mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Pauline Bailly-Masson
1396b9fab7
* 🔒 pin quality.yml actions to commit SHAs * 🔒 pin fast_tests.yml actions to commit SHAs * 🔒 pin full_tests.yml actions to commit SHAs * 🔒 pin documentation.yml actions to commit SHAs * 🔒 pin documentation-upload-pr.yml actions to commit SHAs * 🔒 pin release.yml actions to commit SHAs * 🔒 pin security.yml actions to commit SHAs --------- Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
239 lines
8.8 KiB
YAML
239 lines
8.8 KiB
YAML
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# This workflow handles full testing.
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name: Full Tests
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on:
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# Allows running this workflow manually from the Actions tab
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workflow_dispatch:
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pull_request_review:
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types: [submitted]
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push:
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branches:
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- main
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paths:
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- "src/**"
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- "tests/**"
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- ".github/workflows/**"
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- "pyproject.toml"
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- "uv.lock"
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- "Makefile"
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permissions:
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contents: read
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# Sets up the environment variables
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env:
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UV_VERSION: "0.8.0"
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PYTHON_VERSION: "3.12"
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DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
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# Ensures that only the latest action is built, canceling older runs.
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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jobs:
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# This job runs the E2E tests + pytest with all extras
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# It runs everytime a PR is approved or a push to main
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full-tests:
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name: Full Tests
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runs-on: ubuntu-latest
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if: |
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(github.event_name == 'pull_request_review' && github.event.review.state == 'approved') ||
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github.event_name == 'push' ||
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github.event_name == 'workflow_dispatch'
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env:
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MUJOCO_GL: egl
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HF_HOME: /mnt/cache/.cache/huggingface
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HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
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HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
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steps:
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- uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
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with:
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lfs: true
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persist-credentials: false
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# NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space.
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# (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.)
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- name: Setup /mnt storage
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run: sudo chown -R $USER:$USER /mnt
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- name: Install apt dependencies
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run: |
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sudo apt-get update && sudo apt-get install -y build-essential \
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git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
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speech-dispatcher libgeos-dev portaudio19-dev
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- name: Setup uv and Python
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uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e # v6
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with:
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enable-cache: true
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version: ${{ env.UV_VERSION }}
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python-version: ${{ env.PYTHON_VERSION }}
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- name: Install lerobot with all extras
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run: uv sync --locked --extra all # TODO(Steven): Make flash-attn optional
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- name: Login to Hugging Face
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if: env.HF_USER_TOKEN != ''
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run: |
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uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
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uv run hf auth whoami
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- name: Run pytest (all extras)
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run: uv run pytest tests -vv --maxfail=10
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- name: Run end-to-end tests
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run: uv run make test-end-to-end
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# This job builds a GPU enabled image for testing
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# It runs everytime a PR is approved or a push to main
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# TODO(Steven): For now we skip this job for community PRs
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build-and-push-docker:
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name: Build and Push Docker
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runs-on:
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group: aws-general-8-plus
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if: |
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github.repository == 'huggingface/lerobot' && (
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(github.event_name == 'pull_request_review' && github.event.review.state == 'approved' && github.event.pull_request.head.repo.fork == false) ||
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github.event_name == 'push' ||
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github.event_name == 'workflow_dispatch'
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)
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outputs:
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image_tag: ${{ steps.set_tag.outputs.image_tag }}
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env:
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GITHUB_EVENT_NAME: ${{ github.event_name }}
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GITHUB_REF: ${{ github.ref }}
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GITHUB_PR_NUMBER: ${{ github.event.pull_request.number }}
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steps:
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- name: Set Docker image tag
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id: set_tag
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run: |
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if [[ "${GITHUB_EVENT_NAME}" == "push" ]]; then
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TAG="${DOCKER_IMAGE_NAME}:latest"
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elif [[ -n "${GITHUB_PR_NUMBER}" ]]; then
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TAG="${DOCKER_IMAGE_NAME}:pr-${GITHUB_PR_NUMBER}"
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else
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TAG="${DOCKER_IMAGE_NAME}:pr-${GITHUB_REF##*/}"
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fi
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echo "image_tag=$TAG" >> $GITHUB_OUTPUT
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- name: Install Git LFS
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run: |
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sudo apt-get update
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sudo apt-get install git-lfs
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git lfs install
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- uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
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with:
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lfs: true
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persist-credentials: false
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@8d2750c68a42422c14e847fe6c8ac0403b4cbd6f # v3
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with:
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cache-binary: false
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- name: Login to Docker Hub
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uses: docker/login-action@c94ce9fb468520275223c153574b00df6fe4bcc9 # v3
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with:
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username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
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password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
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- name: Build and push Docker image
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uses: docker/build-push-action@10e90e3645eae34f1e60eeb005ba3a3d33f178e8 # v6
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with:
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context: .
