HITL - Null check for _is_object_visible raycast. #65

Workflow file for this run

.github/workflows/install_and_test.yml at b6f86da

	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/[email protected]
	- name: Setup python
	uses: actions/[email protected]
	with:
	python-version: '3.9.16'
	- name: install dependencies
	run: \|-
	pip install -U pip setuptools 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/[email protected]
	- name: Setup python
	uses: actions/[email protected]
	with:
	python-version: '3.9.16'
	- name: setup
	run: \|-
	pip install black==23.1.0 --progress-bar off
	pip install "isort[pyproject]" numpy --progress-bar off
	pip install mypy==0.991 types-mock types-Pillow types-tqdm types-PyYAML --progress-bar off
	pip install -r habitat-lab/requirements.txt --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)' habitat-lab/. habitat-baselines/. examples/. test/. --diff
	black --exclude '/(\.eggs\|\.git\|\.hg\|\.mypy_cache\|\.nox\|\.tox\|\.venv\|_build\|buck-out\|build\|dist)\|examples/tutorials/(notebooks\|nb_python)' habitat-lab/. habitat-baselines/. examples/. test/. --check
	- name: run isort
	run: \|-
	isort --version
	isort habitat-lab/. habitat-baselines/. examples/. test/. --diff
	isort habitat-lab/. habitat-baselines/. examples/. test/. --check-only
	- name: run mypy
	run: \|-
	mypy --version
	mypy --exclude="^docs/\|setup.py$"

	install_and_test_lab_ubuntu:
	runs-on: 4-core-ubuntu-gpu-t4
	env:
	PYPI_LAB_UPLOAD_TOKEN: ${{ secrets.PYPI_LAB_UPLOAD_TOKEN }}
	defaults:
	run:
	shell: bash -el {0}
	steps:
	- uses: actions/[email protected]
	with:
	path: "./habitat-lab"
	- uses: "./habitat-lab/.github/actions/install_ubuntu_deps"
	- uses: "./habitat-lab/.github/actions/install_ubuntu_gpu_deps"
	- name: Build, install habitat-sim
	run: \|-
	#give cmake ownership to the runner for installation
	sudo chown runner -R /opt/cmake312/
	#activate conda env
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	#install habitat-sim
	if [ ! -d ./habitat-sim ]
	then
	git clone https://github.com/facebookresearch/habitat-sim.git --recursive
	fi
	cd habitat-sim
	pip install -r requirements.txt --progress-bar off
	git submodule update --init --recursive --jobs 8
	python -u setup.py install --headless --with-cuda --bullet
	- name: Download test data
	run: \|
	# Disable clone protection for git lfs
	export GIT_CLONE_PROTECTION_ACTIVE=false

	git --version
	git-lfs --version
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda init
	source ~/.bashrc
	conda activate habitat
	conda install -y gitpython git-lfs
	cd habitat-sim
	git lfs install
	python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets franka_panda hab_spot_arm hab3_bench_assets hab2_bench_assets habitat_humanoids ycb rearrange_dataset_v2 --no-replace --no-prune
	ls -la data/scene_datasets/habitat-test-scenes/
	- name: Run sim benchmark
	run: \|-
	#give cmake ownership to the runner for installation
	sudo chown runner -R /opt/cmake312/
	#activate conda env
	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
	- name: Install lab, baselines, and hitl packages
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	ln -s ../habitat-sim/data data
	pip install -e habitat-lab
	pip install -e habitat-baselines
	pip install -e habitat-hitl
	- name: Run lab tests
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	export PYTHONPATH=.:$PYTHONPATH
	export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
	python -m pytest test/ --cov-report=xml --cov-report term --cov=./

