pages.yml

name: Deploy Visual Report to GitHub Pages

on:
  push:
    branches: [main]
  workflow_dispatch:

permissions:
  contents: read
  pages: write
  id-token: write

concurrency:
  group: pages
  cancel-in-progress: true

jobs:
  build:
    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 + WBC dependencies
        run: uv pip install --system -e ".[demo,wbc]"

      - name: Install unitree SDK, CPU PyTorch, and lerobot
        run: |
          # unitree-sdk2py is installed directly from the fork (not a pyproject
          # extra — PyPI rejects packages with git-based direct references).
          uv pip install --system "unitree-sdk2py @ git+https://github.com/MiaoDX-fork-and-pruning/unitree_sdk2_python_uv.git"
          uv pip install --system torch --index-url https://download.pytorch.org/whl/cpu
          uv pip install --system lerobot
          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 MuJoCo grasp example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/mujoco/grasp.py --report --output-dir ./harness_output

      - name: Run G1 WBC reach example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/g1/wbc_reach.py --report --output-dir ./harness_output

      - name: Run LeRobot G1 locomotion example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/g1/lerobot_locomotion.py --report --output-dir ./harness_output

      - name: Run native LeRobot G1 (GR00T) example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/g1/lerobot_native.py --controller groot --report --output-dir ./harness_output

      - name: Run native LeRobot G1 (SONIC) example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/g1/lerobot_native.py --controller sonic --report --output-dir ./harness_output

      - name: Run SONIC planner example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/sonic/locomotion.py --report --assert-success --output-dir ./harness_output

      - name: Run SONIC motion tracking example
        env:
          MUJOCO_GL: osmesa
        run: python examples/demos/sonic/tracking.py --report --assert-success --output-dir ./harness_output

      - name: Build static pages (landing)
        run: |
          mkdir -p _site
          cp .github/pages/index.html _site/index.html

      - name: Build demo reports
        run: |
          # --- Demo 1: Simple Grasp (with Meshcat 3D) ---
          mkdir -p _site/grasp
          cp harness_output/report.html _site/grasp/index.html
          for cp_dir in harness_output/mujoco_grasp/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/grasp/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/grasp/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"*_depth_viz.png "_site/grasp/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"meshcat_scene.html "_site/grasp/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/grasp/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/grasp/${cp_name}/" 2>/dev/null || true
          done
          cp harness_output/mujoco_grasp/trial_001/autonomous_report.json _site/grasp/ 2>/dev/null || true
          cp harness_output/mujoco_grasp/trial_001/alarms.json _site/grasp/ 2>/dev/null || true
          cp harness_output/mujoco_grasp/trial_001/phase_manifest.json _site/grasp/ 2>/dev/null || true

          # --- Demo 2: G1 WBC Reach ---
          mkdir -p _site/g1-reach
          cp harness_output/g1_wbc_reach_report.html _site/g1-reach/index.html
          for cp_dir in harness_output/g1_wbc_reach/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/g1-reach/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/g1-reach/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"*_depth_viz.png "_site/g1-reach/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"meshcat_scene.html "_site/g1-reach/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/g1-reach/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/g1-reach/${cp_name}/" 2>/dev/null || true
          done

          # --- Demo 3: LeRobot G1 Locomotion ---
          mkdir -p _site/g1-loco
          cp harness_output/lerobot_g1_report.html _site/g1-loco/index.html
          for cp_dir in harness_output/lerobot_g1/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/g1-loco/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/g1-loco/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/g1-loco/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/g1-loco/${cp_name}/" 2>/dev/null || true
          done

          # --- Demo 4a: Native LeRobot G1 (GR00T) ---
          mkdir -p _site/g1-native-groot
          cp harness_output/lerobot_g1_native_groot_report.html _site/g1-native-groot/index.html
          for cp_dir in harness_output/lerobot_g1_native_groot/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/g1-native-groot/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/g1-native-groot/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/g1-native-groot/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/g1-native-groot/${cp_name}/" 2>/dev/null || true
          done

          # --- Demo 4b: Native LeRobot G1 (SONIC) ---
          mkdir -p _site/g1-native-sonic
          cp harness_output/lerobot_g1_native_sonic_report.html _site/g1-native-sonic/index.html
          for cp_dir in harness_output/lerobot_g1_native_sonic/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/g1-native-sonic/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/g1-native-sonic/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/g1-native-sonic/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/g1-native-sonic/${cp_name}/" 2>/dev/null || true
          done

          # --- Demo 5: SONIC Planner ---
          mkdir -p _site/sonic-planner
          cp harness_output/sonic_locomotion_report.html _site/sonic-planner/index.html
          for cp_dir in harness_output/sonic_locomotion/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/sonic-planner/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/sonic-planner/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/sonic-planner/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/sonic-planner/${cp_name}/" 2>/dev/null || true
          done

          # --- Demo 6: SONIC Motion Tracking ---
          mkdir -p _site/sonic
          cp harness_output/sonic_tracking_report.html _site/sonic/index.html
          for cp_dir in harness_output/sonic_tracking/trial_001/*/; do
            cp_name=$(basename "$cp_dir")
            mkdir -p "_site/sonic/${cp_name}"
            cp "${cp_dir}"*_rgb.png "_site/sonic/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"metadata.json "_site/sonic/${cp_name}/" 2>/dev/null || true
            cp "${cp_dir}"state.json "_site/sonic/${cp_name}/" 2>/dev/null || true
          done

      - name: Upload Pages artifact
        if: always()
        uses: actions/upload-pages-artifact@v3
        with:
          path: _site

      - name: Upload site content for downstream workflows
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: site-content
          path: _site

  deploy:
    needs: build
    if: ${{ !cancelled() }}
    runs-on: ubuntu-latest
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
    steps:
      - name: Deploy to GitHub Pages
        id: deployment
        uses: actions/deploy-pages@v4