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Install and test #1049

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Install and test

Install and test #1049

Workflow file for this run

.github/workflows/install_and_test.yml at 57ee494
name: Install and test
on:
pull_request: {}
push:
branches:
- main
tags: [ "v*" ]
schedule:
- cron: "0 5 * * *"
#this is 9PM PST
jobs:
pre-commit:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4.1.1
- name: Setup python
uses: actions/setup-python@v5.0.0
with:
python-version: '3.12'
- name: install dependencies
run: |-
pip install -U pip pre-commit
# Install the hooks now so that they'll be cached
pre-commit install-hooks
- name: Check Code Style using pre-commit
run: |-
SKIP=eslint pre-commit run --show-diff-on-failure --all-files
python_lint:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4.1.1
- name: Setup python
uses: actions/setup-python@v5.0.0
with:
python-version: '3.12'
- name: setup
run: |-
pip install -U pip
pip install -U --prefer-binary \
black==23.1.0 \
flake8 \
flake8-bugbear==22.6.22 \
flake8-builtins \
flake8-comprehensions \
flake8-return \
flake8-simplify \
hypothesis==6.29.3 \
isort==5.12.0 \
mypy \
"numpy>=2.0.0,<2.4" \
pytest \
sphinx \
tqdm
pip install --prefer-binary -r requirements.txt torch --progress-bar off
- name: run black
run: |-
black --version
black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)' src_python/habitat_sim/. examples/. tests/. --diff
black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)' src_python/habitat_sim/. examples/. tests/. --check
- name: run isort
run: |-
isort --version
isort src_python/habitat_sim/. examples/. tests/. --diff
isort src_python/habitat_sim/. examples/. tests/. --check-only
- name: run flake8
run: |-
flake8 --version
flake8 src_python/habitat_sim/. examples/. tests/.
- name: run mypy
run: mypy
install_and_test_sim_ubuntu:
runs-on: 4-core-ubuntu-gpu-t4
env:
FPS_THRESHOLD: 900
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
- name: CPU info
run: cat /proc/cpuinfo
- uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
- uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
- name: Validate Pytorch Installation
run: |-
echo "Validate Pytorch Installation"
# Check that pytorch is installed with CUDA.
python -c 'import torch; torch.cuda.set_device(0)'
- name: Build, install habitat-sim
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake328/
#activate conda env
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
#install habitat-sim
cd habitat-sim
pip install -r requirements.txt --progress-bar off
git submodule update --init --recursive --jobs 8
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_BULLET=ON HABITAT_LTO=ON \
pip install . --no-build-isolation --config-settings=cmake.build-type=Release
- uses: "./habitat-sim/.github/actions/download_test_data"
- name: Run sim benchmark
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
- name: Run sim tests
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake328/
#activate conda env
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
#set pytest to show partial progress
export PYTHONUNBUFFERED=1
# run tests with code coverage
# Build 1: WITH Bullet + CUDA + C++ tests + coverage instrumentation
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_BULLET=ON HABITAT_WITH_CUDA=ON \
HABITAT_BUILD_TESTS=ON \
pip install -e . --no-build-isolation \
--config-settings=cmake.define.CMAKE_CXX_FLAGS="--coverage"
# scikit-build-core places the build under build/{wheel_tag}/ (e.g. build/cp312-cp312-linux_x86_64/)
# so we must locate the actual build directory for ctest to find CTestTestfile.cmake
CTEST_BUILD_DIR=$(find build -maxdepth 1 -name "cp*" -type d | head -1)
echo "Running ctest in: $CTEST_BUILD_DIR"
CORRADE_TEST_COLOR=ON GTEST_COLOR=yes ctest --test-dir "$CTEST_BUILD_DIR" --output-on-failure; CTEST_EXIT=$?
