ci.yml

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