Add UFACTORY 850 as one of the robots supported, introduce various HRI utilities for teleop and next episode hinting while reseting #2500
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| name: Tests | |
| on: | |
| pull_request: | |
| branches: | |
| - main | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "poetry.lock" | |
| - "Makefile" | |
| - ".cache/**" | |
| push: | |
| branches: | |
| - main | |
| paths: | |
| - "lerobot/**" | |
| - "tests/**" | |
| - "examples/**" | |
| - ".github/**" | |
| - "poetry.lock" | |
| - "Makefile" | |
| - ".cache/**" | |
| jobs: | |
| pytest: | |
| name: Pytest | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| # portaudio19-dev is needed to install pyaudio | |
| run: | | |
| sudo apt-get update && \ | |
| sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| cache: "poetry" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --all-extras | |
| - name: Test with pytest | |
| run: | | |
| pytest tests -v --cov=./lerobot --durations=0 \ | |
| -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \ | |
| -W ignore::UserWarning:torch.utils.data.dataloader:558 \ | |
| -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ | |
| && rm -rf tests/outputs outputs | |
| pytest-minimal: | |
| name: Pytest (minimal install) | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| run: sudo apt-get update && sudo apt-get install -y ffmpeg | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10 | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --extras "test" | |
| - name: Test with pytest | |
| run: | | |
| pytest tests -v --cov=./lerobot --durations=0 \ | |
| -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \ | |
| -W ignore::UserWarning:torch.utils.data.dataloader:558 \ | |
| -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ | |
| && rm -rf tests/outputs outputs | |
| end-to-end: | |
| name: End-to-end | |
| runs-on: ubuntu-latest | |
| env: | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: true # Ensure LFS files are pulled | |
| - name: Install apt dependencies | |
| # portaudio19-dev is needed to install pyaudio | |
| run: | | |
| sudo apt-get update && \ | |
| sudo apt-get install -y libegl1-mesa-dev portaudio19-dev | |
| - name: Install poetry | |
| run: | | |
| pipx install poetry && poetry config virtualenvs.in-project true | |
| echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| cache: "poetry" | |
| - name: Install poetry dependencies | |
| run: | | |
| poetry install --all-extras | |
| - name: Test end-to-end | |
| run: | | |
| make test-end-to-end \ | |
| && rm -rf outputs |