Merge pull request #780 from StanfordVL/torch

NumPy -> Torch

.github/workflows/examples-as-test.yml

@@ -1,81 +1,132 @@
-name: Examples as Test
+name: Examples as Tests
 
 on:
   schedule:
     # * is a special character in YAML so you have to quote this string
     # Format: minute hour day-of-month month day-of-week(starts on sunday)
-    # Scheduled for 2 am, every sunday, tuesday, friday
-    - cron: '0 10 * * 0,2,5'
+    # Scheduled for 2 am, everyday
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event_name == 'pull_request' && github.head_ref || github.sha }}
   cancel-in-progress: true
 
 jobs:
-  test:
-    runs-on: [self-hosted, linux, gpu]
-    if: github.repository == 'StanfordVL/OmniGibson-dev'
-
+  generate_example_tests:
+    name: Generate Example Tests
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
+    defaults:
+      run:
+        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
     steps:
       - name: Checkout source
         uses: actions/checkout@v2
         with:
           submodules: true
-          path: omnigibson
-
-      - name: Add CUDA to env
-        run: echo "/usr/local/cuda/bin" >> $GITHUB_PATH
-
-      - name: Setup python
-        uses: actions/setup-python@v2
-        with:
-          python-version: "3.8"
-          architecture: x64
-
+          path: omnigibson-src
+
       - name: Install dev requirements
-        working-directory: omnigibson
+        working-directory: omnigibson-src
         run: pip install -r requirements-dev.txt
-
-      - name: Install additional dev requirements
-        working-directory: omnigibson
-        run: pip install -r tests/requirements-tests.txt
-
+
       - name: Install
-        working-directory: omnigibson
+        working-directory: omnigibson-src
         run: pip install -e .
 
-      - name: Uninstall pip bddl
-        working-directory: omnigibson
-        run: pip uninstall -y bddl
+      - name: Generate example tests
+        working-directory: omnigibson-src
+        run: python tests/create_tests_of_examples.py
+
+      - name: Get list of generated tests
+        id: get-test-list
+        working-directory: omnigibson-src
+        run: |
+          echo "example_tests=$(cat tests/example_tests.json)" >> $GITHUB_OUTPUT
+
+    outputs:
+      example_tests: ${{ steps.get-test-list.outputs.example_tests }}
+
+  run_test:
+    name: Run Example Tests
+    needs: [generate_example_tests]
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
+
+    strategy:
+      matrix:
+        test_file:
+          - ${{ needs.generate_example_tests.outputs.example_tests != '' && fromJson(needs.generate_example_tests.outputs.example_tests) }}
+      fail-fast: true
+
+    defaults:
+      run:
+        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
+
+    steps:
+      - name: Check for generated tests
+        if: ${{ needs.generate_example_tests.outputs.example_tests == '' }}
+        run: |
+          echo "No tests were generated. Failing the job."
+          exit 1
 
-      - name: Checkout BDDL
+      - name: Fix home
+        run: echo "HOME=/root" >> $GITHUB_ENV
+
+      - name: Checkout source
         uses: actions/checkout@v2
         with:
-          repository: StanfordVL/bddl-dev
-          ref: 581be50e7cfd2b3a1447aaa1b4fc2424b673339c
-          token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}  # PAT is required since this is a different repo
-          path: bddl
-          submodules: recursive
-          lfs: true
-
-      - name: Install BDDL
-        working-directory: bddl
-        run: pip install -e .
+          submodules: true
+          path: omnigibson-src
 
-      - name: Link Dataset
-        working-directory: omnigibson
-        run: ln -s /scr/ig-data omnigibson/data
+      - name: Install dev requirements
+        working-directory: omnigibson-src
+        run: pip install -r requirements-dev.txt
 
-      - name: Create tests of examples
-        working-directory: omnigibson
-        run: python tests/create_tests_of_examples.py
+      - name: Install
+        working-directory: omnigibson-src
+        run: pip install -e .
 
