Full Tests #927
Workflow file for this run
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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 handles full testing. | |
| name: Full Tests | |
| on: | |
| # Allows running this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| pull_request_review: | |
| types: [submitted] | |
| push: | |
| branches: | |
| - main | |
| paths: | |
| - "src/**" | |
| - "tests/**" | |
| - ".github/workflows/**" | |
| - "pyproject.toml" | |
| - "Makefile" | |
| permissions: | |
| contents: read | |
| # Sets up the environment variables | |
| env: | |
| UV_VERSION: "0.8.0" | |
| PYTHON_VERSION: "3.10" | |
| DOCKER_IMAGE_NAME: huggingface/lerobot-gpu | |
| # Ensures that only the latest action is built, canceling older runs. | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| jobs: | |
| # This job runs the E2E tests + pytest with all extras | |
| # It runs everytime a PR is approved or a push to main | |
| full-tests: | |
| name: Full Tests | |
| runs-on: ubuntu-latest | |
| if: | | |
| (github.event_name == 'pull_request_review' && github.event.review.state == 'approved') || | |
| github.event_name == 'push' || | |
| github.event_name == 'workflow_dispatch' | |
| env: | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true | |
| persist-credentials: false | |
| - 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 --all-extras | |
| - 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 image for testing | |
| # It runs everytime a PR is approved or a push to main | |
| # TODO(Steven): For now we skip this job for community PRs | |
| build-and-push-docker: | |
| name: Build and Push Docker | |
| runs-on: | |
| group: aws-general-8-plus | |
| if: | | |
| (github.event_name == 'pull_request_review' && github.event.review.state == 'approved' && github.event.pull_request.head.repo.fork == false) || | |
| github.event_name == 'push' || | |
| github.event_name == 'workflow_dispatch' | |
| outputs: | |
| image_tag: ${{ steps.set_tag.outputs.image_tag }} | |
| env: | |
| GITHUB_EVENT_NAME: ${{ github.event_name }} | |
| GITHUB_REF: ${{ github.ref }} | |
| GITHUB_PR_NUMBER: ${{ github.event.pull_request.number }} | |
| steps: | |
| - name: Set Docker image tag | |
| id: set_tag | |
| run: | | |
| if [[ "${GITHUB_EVENT_NAME}" == "push" ]]; then | |
| TAG="${DOCKER_IMAGE_NAME}:latest" | |
| elif [[ -n "${GITHUB_PR_NUMBER}" ]]; then | |
| TAG="${DOCKER_IMAGE_NAME}:pr-${GITHUB_PR_NUMBER}" | |
| else | |
| TAG="${DOCKER_IMAGE_NAME}:pr-${GITHUB_REF##*/}" | |
| fi | |
| echo "image_tag=$TAG" >> $GITHUB_OUTPUT | |
| - name: Install Git LFS | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install git-lfs | |
| git lfs install | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true | |
| persist-credentials: false | |
| - 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: ${{ steps.set_tag.outputs.image_tag }} | |
| # This job runs pytest with all extras in a GPU enabled host | |
| # It runs everytime a test image is created | |
| gpu-tests: | |
| name: GPU Tests | |
| needs: [build-and-push-docker] | |
| 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 | |
| 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: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }} | |
| defaults: | |
| run: | |
| shell: bash | |
| working-directory: /lerobot | |
| steps: | |
| - name: Run pytest on GPU | |
| run: pytest tests -vv --maxfail=10 | |
| - name: Run end-to-end tests | |
| run: make test-end-to-end | |
| # This job deletes the test image recently created | |
| # It runs everytime after the gpu-tests have finished | |
| delete-pr-image: | |
| name: Delete PR Image | |
| needs: [gpu-tests, build-and-push-docker] | |
| if: always() && ((github.event.review.state == 'approved') || (github.event_name == 'workflow_dispatch')) && needs.build-and-push-docker.result == 'success' | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Get Docker Hub Token and Delete Image | |
| # zizmor: ignore[template-injection] | |
| run: | | |
| IMAGE_NAME=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f1) | |
| IMAGE_TAG=$(echo "${{ needs.build-and-push-docker.outputs.image_tag }}" | cut -d':' -f2) | |
| echo "Attempting to delete image: $IMAGE_NAME:$IMAGE_TAG" | |
| TOKEN=$(curl -s -H "Content-Type: application/json" \ | |
| -X POST \ | |
| -d '{"username": "${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}", "password": "${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}"}' \ | |
| https://hub.docker.com/v2/users/login/ | jq -r .token) | |
| if [ "$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 | |
| # TODO(Steven): Check dockerimages pull in ubuntu |