run-tests.yaml

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 libgl1-mesa-glx 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
        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"
        python3 tests/test_robots/test_all_robots.py
        python3 tests/test_grippers/test_all_grippers.py
        python3 tests/test_environments/test_all_environments.py
        pytest tests/test_controllers/test_composite_controllers.py