Feat/OpenArm Demo Pick task + continuous-gripper staged grasp #855
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 | |
| - 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 | |
| - 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 | |
| - name: Install dependencies | |
| run: uv sync | |
| - name: Check | |
| run: uv run 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 | |
| - name: Install dependencies | |
| run: uv sync | |
| - name: Check | |
| run: uv run pyright | |
| test: | |
| if: github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request' | |
| 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: | |
| # python-version: ${{ matrix.python-version }} | |
| python-version: '3.11' | |
| - name: Install system dependencies | |
| run: sudo apt-get update && sudo apt-get install -y libwayland-client0 | |
| - name: Install dependencies | |
| run: | | |
| uv sync --extra mujoco --extra motrix \ | |
| --no-install-package torch \ | |
| --no-install-package nvidia-cublas-cu12 \ | |
| --no-install-package nvidia-cuda-cupti-cu12 \ | |
| --no-install-package nvidia-cuda-nvrtc-cu12 \ | |
| --no-install-package nvidia-cuda-runtime-cu12 \ | |
| --no-install-package nvidia-cudnn-cu12 \ | |
| --no-install-package nvidia-cufft-cu12 \ | |
| --no-install-package nvidia-cufile-cu12 \ | |
| --no-install-package nvidia-curand-cu12 \ | |
| --no-install-package nvidia-cusolver-cu12 \ | |
| --no-install-package nvidia-cusparse-cu12 \ | |
| --no-install-package nvidia-cusparselt-cu12 \ | |
| --no-install-package nvidia-nccl-cu12 \ | |
| --no-install-package nvidia-nvjitlink-cu12 \ | |
| --no-install-package nvidia-nvtx-cu12 \ | |
| --no-install-package triton | |
| uv pip install torch==2.7.0 --index-url https://download.pytorch.org/whl/cpu | |
| - name: Test with coverage | |
| run: uv run --no-sync pytest -m "not slow" --cov=src/unilab --cov-report "markdown-append:${GITHUB_STEP_SUMMARY:-/dev/null}" --cov-fail-under=25 |