Latest Dependency Tests #20
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| # Copyright 2025 The HuggingFace Inc. team. All rights reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| # This workflow tests the project against the latest upstream dependencies | |
| # (within pyproject.toml constraints) and opens a PR to update uv.lock | |
| # if the tests pass and the lockfile has changed. | |
| name: Latest Dependency Tests | |
| on: | |
| # Allows running this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| # Runs at 03:00 UTC | |
| schedule: | |
| - cron: "0 3 * * *" | |
| # Sets up the environment variables | |
| env: | |
| UV_VERSION: "0.8.0" | |
| PYTHON_VERSION: "3.12" | |
| DOCKER_IMAGE_NAME: huggingface/lerobot-gpu:latest-deps | |
| # Ensures that only the latest run is active, canceling older runs. | |
| concurrency: | |
| group: ${{ github.workflow }} | |
| cancel-in-progress: true | |
| jobs: | |
| # This job upgrades the lockfile and checks if dependencies have changed | |
| upgrade-lock: | |
| name: Upgrade Lockfile | |
| runs-on: ubuntu-latest | |
| if: github.repository == 'huggingface/lerobot' | |
| permissions: | |
| contents: read | |
| outputs: | |
| changed: ${{ steps.diff.outputs.changed }} | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| persist-credentials: false | |
| - name: Setup uv and Python | |
| uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses] | |
| with: | |
| version: ${{ env.UV_VERSION }} | |
| python-version: ${{ env.PYTHON_VERSION }} | |
| - name: Upgrade uv.lock | |
| run: uv lock --upgrade | |
| - name: Check for changes | |
| id: diff | |
| run: | | |
| if git diff --quiet uv.lock; then | |
| echo "changed=false" >> "$GITHUB_OUTPUT" | |
| echo "uv.lock is up to date — no dependency changes." | |
| else | |
| echo "changed=true" >> "$GITHUB_OUTPUT" | |
| echo "uv.lock has changed — running tests." | |
| fi | |
| - name: Upload updated lockfile | |
| if: steps.diff.outputs.changed == 'true' | |
| uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses] | |
| with: | |
| name: uv-lock | |
| path: uv.lock | |
| # This job runs the full test suite with the upgraded dependencies | |
| cpu-tests: | |
| name: CPU Tests (Latest Deps) | |
| needs: [upgrade-lock] | |
| if: needs.upgrade-lock.outputs.changed == 'true' | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| env: | |
| MUJOCO_GL: egl | |
| HF_HOME: /mnt/cache/.cache/huggingface | |
| HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot | |
| HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }} | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| lfs: true | |
| persist-credentials: false | |
| - name: Download updated lockfile | |
| uses: actions/download-artifact@v4 # zizmor: ignore[unpinned-uses] | |
| with: | |
| name: uv-lock | |
| # NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space. | |
| # (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.) | |
| - name: Setup /mnt storage | |
| run: sudo chown -R $USER:$USER /mnt | |
| - name: Install apt dependencies | |
| run: | | |
| sudo apt-get update && sudo apt-get install -y build-essential \ | |
| git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \ | |
| speech-dispatcher libgeos-dev portaudio19-dev | |
| - name: Setup uv and Python | |
| uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses] | |
| with: | |
| enable-cache: true | |
| version: ${{ env.UV_VERSION }} | |
| python-version: ${{ env.PYTHON_VERSION }} | |
| - name: Install lerobot with all extras | |
| run: uv sync --locked --extra all # TODO(Steven): Make flash-attn optional | |
| - name: Login to Hugging Face | |
| if: env.HF_USER_TOKEN != '' | |
| run: | | |
| uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential | |
| uv run hf auth whoami | |
| - name: Run pytest (all extras) | |
| run: uv run pytest tests -vv --maxfail=10 | |
| - name: Run end-to-end tests | |
| run: uv run make test-end-to-end | |
| # This job builds a GPU-enabled Docker image with the upgraded dependencies | |
| build-and-push-docker: | |
| name: Build and Push Docker | |
| needs: [upgrade-lock] | |
| if: needs.upgrade-lock.outputs.changed == 'true' | |
| permissions: | |
| contents: read | |
| runs-on: | |
| group: aws-general-8-plus | |
| outputs: | |
| image_tag: ${{ env.DOCKER_IMAGE_NAME }} | |
| steps: | |
| - name: Install Git LFS | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install git-lfs | |
| git lfs install | |
| - uses: actions/checkout@v6 | |
| with: | |
| lfs: true | |
| persist-credentials: false | |
| - name: Download updated lockfile | |
| uses: actions/download-artifact@v4 # zizmor: ignore[unpinned-uses] | |
| with: | |
| name: uv-lock | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses] | |
| with: | |
| cache-binary: false | |
| - name: Login to Docker Hub | |
| uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses] | |
| with: | |
| username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }} | |
| - name: Build and push Docker image | |
| uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses] | |
| with: | |
| context: . | |
| file: ./docker/Dockerfile.internal | |
| push: true | |
| tags: ${{ env.DOCKER_IMAGE_NAME }} | |
| # This job runs pytest with all extras on a GPU-enabled host | |
| gpu-tests: | |
| name: GPU Tests (Latest Deps) | |
