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Chandra Kiran
CI: install LeRobot with CPU-only PyTorch so the export job fits on the runner
dda1a83 unverified | name: CI | |
| on: | |
| push: | |
| pull_request: | |
| workflow_dispatch: | |
| jobs: | |
| tests: | |
| name: Lint and tests | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.11" | |
| cache: pip | |
| cache-dependency-path: requirements-dev.txt | |
| - name: Install system libraries (CPU OpenGL for the video test) | |
| run: sudo apt-get update && sudo apt-get install -y --no-install-recommends libosmesa6 libgl1 | |
| - run: pip install -r requirements-dev.txt | |
| - run: ruff check . && ruff format --check . | |
| - run: python -m pytest -q | |
| worker-image: | |
| name: Build and smoke-test the worker image | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Build | |
| run: docker build --platform linux/amd64 -f worker/Dockerfile -t rosdiff-worker:ci . | |
| - name: Run a real job inside the image (CPU rendering; the cloud GPU uses EGL) | |
| run: | | |
| mkdir -p ci-out && chmod 777 ci-out | |
| docker run --rm -i -e MUJOCO_GL=osmesa -e PYOPENGL_PLATFORM=osmesa -e ROSDIFF_LOCAL_STORAGE=/out \ | |
| -v "$PWD/ci-out:/out" rosdiff-worker:ci python3 - <<'EOF' | |
| import json | |
| from worker.handler import handler | |
| scene = """<mujoco model="ci smoke"> | |
| <include file="g1.xml"/> | |
| <worldbody> | |
| <light name="sun" pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="floor" type="plane" size="0 0 0.05"/> | |
| <geom name="step" type="box" size="0.15 0.5 0.075" pos="1.65 0 0.075"/> | |
| <body name="crate" pos="1 1 0.3"><freejoint/><geom type="box" size="0.2 0.2 0.2" mass="3"/></body> | |
| </worldbody> | |
| </mujoco>""" | |
| out = handler({"input": {"run_id": "ci1", "mjcf": scene, "robot": "unitree_g1", "duration_s": 2}}) | |
| print(json.dumps(out, indent=2)[:3000]) | |
| assert "error" not in out, out | |
| s = out["summary"] | |
| assert s["video"] and not s["render_error"], s | |
| assert s["simulated_seconds"] >= 1.99 and s["fell"] is False, s | |
| assert set(out["files"]) == {"mcap", "video", "video_webm", "summary", "scene", "trajectory"}, out["files"] | |
| EOF | |
| ls -la ci-out/runs/ci1 | |
| - name: Check the handler rejects unsafe scenes | |
| run: | | |
| docker run --rm -e ROSDIFF_LOCAL_STORAGE=/tmp/o rosdiff-worker:ci python3 -c " | |
| from worker.handler import handler | |
| out = handler({'input': {'run_id': 'bad', 'mjcf': '<mujoco><include file=\"/etc/passwd\"/></mujoco>', 'robot': 'unitree_g1'}}) | |
| assert 'scene rejected' in out['error'], out | |
| print('rejected:', out['error'])" | |
| - name: Robustness sweep inside the image (MuJoCo CPU and MuJoCo Warp on the CPU device) | |
| run: | | |
| docker run --rm -i -e MUJOCO_GL=osmesa rosdiff-worker:ci python3 - <<'EOF' | |
| from worker.handler import handler | |
| scene = """<mujoco><include file="go2.xml"/><worldbody><light pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="floor" type="plane" size="0 0 0.05"/></worldbody></mujoco>""" | |
| job = {"mjcf": scene, "robot": "unitree_go2", "n_worlds": 3, "duration_s": 1.0, "push_n": [0, 40]} | |
| from worker.sweep import run_sweep_job | |
| heights = {} | |
| for engine in ("mujoco", "warp"): | |
| out = run_sweep_job(job, engine=engine) | |
| s = out["summary"] | |
| print(engine, s["headline"], s.get("engine_note")) | |
| assert s["worlds"] == 3 and s["fell"] == 0, s | |
| heights[engine] = [w["min_height"] for w in __import__("json").loads(out["artifacts"]["sweep.json"])["worlds"]] | |
| print(heights) | |
| assert all(abs(a - b) < 0.01 for a, b in zip(heights["mujoco"], heights["warp"])), heights | |
| out = handler({"input": {**job, "function": "sweep"}}) | |
| assert "error" not in out, out | |
| EOF | |
| - uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: worker-smoke-output | |
| path: ci-out/runs/ci1 | |
| if-no-files-found: warn | |
| ros-sandbox: | |
| name: ROS 2 sandbox (${{ matrix.distro }}) | |
| runs-on: ubuntu-24.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [humble, jazzy] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Build | |
| run: docker build -f worker/ros/Dockerfile --build-arg ROS_DISTRO=${{ matrix.distro }} -t rosdiff-ros:ci . | |
| - name: Check the sample packages (build, lint, test, launch, bag) | |
| run: | | |