if [ $CTEST_EXIT -ne 0 ]; then
echo "::warning::ctest exited with code $CTEST_EXIT"
fi
pytest -n 4 --durations=10 --cov-report=xml --cov=./
#run the marked pytest-benchmark tests and print the results
pytest -m sim_benchmarks
# Capture C++ coverage from build 1 BEFORE rebuilding.
# The second build recompiles all C++ code which resets .gcda coverage
# counters, so we must save the data from ctest and the first pytest run.
lcov --directory . --capture --output-file coverage_build1.info --ignore-errors mismatch
# Build 2: WITHOUT Bullet/CUDA to validate physics fallback paths
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_BULLET=OFF HABITAT_WITH_CUDA=OFF \
pip install -e . --no-build-isolation \
--config-settings=cmake.define.CMAKE_CXX_FLAGS="--coverage"
pytest -n 4 --durations=10 --cov-report=xml --cov=./ --cov-append tests/test_physics.py tests/test_sensors.py
- name: Generate C++ coverage report
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
# Capture C++ coverage from build 2 (without Bullet/CUDA)
lcov --directory . --capture --output-file coverage_build2.info --ignore-errors mismatch
# Merge coverage from both builds. Build 1 includes ctest (all C++ tests
# including GPU) + pytest; build 2 includes the no-Bullet/no-CUDA pytest run.
# lcov -a takes the max hit count per line across both reports.
lcov -a coverage_build1.info -a coverage_build2.info --output-file coverage.info --ignore-errors mismatch
# Replaces -1 linecount with zero to prevent lcov from crashing:
# https://github.com/psycofdj/coverxygen/issues/6
sed -i -e 's/,-1$/,0/g' coverage.info
# Strip vendored dependencies and test code from the C++ coverage report
lcov --remove coverage.info "*/deps/*" --output-file coverage.info --ignore-errors unused > /dev/null
lcov --remove coverage.info "*/test/*" --output-file coverage.info --ignore-errors unused > /dev/null
lcov --remove coverage.info "*/tests/*" --output-file coverage.info --ignore-errors unused > /dev/null
- name: Upload Python coverage to Codecov
uses: codecov/codecov-action@v5
with:
files: ./habitat-sim/coverage.xml
flags: Python
token: ${{ secrets.CODECOV_TOKEN }}
disable_search: true
fail_ci_if_error: false
- name: Upload C++ coverage to Codecov
uses: codecov/codecov-action@v5
with:
files: ./habitat-sim/coverage.info
flags: CPP
token: ${{ secrets.CODECOV_TOKEN }}
disable_search: true
fail_ci_if_error: false
- name: install habitat-sim with audio and run audio_agent script
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake328/
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
pip install -r requirements.txt --progress-bar off
pip install imageio
git submodule update --init --recursive --jobs 8
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_AUDIO=ON HABITAT_LTO=ON \
pip install . --no-build-isolation --config-settings=cmake.build-type=Release
python examples/tutorials/audio_agent.py
#NOTE: use the below to debug with ssh: simply move this "job" just before the crashing job to intercept the workflow
#- name: Debugging with tmate
# uses: mxschmitt/action-tmate@v3.18
install_and_test_lab_ubuntu:
runs-on: 4-core-ubuntu-gpu-t4
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
- uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
- uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
- name: Build, install habitat-sim
run: |-
#give cmake ownership to the runner for installation
sudo chown runner -R /opt/cmake328/
#activate conda env
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
#install habitat-sim
cd habitat-sim
pip install -r requirements.txt --progress-bar off
git submodule update --init --recursive --jobs 8
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_BULLET=ON HABITAT_LTO=ON \
pip install . --no-build-isolation --config-settings=cmake.build-type=Release
- uses: "./habitat-sim/.github/actions/download_test_data"
- name: Build habitat-sim and docs
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
pip install -r requirements.txt --progress-bar off
git submodule update --init --recursive --jobs 8
pip install imageio
conda install -y -c conda-forge doxygen=1.9.5
conda install -y jinja2 pygments docutils
sudo apt install --yes --allow-change-held-packages \
texlive-base \
texlive-latex-extra \
texlive-fonts-extra \
texlive-fonts-recommended
# Rebuild with all options enabled
HABITAT_WITH_CUDA=ON HABITAT_WITH_BULLET=ON \
pip install -e . --no-build-isolation
cd docs
git submodule update --init
./build-public.sh
- name: Install Habitat Sim and Habitat Lab
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-sim
#Rebuild headless
HABITAT_BUILD_GUI_VIEWERS=OFF HABITAT_WITH_BULLET=ON HABITAT_WITH_CUDA=ON \
pip install . --no-build-isolation
cd ..
