: [self-hosted, cirun-aws-gpu]
	timeout-minutes: 45
	# Serialize AWS GPU jobs too. `cancel-in-progress: true` so a new push
	# pre-empts any stale in-progress / queued attempt — important because
	# Cirun provisioning on AWS can silently sit queued (e.g. if the
	# Dashboard has no AWS credentials or the Marketplace AMI subscription
	# is still propagating), and `false` would stack pushes behind forever.
	# Runs in a different group from gpu-test-gcp, so GCP and AWS do not
	# block each other.
	concurrency:
	group: gpu-test-aws
	cancel-in-progress: true
	if: \|
	github.ref == 'refs/heads/claude/test-aws-gpu-ci-gl5Jf'
	\|\| contains(github.event.pull_request.labels.*.name, 'gpu-test-aws')
	\|\| 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: Show host info
	run: \|
	uname -a
	cat /etc/os-release \|\| true
	nvidia-smi
	- 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 PyTorch CUDA
	run: \|
	python -c 'import torch; print(f"torch={torch.__version__}, CUDA available={torch.cuda.is_available()}, GPUs={torch.cuda.device_count()}, name={torch.cuda.get_device_name(0) if torch.cuda.is_available() else None}")'
	- 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/demos/g1/lerobot_locomotion.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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Close GR00T dogfood plan #403

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Close GR00T dogfood plan #403

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Workflow file for this run