Add mujoco-menagerie package with on-demand model downloads (#310) #1
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| # Every merge that touches a model directory or the package is released as | |
| # vYYYY.M.N. Archives go to the long-lived `assets` GitHub release and are | |
| # re-verified from their public URLs before anything reaches PyPI, which is | |
| # immutable. The version is read from the tag, which is pushed last so a failed | |
| # publish leaves no tag behind. | |
| name: release | |
| on: | |
| push: | |
| branches: [main] | |
| workflow_dispatch: | |
| concurrency: release | |
| jobs: | |
| release: | |
| runs-on: ubuntu-latest | |
| environment: pypi | |
| permissions: | |
| contents: write # release assets, tag | |
| id-token: write # trusted publishing | |
| steps: | |
| - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # v6.0.3 | |
| with: | |
| fetch-depth: 0 | |
| - uses: astral-sh/setup-uv@fac544c07dec837d0ccb6301d7b5580bf5edae39 # v8.2.0 | |
| with: | |
| version: "0.12.1" | |
| - run: uv python install 3.12 | |
| - name: Pick the version, or stop if nothing to release | |
| id: version | |
| run: | | |
| last=$(git tag --list 'v*' --sort=-v:refname | head -1) | |
| if [ -n "$last" ] && [ "$GITHUB_EVENT_NAME" = push ] && ! git diff --name-only "$last" HEAD \ | |
| | grep -vE '^(\.|assets/|test/)' | grep -qE '/|^(catalog|build_registry)\.py$'; then | |
| echo "no model directory or package change since $last"; exit 0 | |
| fi | |
| month=$(date -u +%Y.%-m) | |
| n=$(git tag --list "v$month.*" | sed "s/^v$month\.//" | sort -n | tail -1) | |
| version="$month.$(( ${n:--1} + 1 ))" | |
| git tag "v$version" # local until publish succeeds; the build reads the version from it | |
| echo "version=$version" >> "$GITHUB_OUTPUT" | |
| - name: Build the archives not yet released, and the registry | |
| if: steps.version.outputs.version | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release view assets --json assets --jq '[.assets[] | select(.digest) | {key: .name, value: {sha256: (.digest | ltrimstr("sha256:")), download_size: .size}}] | from_entries' > published.json || echo '{}' > published.json | |
| uv run --no-project build_registry.py --jobs "$(nproc)" --published published.json | |
| - name: Upload new archives | |
| if: steps.version.outputs.version | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release view assets >/dev/null 2>&1 || gh release create assets --title "Model archives" \ | |
| --notes "Content-addressed archives used by the mujoco-menagerie package. Do not delete." --target "$GITHUB_SHA" | |
| existing=$(gh release view assets --json assets --jq '.assets[].name') | |
| for f in python/dist-assets/*.tar.xz; do | |
| grep -qx "$(basename "$f")" <<<"$existing" || gh release upload assets "$f" | |
| done | |
| - name: Re-verify every archive from its public URL | |
| if: steps.version.outputs.version | |
| env: | |
| PYTHONPATH: python/src | |
| run: | | |
| uv run --no-project python - <<'EOF' | |
| import hashlib, json, urllib.request | |
| from mujoco_menagerie._cache import DEFAULT_BASE_URL | |
| for name, r in json.load(open('python/src/mujoco_menagerie/registry.json'))['robots'].items(): | |
| data = urllib.request.urlopen(f"{DEFAULT_BASE_URL}/{r['asset']}").read() | |
| assert hashlib.sha256(data).hexdigest() == r['sha256'] and len(data) == r['download_size'], name | |
| EOF | |
| - name: Build, smoke test, publish | |
| if: steps.version.outputs.version | |
| env: | |
| VERSION: ${{ steps.version.outputs.version }} | |
| run: | | |
| make build | |
| ls "dist/mujoco_menagerie-$VERSION-py3-none-any.whl" | |
| uv publish | |
| - name: Tag | |
| if: steps.version.outputs.version | |
| env: | |
| VERSION: ${{ steps.version.outputs.version }} | |
| run: git push origin "v$VERSION" |