if [ ! -d ./habitat-lab ]
then
git clone -q --depth 1 https://github.com/facebookresearch/habitat-lab.git
fi
cd habitat-lab
pip install -r habitat-lab/requirements.txt --progress-bar off
ln -s ../habitat-sim/data data
- name: Run Habitat Lab tests
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-lab
pip install -e habitat-lab
pip install -e habitat-baselines
export PYTHONPATH=.:$PYTHONPATH
export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
python -m pytest
- name: Build Habitat Lab documentation
run: |-
export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
conda activate habitat
cd habitat-lab
# Install requirments first to avoid errors related to gym
pip install -r habitat-lab/requirements.txt --progress-bar off
pip install -e habitat-lab
cd docs
conda install -y -c conda-forge doxygen=1.9.5
conda install -y jinja2 pygments docutils
./build-public.sh
- name: Set up SSH
run: |-
mkdir -p ~/.ssh
echo "${{ secrets.HABITAT_WEBSITE_DEPLOY_KEY }}" > ~/.ssh/id_ed25519
chmod 600 ~/.ssh/id_ed25519
ssh-keyscan github.com >> ~/.ssh/known_hosts
- name: Deploy documentation
run: |-
echo "Deploy documentation"
if [[ ${{ github.event_name }} == 'schedule' ]]; then
#start ssh agent and add the key
eval `ssh-agent -s`
ssh-add ~/.ssh/id_ed25519
echo "Trigger: a nightly build. Deploying the docs."
git clone git@github.com:facebookmicrosites/habitat-website.git
cd habitat-website
git submodule update --init
for dir in habitat-sim habitat-lab
do
rm -rf published/docs/${dir}
cp -r ../habitat-sim/build/docs-public/${dir} published/docs/.
done
git config --global user.name "Habitat"
git config --global user.email habitat@fb.com
NOW=$(date +"%m-%d-%Y")
git add .
git diff-index --quiet HEAD || git commit -m "Build habitat-sim and habitat-lab ${NOW}"
git push origin main
# Deploy to public
git checkout gh-pages
git checkout main published
sudo apt-get update || true
sudo apt-get install -yq rsync
rsync -a published/ ./.
rm -rf published
git add .
git diff-index --quiet HEAD || git commit -m "Build habitat-sim and habitat-lab ${NOW}"
git push origin gh-pages
else
echo "Not a nightly build, no deployment needed. "
fi
build_conda_binaries:
runs-on: 4-core-ubuntu-gpu-t4
env:
AIHABITAT_CONDA_USERNAME: aihabitat
AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
submodules: recursive
- name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
run: |-
echo "NIGHTLY=" >> $GITHUB_ENV
echo "CI_TEST=true" >> $GITHUB_ENV
if [[ ${{ github.event_name }} == 'push' ]]; then
if [[ ${GITHUB_REF} == refs/heads/* ]]; then
echo "trigger: a push to main branch"
elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
echo "trigger: a version tag push"
echo "CI_TEST=false" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
fi
elif [[ ${{ github.event_name }} == 'schedule' ]]; then
echo "trigger: a nightly build"
echo "CI_TEST=false" >> $GITHUB_ENV
echo "NIGHTLY=--nightly" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
echo "trigger: a pull request"
fi
- name: Build conda Linux packages
run: |-
cd habitat-sim/conda-build
echo "Current event name: $GITHUB_EVENT_NAME"
echo ${{ env.CI_TEST }}
echo ${{ env.NIGHTLY }}
#pivot on the build type
if [[ ${{ env.CI_TEST }} == true ]]; then
echo "This is a CI test."
else
echo "This is a full conda build with deployment."