	curl -Os https://uploader.codecov.io/latest/linux/codecov
	chmod +x codecov
	#Uploading test coverage for Python code
	./codecov -f coverage.xml -cF Python
	- name: Run hitl tests
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	export PYTHONPATH=.:$PYTHONPATH
	export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
	export GIT_CLONE_PROTECTION_ACTIVE=false
	python -m habitat_sim.utils.datasets_download --uids hab3-episodes hab3_bench_assets habitat_humanoids hab_spot_arm ycb --data-path data/ --no-replace --no-prune
	python -m pytest habitat-hitl/test
	- name: Run baselines tests
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	export PYTHONPATH=.:$PYTHONPATH
	export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
	# This is a flag that enables test_baseline_training to work
	export TEST_BASELINE_SMALL=1
	python -m pytest test/test_baseline_training.py -s
	- name: Run Habitat 2.0 Benchmark
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	#move the episode dataset file into the expected location
	mkdir -p data/ep_datasets/
	cp data/hab2_bench_assets/bench_scene.json.gz data/ep_datasets/
	#run the benchmark
	bash scripts/hab2_bench/bench_runner.sh
	python scripts/hab2_bench/plot_bench.py
	# Assert the SPS number are up to standard
	python scripts/hab2_bench/assert_bench.py
	- name: Test building API documentation
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	conda activate habitat
	cd habitat-lab
	# Download sim inventory for crosslinking (no need to build the whole sim docs for that)
	mkdir -p ../habitat-sim/build/docs-public/habitat-sim
	curl -s https://aihabitat.org/docs/habitat-sim/objects.inv > ../habitat-sim/build/docs-public/habitat-sim/objects.inv
	cd docs
	conda install -y -c conda-forge doxygen=1.9.5
	conda install -y jinja2 pygments docutils
	mkdir -p ../build/docs
	./build-public.sh
	- name: Setup non editable install env
	uses: conda-incubator/[email protected]
	with:
	miniconda-version: "latest"
	python-version: "3.9"
	activate-environment: "non-editable-install"
	- name: Ensure non-editable mode works
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	cd habitat-lab
	conda activate non-editable-install
	conda install -y -c conda-forge -c aihabitat-nightly habitat-sim
	pip install habitat-lab/
	python -c 'import habitat; print("habitat version:", habitat.__version__)'
	pip install habitat-baselines/
	python -c 'import habitat_baselines; print("habitat_baselines version:", habitat_baselines.__version__)'
	pip install habitat-hitl/
	python -c 'import habitat_hitl; print("habitat_hitl version:", habitat_hitl.__version__)'
	- name: Setup build env
	uses: conda-incubator/[email protected]
	with:
	miniconda-version: "latest"
	python-version: "3.9"
	activate-environment: "build-env"
	- name: Build lab and baselines packages
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	cd habitat-lab
	conda activate build-env
	pip install --upgrade build
	python -m build -s -w -C--global-option=egg_info -C--global-option=--tag-date habitat-lab/
	python -m build -s -w -C--global-option=egg_info -C--global-option=--tag-date habitat-baselines/
	- name: Setup bdist conda env
	uses: conda-incubator/[email protected]
	with:
	miniconda-version: "latest"
	python-version: "3.9"
	activate-environment: "bdist-install"
	- name: Ensure bdist install works and build sdist
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	cd habitat-lab
	conda activate bdist-install
	conda install -y -c conda-forge -c aihabitat-nightly habitat-sim
	#create the sdist for testing in the next job
	conda create -n sdist-install --clone bdist-install
	pip install habitat-lab/dist/habitat_lab*.whl
	python -c 'import habitat; print("habitat version:", habitat.__version__)'
	pip install habitat-baselines/dist/habitat_baselines*.whl
	python -c 'import habitat_baselines; print("habitat_baselines version:", habitat_baselines.__version__)'
	- name: Ensure sdist install works
	run: \|-
	export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
	cd habitat-lab
	# install from source distribution:
	conda activate sdist-install
	pip install habitat-lab/dist/habitat_lab*.tar.gz
	python -c 'import habitat; print("habitat version:", habitat.__version__)'
	pip install habitat-baselines/dist/habitat_baselines*.tar.gz
	python -c 'import habitat_baselines; print("habitat_baselines version:", habitat_baselines.__version__)'
	#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/[email protected]

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HITL - Null check for _is_object_visible raycast. #65

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HITL - Null check for _is_object_visible raycast. #65

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