Merge branch 'main' into back_to_rlbench

.dockerignore

@@ -1,3 +1,115 @@
+# Copied + modified from: https://gist.github.com/KernelA/04b4d7691f28e264f72e76cfd724d448
+# Git
+.git
+.gitignore
+.gitattributes
+.gitmodules
+
+
+# CI
+.codeclimate.yml
+.travis.yml
+.taskcluster.yml
+
+# Docker
+docker-compose.yml
+Dockerfile
+.docker
+.dockerignore
+
+# Byte-compiled / optimized / DLL files
+**/__pycache__/
+**/*.py[cod]
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.cache
+nosetests.xml
+coverage.xml
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Virtual environment
+.env
+.venv/
+venv/
+
+# PyCharm
+.idea
+
+# Python mode for VIM
+.ropeproject
+**/.ropeproject
+
+# Vim swap files
+**/*.swp
+
+# VS Code
+.vscode/
+
+# Mypy
+**/.mypy_cache/
+
+# Pytest
+**/.pytest_cache/
+
+# Prevent any of these files from being included in the docker image.
+
+artifacts/
+bensnewlogs/
+checkpoints/
+data/
+logs/
+outputs/
+results/
+rollouts/
+trained_models/
+wandb/
+wandb_artifacts/
+
 third_party/ndf_robot/src/ndf_robot/data/
 third_party/ndf_robot/src/ndf_robot/eval_data/
 third_party/ndf_robot/src/ndf_robot/descriptions/

.github/workflows/build-container.yaml

@@ -0,0 +1,43 @@
+# A github action that builds a container image for the project.
+
+name: Build Container
+
+on:
+  push:
+
+    # Allows you to run this workflow manually from the Actions tab
+    workflow_dispatch:
+
+    paths:
+      # This is the entire list of files that will trigger the workflow.
+      - Dockerfile
+      - pyproject.toml
+      - requirements-gpu.txt
+      - .github/workflows/build-container.yaml
+      - .github/workflows/compute-tag.yaml
+
+jobs:
+  compute_tag:
+    uses: ./.github/workflows/compute-tag.yaml
+
+  docker:
+    runs-on: ubuntu-latest
+    needs: compute_tag
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          # This is the name of the image that will be pushed to Docker Hub. If the branch is main, the image will be tagged as latest. Else, it will be tagged as the branch name.
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/taxpose:${{ needs.compute_tag.outputs.image_tag }}
+          cache-from: type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/taxpose:${{ needs.compute_tag.outputs.image_tag }}
+          cache-to: type=inline

.github/workflows/build-site.yaml

@@ -52,7 +52,7 @@ jobs:
         run: mkdocs build
 
       - name: Upload the built site.
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: ${{ !env.ACT }}
         with:
           name: site

.github/workflows/compute-tag.yaml

@@ -0,0 +1,45 @@
+name: Compute the docker tag for this branch
+
+on:
+  workflow_call:
+    inputs:
+      # description: 'If true, the tag will be latest if the docker image tag does not exist'
+      latest_on_noexist:
+        required: false
+        type: string
+        default: 'false'
+    outputs:
+      image_tag:
+        description: 'The tag to use for the docker image'
+        value: ${{ jobs.compute_tag.outputs.image_tag }}
+
+
+jobs:
+  compute_tag:
+    runs-on: ubuntu-latest
+    outputs:
+      image_tag: ${{ steps.set_tag.outputs.tag }}
+    steps:
+      - id: set_tag
+        run: |
+          branch_name="${{ github.head_ref }}"
+          if [[ "${{ github.ref }}" == "refs/heads/main" ]]; then
+            echo "tag=latest" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
+            sanitized_branch_name="${branch_name//\//-}"
+            # If latest_on_noexist is true, set the tag to latest if the tag does not exist.
+            if [[ "${{ inputs.latest_on_noexist }}" == "true" ]]; then
+              # Check if the tag exists using docker manifest.
+              if ! docker manifest inspect beisner/taxpose:${sanitized_branch_name} > /dev/null 2>&1; then
+                echo "tag=latest" >> $GITHUB_OUTPUT
+              else
+                echo "tag=${sanitized_branch_name}" >> $GITHUB_OUTPUT
+              fi
+            else
+              echo "tag=${sanitized_branch_name}" >> $GITHUB_OUTPUT
+            fi
+          else
+            sanitized_branch_name="${GITHUB_REF#refs/heads/}"
+            sanitized_branch_name="${sanitized_branch_name//\//-}"
+            echo "tag=${sanitized_branch_name}" >> $GITHUB_OUTPUT
+          fi