# Install anaconda to work with packages repo
curl -O https://repo.anaconda.com/archive/Anaconda3-2020.11-Linux-x86_64.sh
bash Anaconda3-2020.11-Linux-x86_64.sh -b -p $HOME/anaconda
export PATH=$HOME/anaconda/bin:$PATH
echo "Delete old nightly builds"
python common/delete_old_night_packages.py --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} ${{ env.NIGHTLY }}
fi
#install Docker
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get update
apt-cache policy docker-ce
sudo apt-get install -y docker-ce
#build the container
echo "Building the docker container"
docker build -t hsim_condabuild_dcontainer -f Dockerfile .
if [[ ${{ env.CI_TEST }} == true ]]; then
echo "Running matrix_builder for CI test."
docker run --ipc=host --rm -v $(pwd)/../../:/remote hsim_condabuild_dcontainer /bin/bash -c "source /opt/conda/etc/profile.d/conda.sh && conda activate py312 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && python matrix_builder.py --ci_test"
else
echo "Running matrix_builder for deployment."
docker run --ipc=host --rm -v $(pwd)/../../:/remote --env ${{ env.CONDA_PWD }} hsim_condabuild_dcontainer /bin/bash -c "source /opt/conda/etc/profile.d/conda.sh && conda activate py312 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && yes | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname aihabitat-conda-ci-builder-linux && python matrix_builder.py --conda_upload ${{ env.NIGHTLY }}"
fi
build_conda_osx:
runs-on: macos-14
env:
AIHABITAT_CONDA_USERNAME: aihabitat
AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
defaults:
run:
shell: bash -el {0}
steps:
- uses: actions/checkout@v4.1.1
with:
path: "./habitat-sim"
submodules: recursive
- name: Setup miniconda
uses: conda-incubator/setup-miniconda@v3
with:
miniconda-version: "latest"
python-version: "3.12"
activate-environment: "habitat"
- name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
run: |-
echo "NIGHTLY=" >> $GITHUB_ENV
echo "CI_TEST=true" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
if [[ ${{ github.event_name }} == 'push' ]]; then
if [[ ${GITHUB_REF} == refs/heads/* ]]; then
echo "trigger: a push to main branch"
elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
echo "trigger: a version tag push"
echo "CI_TEST=false" >> $GITHUB_ENV
fi
elif [[ ${{ github.event_name }} == 'schedule' ]]; then
echo "trigger: a nightly build"
echo "CI_TEST=false" >> $GITHUB_ENV
echo "NIGHTLY=--nightly" >> $GITHUB_ENV
echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
echo "trigger: a pull request"
fi
- name: Build conda OSX packages
run: |-
export PATH=$HOME/miniconda/bin:$PATH
conda init
conda activate habitat
conda install -y anaconda-client ccache cmake git ninja conda-build pip scikit-build-core pybind11
echo $(which -a python)
pip install gitpython
cd habitat-sim
pip install . --no-build-isolation
pip uninstall -y habitat-sim
rm -rf build
if [[ ${{ env.CI_TEST }} == true ]]; then
echo "This is a CI test."
cd conda-build
export PYTHONIOENCODING="utf-8"
python matrix_builder.py --ci_test
else
echo "This is a full conda build with deployment."
echo "Delete old nightly builds"
cd conda-build
export PYTHONIOENCODING="utf-8"
python common/delete_old_night_packages.py --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} ${{ env.NIGHTLY }}
conda config --set anaconda_upload yes
(yes || true) | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname "aihabitat-conda-ci-builder-macos"
python matrix_builder.py --conda_upload ${{ env.NIGHTLY }}
fi