| mkdir -p ros-out && chmod 777 ros-out | |
| docker run --rm -i -v "$PWD/ros-out:/out" rosdiff-ros:ci python3 - <<'EOF' | |
| import json | |
| from pathlib import Path | |
| from worker.ros_runner import check | |
| def run(name): | |
| root = Path("/app/samples") / name | |
| files = {p.relative_to(root).as_posix(): p.read_text() for p in root.rglob("*") if p.is_file()} | |
| r = check(files, "${{ matrix.distro }}", Path("/out") / name) | |
| print(f"===== {name}: {r['headline']}") | |
| print(json.dumps(r, indent=2)[:4000]) | |
| return r | |
| r = run("good_py") | |
| assert r["passed"] and r["build"]["ok"] and r["launch"]["ok"], r | |
| assert "/heartbeat" in r["launch"]["nodes"], r["launch"] | |
| assert any(t.startswith("/heartbeat ") for t in r["launch"]["topics"]), r["launch"] | |
| assert r.get("bag_bytes", 0) > 0 and Path("/out/good_py/bag.mcap").is_file(), r | |
| r = run("good_cpp") | |
| assert r["passed"] and "/twist_source" in r["launch"]["nodes"], r | |
| assert r["test"]["ran"] and r["test"]["tests"] > 0, r["test"] | |
| r = run("broken_cpp") | |
| assert not r["passed"] and not r["build"]["ok"], r | |
| assert any("speed" in e for e in r["build"]["errors"]), r["build"] | |
| r = run("crash_py") | |
| assert r["build"]["ok"] and not r["launch"]["ok"] and r["launch"]["crashed"], r["launch"] | |
| print("all sample checks behaved as expected") | |
| EOF | |
| - uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: ros-sandbox-${{ matrix.distro }} | |
| path: ros-out | |
| if-no-files-found: warn | |
| lerobot-export: | |
| name: LeRobot dataset export | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.11" | |
| - name: Free disk space (unused preinstalled toolchains) | |
| run: sudo rm -rf /usr/share/dotnet /usr/local/lib/android /opt/ghc /opt/hostedtoolcache/CodeQL && df -h / | |
| - name: Install (CPU-only PyTorch, LeRobot, the simulator) | |
| run: | | |
| sudo apt-get update && sudo apt-get install -y --no-install-recommends libosmesa6 libgl1 ffmpeg | |
| # One resolve with the CPU wheel index, so LeRobot's torch requirement is met without CUDA (~6 GB). | |
| pip install --extra-index-url https://download.pytorch.org/whl/cpu \ | |
| lerobot==0.4.4 mujoco==3.14.0 foxglove-sdk==0.27.0 imageio-ffmpeg==0.6.0 boto3 | |
| python -c "import torch; assert not torch.version.cuda, torch.__version__; print('torch', torch.__version__)" | |
| - name: Simulate two runs, export them, load the dataset back | |
| env: | |
| MUJOCO_GL: osmesa | |
| run: | | |
| git clone -q --depth 1 --filter=blob:none --sparse https://github.com/google-deepmind/mujoco_menagerie.git /tmp/men | |
| git -C /tmp/men sparse-checkout set unitree_go2 | |
| python - <<'EOF' | |
| from pathlib import Path | |
| from api.mjcf_check import prepare_scene_dir | |
| from worker.lerobot_export import run_export_job | |
| from worker.sim_runner import config_for, simulate | |
| scene = """<mujoco><include file="go2.xml"/><worldbody><light pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="floor" type="plane" size="0 0 0.05"/></worldbody></mujoco>""" | |
| episodes = [] | |
| for i, controller in enumerate(("hold", "passive")): | |
| d = prepare_scene_dir(scene, "unitree_go2", Path("/tmp/men")) | |
| cfg = config_for("unitree_go2", 1.0, controller) | |
| cfg.width, cfg.height = 320, 180 | |
| simulate(d / "scene.xml", Path(f"/tmp/run{i}"), cfg) | |
| episodes.append({"run_id": f"r{i}", "task": f"Go2 {controller}", | |
| "trajectory_url": f"/tmp/run{i}/trajectory.npz", "video_url": f"/tmp/run{i}/video.mp4"}) | |
| out = run_export_job({"repo_id": "ci/rosdiff-go2", "robot": "unitree_go2", "episodes": episodes}) | |
| print(out["summary"]) | |
| assert out["summary"]["episodes"] == 2, out["summary"] | |
| Path("/tmp/ds.zip").write_bytes(out["artifacts"]["dataset.zip"]) | |
| import shutil | |
| shutil.unpack_archive("/tmp/ds.zip", "/tmp/ds") | |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset | |
| ds = LeRobotDataset("ci/rosdiff-go2", root="/tmp/ds") | |
| item = ds[len(ds) - 1] | |
| print({k: tuple(v.shape) if hasattr(v, "shape") else v for k, v in item.items()}) | |
| assert ds.num_episodes == 2 and item["task"] == "Go2 passive" | |
| assert tuple(item["observation.images.main"].shape) == (3, 360, 640) | |
| assert tuple(item["observation.state"].shape) == (19,) and tuple(item["action"].shape) == (12,) | |
| EOF | |