install_and_test.yml

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: '3.9.16'
    - 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/checkout@v4.1.1
    - name: Setup python
      uses: actions/setup-python@v5.0.0
      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: ${{ secrets.PYPI_LAB_UPLOAD_TOKEN }}
    defaults:
      run:
        shell: bash -el {0}
    steps:
    - uses: actions/checkout@v4.1.1
      with:
        path: "./habitat-lab"
    - uses: "./habitat-lab/.github/actions/install_ubuntu_deps"
    - uses: "./habitat-lab/.github/actions/install_ubuntu_gpu_deps"
    - name: Build, install habitat-sim
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$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/setup-miniconda@v3.0.1
      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/setup-miniconda@v3.0.1
      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/setup-miniconda@v3.0.1
      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/action-tmate@v3.18