       - name: Run tests
-        working-directory: omnigibson
-        run: pytest /tmp/tests_of_examples
+        working-directory: omnigibson-src
+        run: pytest -s tests/tests_of_examples/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
 
-      - name: Remove Files
-        uses: JesseTG/[email protected]
+      - name: Deploy artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ github.run_id }}-tests-${{ matrix.test_file }}
+          path: ${{ matrix.test_file }}.xml
+
+      - name: Fail on failure or error
+        run: grep -Eq "<failure|error" ${{ matrix.test_file }}.xml; if [ $? -eq 0 ]; then exit 1; else exit 0; fi
+
+  upload_report:
+    name: Compile Example Test Report
+    runs-on: [self-hosted, linux]
+    defaults:
+      run:
+        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
+    needs: [run_test]
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v2
+        with:
+          submodules: true
+          path: omnigibson-src
+      - name: Pull reports
+        uses: actions/download-artifact@v3
+        with:
+          path: omnigibson-src
+      - name: Example Test Report0
+        uses: dorny/test-reporter@v1
         with:
-          path: /tmp/tests_of_examples
+          name: Example Test Results
+          working-directory: omnigibson-src
+          path: ${{ github.run_id }}-tests-*/*_test.xml
+          reporter: java-junit
+          fail-on-error: 'true'
+          fail-on-empty: 'true'
+
+      # - name: Upload coverage to Codecov
+      #   uses: codecov/[email protected]
+      #   with:
+      #     token: ${{ secrets.CODECOV_TOKEN }}

.github/workflows/tests.yml

@@ -17,29 +17,30 @@ jobs:
     runs-on: [self-hosted, linux, gpu, dataset-enabled]
 
     strategy:
+      fail-fast: false
       matrix:
         test_file:
           - test_dump_load_states
           - test_envs
+          - test_multiple_envs
           - test_object_removal
           - test_object_states
           - test_primitives
           - test_robot_states_flatcache
           - test_robot_states_no_flatcache
           - test_robot_teleoperation
+          - test_scene_graph
           - test_sensors
           - test_symbolic_primitives
           - test_systems
+          - test_transform_utils
           - test_transition_rules
 
     defaults:
       run:
         shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
 
     steps:
-      - name: Fix home
-        run: echo "HOME=/root" >> $GITHUB_ENV
-
       - name: Checkout source
         uses: actions/checkout@v2
         with:
@@ -57,13 +58,22 @@ jobs:
       - name: Run tests
         working-directory: omnigibson-src
         run: pytest -s tests/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
+        continue-on-error: true
 
       - name: Deploy artifact
         uses: actions/upload-artifact@v3
         with:
           name: ${{ github.run_id }}-tests-${{ matrix.test_file }}
           path: ${{ matrix.test_file }}.xml
 
+      - name: Check for failures or errors
+        run: |
+          if grep -Eq 'failures="[1-9][0-9]*"|errors="[1-9][0-9]*"' ${{ matrix.test_file }}.xml; then
+            exit 1
+          else
+            exit 0
+          fi
+
   upload_report:
     name: Compile Report
     runs-on: [self-hosted, linux]

.gitignore

@@ -87,4 +87,7 @@ coverage.xml
 
 # Doc
 docs/reference
-site/
+site/
+
+# Tests of examples
+tests/tests_of_examples

.pre-commit-config.yaml

@@ -8,4 +8,20 @@ repos:
     rev: 5.13.2
     hooks:
       - id: isort
-        name: isort (python)
+        name: isort (python)
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: no-commit-to-branch
+        name: Check for numpy imports
+        entry: git grep -l "import numpy"
+        language: system
+        types: [python]
+        exclude: |
+          (?x)^(
+            \.pre-commit-config\.yaml|
+            omnigibson/utils/deprecated_utils\.py| # Keep Numpy import for deprecated Omniverse utils
+            omnigibson/utils/numpy_utils\.py|      # Utilities specifically for numpy operations and dtype
+            tests/test_transform_utils\.py         # This test file uses Scipy and Numpy
+          )$
+        stages: [commit]

docs/tutorials/custom_robot_import.md

@@ -110,7 +110,8 @@ Now that we have the USD file for the robot, let's write our own robot class. Fo
 ??? code "stretch.py"
     ``` python linenums="1"
     import os
-    import numpy as np
+    import math
+    import torch as th
     from omnigibson.macros import gm
     from omnigibson.robots.active_camera_robot import ActiveCameraRobot
     from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
@@ -157,7 +158,7 @@ Now that we have the USD file for the robot, let's write our own robot class. Fo
         def _default_joint_pos(self):
             # Define the default joint positions for your robot
 
-            return np.array([0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0.0, 0, 0, np.pi / 8, np.pi / 8])
+            return th.tensor([0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0.0, 0, 0, math.pi / 8, math.pi / 8]. dtype=th.float32)
 
         @property
         def wheel_radius(self):