Fix Xbox controller; introduce Takeover policy w/o brake (#615) #8

Workflow file for this run

	# This workflow will install Python dependencies, run tests and lint with a single version of Python
	# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions

	name: test

	on:
	push:
	branches: [ main ]
	pull_request:
	branches: [ main ]

	jobs:
	code_style:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Check code style
	run: \|
	pip install "yapf==0.30.0"
	bash format.sh --test

	code_docstring:
	if: github.event_name != 'push' \|\| github.ref != 'refs/heads/main'
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Install software
	run: \|
	sudo apt update && sudo apt install -y bc
	pip install "docstr-coverage==2.3.0"
	- name: Get post-PR docstring coverage
	run: \|
	after=$(docstr-coverage --percentage-only --fail-under 0 metadrive/)
	echo "after=$after" >> "$GITHUB_ENV"
	- name: Checkout the main branch
	uses: actions/checkout@v4
	with:
	ref: main
	- name: Get pre-PR docstring coverage
	run: \|
	before=$(docstr-coverage --percentage-only --fail-under 0 metadrive/)
	echo "before=$before" >> "$GITHUB_ENV"
	- name: Check if docstring coverage decreases
	run: \|
	printf 'Docstring coverage before pull request: %s%%\n' "$before"
	printf 'Docstring coverage after pull request: %s%%\n' "$after"
	improvement=$(echo "$after - $before" \| bc -l)
	if (( $(echo "$after < $before" \|bc -l) )); then
	printf 'Docstring coverage check failed! We require the docstring coverage to be non-decreasing after PR. You have decreased the coverage by: %s%%\n' "$improvement"
	exit 1
	fi
	printf 'Docstring coverage check successful! We require the docstring coverage to be non-decreasing after PR. You have changed the coverage by: %s%%\n' "$improvement"
	roundedbefore=`printf "%.2f" $before`
	roundedafter=`printf "%.2f" $after`
	roundedimprovement=`printf "%.3f" $improvement`
	ROBOTMSG="[BOT] Great job! You have changed the docstring coverage from ${roundedbefore}\% to ${roundedafter}\%, improving ${roundedimprovement}\%."
	echo $ROBOTMSG
	echo "ROBOTMSG=$ROBOTMSG" >> "$GITHUB_ENV"
	- uses: actions/github-script@v6
	with:
	script: \|
	github.rest.issues.createComment({
	issue_number: context.issue.number,
	owner: context.repo.owner,
	repo: context.repo.repo,
	body: `${{env.ROBOTMSG}}`
	})

	test_functionality:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_functionality

	test_environment:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install gym
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_env

	test_policy:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_policy

	test_component:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_component

	test_export_record_scenario:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_export_record_scenario

	test_sensor_pipeline:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Prepare OpenGL
	run: \|
	sudo apt-get -y install xvfb
	sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_sensors/

	test_examples:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Prepare OpenGL
	run: \|
	sudo apt-get -y install xvfb
	sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install mediapy
	conda install ffmpeg
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_examples

	test_policy_windows:
	runs-on: windows-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_policy

	test_ipynb:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Prepare OpenGL
	run: \|
	sudo apt-get -y install xvfb
	sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	pip install ray
	cd metadrive/
	pip install nbmake pytest-xdist
	mkdir ./tests/test_ipynb
	cp ./examples/Basic_MetaDrive_Usages.ipynb ./tests/test_ipynb/
	TEST_IPYNB=1 pytest --nbmake -n=auto ./tests/test_ipynb/

	test_doc_code:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.9
	uses: actions/setup-python@v2
	with:
	python-version: 3.9
	- name: Prepare OpenGL
	run: \|
	sudo apt-get -y install xvfb
	sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
	- name: Blackbox tests
	run: \|
	pip install cython
	pip install numpy
	pip install -e .
	pip install -e .[gym]
	python -m metadrive.pull_asset
	pip install pytest
	pip install pytest-cov
	cd documentation
	pip install nbmake pytest-xdist
	TEST_DOC=1 pytest --nbmake -n=auto ./source

	test_ros:
	runs-on: ubuntu-22.04
	steps:
	- name: Set up ROS2 humble
	uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: humble
	- name: checkout code
	uses: actions/checkout@v2
	- name: Blackbox tests
	run: \|

	ls -al
	pwd
	source /opt/ros/humble/setup.bash

	sudo rosdep update

	pwd

	pip install pyzmq
	pip install gymnasium==0.28
	ls -al
	pip install -e .
	python -m metadrive.pull_asset

	cd bridges/ros_bridge
	ls -al
	python _delete_rviz_line.py
	sudo rosdep install --from-paths src --ignore-src -y --rosdistro humble
	pwd
	colcon build
	source install/setup.bash
	pip install pyzmq
	nohup ros2 launch metadrive_example_bridge metadrive_example_bridge.launch.py > ros.txt 2>&1 &
	python ros_socket_server.py --test

	# python ros_socket_server.py --test

	# - name: Upload coverage to Codecov
	# uses: codecov/codecov-action@v1
	# with:
	# file: ./metadrive/coverage.xml
	# fail_ci_if_error: true

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Fix Xbox controller; introduce Takeover policy w/o brake (#615) #8

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Fix Xbox controller; introduce Takeover policy w/o brake (#615) #8

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Workflow file for this run