UniLab/.github/workflows/ci.yml at main · Motphys/UniLab · GitHub

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name: CI

on:
  pull_request:
    branches: [main]
    types: [opened, synchronize, reopened, ready_for_review]
    paths-ignore:
      - "LICENSE"
      - ".github/CODEOWNERS"
      - ".github/ISSUE_TEMPLATE/**"
      - ".github/pull_request_template.md"
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.event.pull_request.number || github.ref_name }}
  cancel-in-progress: true

permissions:
  contents: read

env:
  UV_FROZEN: "1"

jobs:
  ruff-lint:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 5
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies(only dev group)
        run: uv sync --only-group dev
      - name: Check
        run: uv run --no-sync ruff check --output-format=github .

  ruff-format:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 5
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies(only dev group)
        run: uv sync --only-group dev
      - name: Check
        run: uv run --no-sync ruff format --check .

  mypy:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies
        run: |
          uv sync \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.8.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Check
        run: uv run --no-sync mypy src/unilab

  pyright:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
      - name: Install dependencies
        run: |
          uv sync \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.8.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Check
        run: uv run --no-sync pyright

  benchmark-smoke:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    timeout-minutes: 10
    runs-on: ubuntu-slim
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
          python-version: '3.11'
      - name: Install dependencies
        run: |
          uv sync --extra mujoco \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.7.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Benchmark entrypoint smoke test
        run: uv run --no-sync python scripts/benchmark/smoke_test.py

  test:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request'
    # The merged manager-based suite needs ~20 min on ubuntu-slim; 15 min
    # cancels the step at ~60%.
    timeout-minutes: 30
    strategy:
      matrix:
        os: [ubuntu-slim]
    #     python-version: ['3.10', '3.11', '3.12', '3.13']
    runs-on: ${{ matrix.os }}
    steps:
      - uses: actions/checkout@v6.0.2
        with:
          ref: ${{ github.event_name == 'workflow_dispatch' && github.ref || format('refs/pull/{0}/merge', github.event.pull_request.number) }}
          persist-credentials: false
      - name: Install uv
        uses: astral-sh/setup-uv@v8.0.0
        with:
          enable-cache: true
          # python-version: ${{ matrix.python-version }}
          python-version: '3.11'
      - name: Install system dependencies
        run: sudo apt-get update && sudo apt-get install -y libwayland-client0
      - name: Install dependencies
        run: |
          uv sync --extra mujoco --extra motrix \
            --no-install-package torch \
            --no-install-package nvidia-cublas-cu12 \
            --no-install-package nvidia-cuda-cupti-cu12 \
            --no-install-package nvidia-cuda-nvrtc-cu12 \
            --no-install-package nvidia-cuda-runtime-cu12 \
            --no-install-package nvidia-cudnn-cu12 \
            --no-install-package nvidia-cufft-cu12 \
            --no-install-package nvidia-cufile-cu12 \
            --no-install-package nvidia-curand-cu12 \
            --no-install-package nvidia-cusolver-cu12 \
            --no-install-package nvidia-cusparse-cu12 \
            --no-install-package nvidia-cusparselt-cu12 \
            --no-install-package nvidia-nccl-cu12 \
            --no-install-package nvidia-nvjitlink-cu12 \
            --no-install-package nvidia-nvtx-cu12 \
            --no-install-package triton
          uv pip install torch==2.7.0 --index-url https://download.pytorch.org/whl/cpu
      - name: Cache robot assets
        uses: actions/cache@v4.2.3
        with:
          path: src/unilab/assets/robots
          key: ${{ runner.os }}-robot-assets-v1-${{ hashFiles('src/unilab/assets/hub.py') }}
      - name: Keep git-tracked assets at the checked-out commit
        # The robots cache persists HF-downloaded meshes across runs, but it
        # also snapshots git-tracked scene XMLs and would silently roll them
        # back to the cached revision. Restore tracked files from the index;
        # untracked downloads stay untouched.
        run: git restore --worktree -- src/unilab/assets/robots
      - name: Pull robot assets
        run: uv run --no-sync unilab-pull-assets --robot all
      - name: Test with coverage
        run: uv run --no-sync pytest -m "not slow" --cov=src/unilab --cov-report "markdown-append:${GITHUB_STEP_SUMMARY:-/dev/null}" --cov-fail-under=25