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file: ./docker/Dockerfile.internal
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push: true
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tags: ${{ steps.set_tag.outputs.image_tag }}
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# This job runs pytest with all extras in a GPU enabled host
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# It runs everytime a test image is created
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gpu-tests:
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name: GPU Tests
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needs: [build-and-push-docker]
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runs-on:
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group: aws-g6-4xlarge-plus
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env:
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HF_HOME: /home/user_lerobot/.cache/huggingface
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HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
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TORCH_HOME: /home/user_lerobot/.cache/torch
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TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
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HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
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container:
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image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
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options: --gpus all --shm-size "16gb"
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credentials:
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username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
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password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
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defaults:
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run:
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shell: bash
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working-directory: /lerobot
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steps:
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- name: Login to Hugging Face
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if: env.HF_USER_TOKEN != ''
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run: |
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hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
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hf auth whoami
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- name: Fix ptxas permissions
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run: chmod +x /lerobot/.venv/lib/python3.12/site-packages/triton/backends/nvidia/bin/ptxas
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- name: Run pytest on GPU
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run: pytest tests -vv --maxfail=10
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- name: Run end-to-end tests
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run: make test-end-to-end
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# This job deletes the test image recently created
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# It runs everytime after the gpu-tests have finished
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delete-pr-image:
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name: Delete PR Image
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needs: [gpu-tests, build-and-push-docker]
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if: always() && ((github.event.review.state == 'approved') || (github.event_name == 'workflow_dispatch')) && needs.build-and-push-docker.result == 'success'
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runs-on: ubuntu-latest
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steps:
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- name: Get Docker Hub Token and Delete Image
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# zizmor: ignore[template-injection]
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env:
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DOCKERHUB_LEROBOT_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
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DOCKERHUB_LEROBOT_PASSWORD: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
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IMAGE_FULL: ${{ needs.build-and-push-docker.outputs.image_tag }}
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run: |
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IMAGE_NAME=$(echo "$IMAGE_FULL" | cut -d':' -f1)
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IMAGE_TAG=$(echo "$IMAGE_FULL" | cut -d':' -f2-)
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echo "Attempting to delete image: $IMAGE_NAME:$IMAGE_TAG"
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TOKEN=$(curl -s -H "Content-Type: application/json" \
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-X POST \
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-d "{\"username\": \"$DOCKERHUB_LEROBOT_USERNAME\", \"password\": \"$DOCKERHUB_LEROBOT_PASSWORD\"}" \
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https://hub.docker.com/v2/users/login/ | jq -r .token)
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if [ "$TOKEN" == "null" ] || [ -z "$TOKEN" ]; then
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echo "::error::Failed to get Docker Hub token."
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exit 1
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fi
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HTTP_RESPONSE=$(curl -s -o /dev/null -w "%{http_code}" \
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-H "Authorization: JWT ${TOKEN}" \
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-X DELETE \
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https://hub.docker.com/v2/repositories/${IMAGE_NAME}/tags/$IMAGE_TAG)
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if [ "$HTTP_RESPONSE" -eq 204 ]; then
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echo "Successfully deleted Docker image tag: $IMAGE_NAME:$IMAGE_TAG"
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else
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echo "::error::Failed to delete Docker image. HTTP status: $HTTP_RESPONSE"
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exit 1
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fi
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# TODO(Steven): Check dockerimages pull in ubuntu
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