lerobot/.github/workflows/fast_tests.yml

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# This workflow validates each optional-dependency tier in isolation.
# Each tier installs a different extra and runs the full test suite.
# Tests that require an extra not installed in the current tier are
# skipped automatically via pytest.importorskip guards.
name: Fast Tests

on:
  # Allows running this workflow manually from the Actions tab
  workflow_dispatch:

  pull_request:
    branches:
      - main
    paths:
      - "src/**"
      - "tests/**"
      - ".github/workflows/**"
      - "pyproject.toml"
      - "uv.lock"
      - "Makefile"
  push:
    branches:
      - main
    paths:
      - "src/**"
      - "tests/**"
      - ".github/workflows/**"
      - "pyproject.toml"
      - "uv.lock"
      - "Makefile"

permissions:
  contents: read

# Sets up the environment variables
env:
  UV_VERSION: "0.11.30"
  PYTHON_VERSION: "3.12"

# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # This job runs pytests in isolated dependency tiers.
  # Each tier installs a different extra and runs the full suite;
  # tests gated behind other extras skip automatically.
  fast-pytest-tests:
    name: Fast Pytest Tests
    runs-on: ubuntu-latest
    env:
      MUJOCO_GL: egl
      HF_HOME: /mnt/cache/.cache/huggingface
      HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
    steps:
      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
        with:
          persist-credentials: false
          lfs: true

      # NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space.
      # (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.)
      - name: Setup /mnt storage
        run: sudo chown -R $USER:$USER /mnt

      # TODO(Steven): Evaluate the need of these dependencies
      - name: Install apt dependencies
        run: |
          sudo apt-get update && sudo apt-get install -y build-essential git \
          curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
          libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev

      - name: Setup uv and Python
        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9  # v9.0.0
        with:
          enable-cache: true
          version: ${{ env.UV_VERSION }}
          python-version: ${{ env.PYTHON_VERSION }}

      # ── Tier 1: Base ──────────────────────────────────────
      - name: "Tier 1 — Install: base"
        run: uv sync --locked --extra test

      - name: Login to Hugging Face
        if: env.HF_USER_TOKEN != ''
        run: |
          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
          uv run hf auth whoami

      - name: "Tier 1 — Test: base"
        run: uv run pytest tests -vv --maxfail=10

      # ── Tier 2: Dataset ──────────────────────────────────
      - name: "Tier 2 — Install: dataset"
        run: uv sync --locked --extra test --extra dataset

      - name: "Tier 2 — Test: dataset"
        run: uv run pytest tests -vv --maxfail=10

      # ── Tier 3: Hardware ─────────────────────────────────
      - name: "Tier 3 — Install: hardware"
        run: uv sync --locked --extra test --extra hardware

      - name: "Tier 3 — Test: hardware"
        run: uv run pytest tests -vv --maxfail=10

      # ── Tier 4: Viz ──────────────────────────────────────
      - name: "Tier 4 — Install: viz"
        run: uv sync --locked --extra test --extra viz

      - name: "Tier 4 — Test: viz"
        run: uv run pytest tests -vv --maxfail=10