| needs: [build-and-push-docker] | |
| permissions: | |
| contents: read | |
| runs-on: | |
| group: aws-g6-4xlarge-plus | |
| env: | |
| HF_HOME: /home/user_lerobot/.cache/huggingface | |
| HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot | |
| TORCH_HOME: /home/user_lerobot/.cache/torch | |
| TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton | |
| HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }} | |
| container: | |
| image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images] | |
| options: --gpus all --shm-size "16gb" | |
| credentials: | |
| username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }} | |
| defaults: | |
| run: | |
| shell: bash | |
| working-directory: /lerobot | |
| steps: | |
| - name: Login to Hugging Face | |
| if: env.HF_USER_TOKEN != '' | |
| run: | | |
| hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential | |
| hf auth whoami | |
| - name: Fix ptxas permissions | |
| run: chmod +x /lerobot/.venv/lib/python3.12/site-packages/triton/backends/nvidia/bin/ptxas | |
| - name: Run pytest on GPU | |
| run: pytest tests -vv --maxfail=10 | |
| - name: Run end-to-end tests | |
| run: make test-end-to-end | |
| slack-notification: | |
| name: Slack Notification | |
| needs: [cpu-tests, gpu-tests, upgrade-lock] | |
| if: always() && needs.upgrade-lock.outputs.changed == 'true' | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| env: | |
| CI_SLACK_CHANNEL: ${{ secrets.CI_SLACK_CHANNEL }} | |
| steps: | |
| - name: Post to a Slack channel | |
| uses: huggingface/hf-workflows/.github/actions/post-slack@a88e7fa2eaee28de5a4d6142381b1fb792349b67 # main | |
| with: | |
| slack_channel: ${{ env.CI_SLACK_CHANNEL }} | |
| title: "Results of the latest dependency tests (CPU + GPU)" | |
| status: ${{ (needs.cpu-tests.result == 'success' && needs.gpu-tests.result == 'success') && 'success' || 'failure' }} | |
| slack_token: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }} | |
| # This job creates or updates a PR with the upgraded lockfile | |
| open-pr: | |
| name: Open PR | |
| needs: [cpu-tests, gpu-tests, upgrade-lock] | |
| if: success() && needs.upgrade-lock.outputs.changed == 'true' | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: write | |
| pull-requests: write | |
| env: | |
| GH_TOKEN: ${{ secrets.UPDATE_LOCK_TOKEN }} | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| persist-credentials: false | |
| - name: Download updated lockfile | |
| uses: actions/download-artifact@v4 # zizmor: ignore[unpinned-uses] | |
| with: | |
| name: uv-lock | |
| - name: Create or update PR | |
| run: | | |
| set -euo pipefail | |
| BRANCH="auto/update-uv-lock" | |
| git config user.name "github-actions[bot]" | |
| git config user.email "github-actions[bot]@users.noreply.github.com" | |
| git remote set-url origin "https://x-access-token:${GH_TOKEN}@github.com/${{ github.repository }}.git" | |
| git checkout -B "$BRANCH" | |
| git add uv.lock | |
| git commit -m "chore(dependencies): update uv.lock" | |
| git push --force origin "$BRANCH" | |
| # Create PR only if one doesn't already exist for this branch | |
| EXISTING_PR=$(gh pr list --head "$BRANCH" --state open --json number --jq '.[0].number') | |
| if [ -z "$EXISTING_PR" ]; then | |
| gh pr create \ | |
| --title "chore(dependencies): update uv.lock" \ | |
| --body "Automated update of \`uv.lock\` after successful latest dependency tests (CPU + GPU). | |
| This PR upgrades all dependencies to their latest versions within the ranges specified in \`pyproject.toml\`." \ | |
| --head "$BRANCH" \ | |
| --base main | |
| else | |
| echo "PR #$EXISTING_PR already exists, branch has been updated." | |
| fi | |
| # This job deletes the temporary Docker image after tests complete | |
| cleanup-docker: | |
| name: Cleanup Docker Image | |
| needs: [gpu-tests, build-and-push-docker] | |
| if: always() && needs.build-and-push-docker.result == 'success' | |
| permissions: | |
| contents: read | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Get Docker Hub Token and Delete Image | |
| # zizmor: ignore[template-injection] | |
| env: | |
| DOCKERHUB_LEROBOT_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }} | |
| DOCKERHUB_LEROBOT_PASSWORD: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }} | |
| IMAGE_FULL: ${{ needs.build-and-push-docker.outputs.image_tag }} | |
| run: | | |
| IMAGE_NAME=$(echo "$IMAGE_FULL" | cut -d':' -f1) | |
| IMAGE_TAG=$(echo "$IMAGE_FULL" | cut -d':' -f2-) | |
| echo "Attempting to delete image: $IMAGE_NAME:$IMAGE_TAG" | |
| TOKEN=$(curl -s -H "Content-Type: application/json" \ | |
| -X POST \ | |
| -d "{\"username\": \"$DOCKERHUB_LEROBOT_USERNAME\", \"password\": \"$DOCKERHUB_LEROBOT_PASSWORD\"}" \ | |
| https://hub.docker.com/v2/users/login/ | jq -r .token) | |
| if [ "$TOKEN" == "null" ] || [ -z "$TOKEN" ]; then | |
| echo "::error::Failed to get Docker Hub token." | |
| exit 1 | |
| fi | |
| HTTP_RESPONSE=$(curl -s -o /dev/null -w "%{http_code}" \ | |
| -H "Authorization: JWT ${TOKEN}" \ | |
| -X DELETE \ | |
| https://hub.docker.com/v2/repositories/${IMAGE_NAME}/tags/$IMAGE_TAG) | |
| if [ "$HTTP_RESPONSE" -eq 204 ]; then | |
| echo "Successfully deleted Docker image tag: $IMAGE_NAME:$IMAGE_TAG" | |
| else | |
| echo "::error::Failed to delete Docker image. HTTP status: $HTTP_RESPONSE" | |
| exit 1 | |
| fi |