initial WIP changes to support sonic in robosuite still needs review and ton more features, but right now locomotion in the robosuite env works with keyboard #412
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| name: run-tests | |
| on: | |
| push: | |
| branches: [ "main", "master" ] | |
| pull_request: | |
| permissions: | |
| contents: read | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Set up Python 3.10 | |
| uses: actions/setup-python@v3 | |
| with: | |
| python-version: "3.10" | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-cache search mesa | |
| sudo apt update | |
| sudo apt install -y libglx-mesa0 libgl1-mesa-dev libosmesa6-dev python3-opengl mesa-utils | |
| # check if OSMesa is installed | |
| dpkg -L libosmesa6-dev | |
| python -m pip install --upgrade pip | |
| pip install flake8 pytest | |
| # Install the current repo. We explictly install mink as it's supposed to be in requirements-extra, but we need it for passing CI test. | |
| - name: Install robosuite | |
| run: | | |
| pip install -e . | |
| if [ -f requirements.txt ]; then | |
| pip install -r requirements.txt | |
| pip install mink==0.0.5 | |
| fi | |
| if [ -f requirements-extra.txt ]; then | |
| pip install -r requirements-extra.txt | |
| pip uninstall -y robosuite-models | |
| fi | |
| - name: Lint with flake8 | |
| run: | | |
| # stop the build if there are Python syntax errors or undefined names | |
| flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics | |
| # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide | |
| flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics | |
| # Run the specified tests | |
| # NOTE: custom environment variable MUJOCO_GL="osmesa" is used to run tests without a display | |
| # https://github.com/google-deepmind/dm_control/issues/136 | |
| # https://github.com/ARISE-Initiative/robosuite/issues/469 | |
| - name: Test with pytest | |
| run: | | |
| export PYOPENGL_PLATFORM="osmesa" | |
| export MUJOCO_GL="osmesa" | |
| export NUMBA_DISABLE_JIT=1 | |
| pytest |