.github/workflows/deploy-site.yaml

@@ -18,18 +18,18 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Download Site Artifact
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: site
           path: docs/site/
 
       - name: Setup Pages
         if: ${{ !env.ACT }}
-        uses: actions/configure-pages@v1
+        uses: actions/configure-pages@v5
 
       - name: Upload Artifact to Pages
         if: ${{ !env.ACT }}
-        uses: actions/upload-pages-artifact@v1
+        uses: actions/upload-pages-artifact@v3
         with:
           path: docs/site/
 

.github/workflows/merge-request.yaml

@@ -8,9 +8,18 @@ on:
   workflow_dispatch:
 
 jobs:
+  compute_tag:
+    uses: ./.github/workflows/compute-tag.yaml
+    with:
+      latest_on_noexist: 'true'
+
   test:
     uses: ./.github/workflows/run-tests.yaml
+    needs: compute_tag
     with:
       install_string: .[develop]
+      # Get the image tag from the compute_tag job.
+      image_tag: ${{ needs.compute_tag.outputs.image_tag }}
+
   build_site:
     uses: ./.github/workflows/build-site.yaml

.github/workflows/push.yaml

@@ -8,10 +8,17 @@ on:
   workflow_dispatch:
 
 jobs:
+  compute_tag:
+    uses: ./.github/workflows/compute-tag.yaml
+    with:
+      latest_on_noexist: 'true'
   test:
     uses: ./.github/workflows/run-tests.yaml
+    needs: compute_tag
     with:
       install_string: .[develop]
+      # Get the image tag from the compute_tag job.
+      image_tag: ${{ needs.compute_tag.outputs.image_tag }}
   build_site:
     uses: ./.github/workflows/build-site.yaml
   deploy_site:

.github/workflows/run-tests.yaml

@@ -1,55 +1,39 @@
 name: Run Tests
 
 on:
+
   workflow_call:
     inputs:
       install_string:
         required: True
         type: string
+      image_tag:
+        required: True
+        type: string
+        default: "latest"
 
 jobs:
   test:
     runs-on: ubuntu-latest
 
+    container:
+      # Image tag is "latest" if the branch is main, else it is the branch name.
+      image: beisner/taxpose:${{ inputs.image_tag }}
+
+    defaults:
+      run:
+        working-directory: /opt/baeisner/code
+
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'true'
-      ##############################################
-      # Skip caching if using a local runner.
-      - uses: actions/setup-python@v4
-        if: ${{ !env.ACT }}
-        with:
-          python-version: '3.9'
-          cache: 'pip'
-          cache-dependency-path: "pyproject.toml"
-      - uses: actions/setup-python@v4
-        if: ${{ env.ACT }}
-        with:
-          python-version: '3.9'
-      ##############################################
-
-      - name: Install specific pip.
-        run: pip install pip==23.0.0
-
-      - name: Install CPU version of torch.
-        run: pip install torch==1.11.0+cpu torchvision==0.12.0+cpu --extra-index-url https://download.pytorch.org/whl/cpu
-
-      - name: Install the torch-geometric.
-        run: pip install pyg_lib==0.1.0 torch_scatter==2.0.9 torch_sparse==0.6.15 torch_cluster==1.6.0 torch_spline_conv==1.2.1 -f https://data.pyg.org/whl/torch-1.11.0+cpu.html
-
-      - name: Install pytorch3d dependencies.
-        run: pip install fvcore iopath
-
-      - name: Install pytorch3d
-        run: pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu113_pyt1110/download.html
-        # run: pip install pytorch3d
-
-      - name: Install package
-        run: pip install "${{ inputs.install_string }}"
 
-      - name: Install ndf_robot
-        run: pip install -e third_party/ndf_robot
+      # Link the code from the default checkout directory to the correct directory.
+      # Use the github workspace variable to get the correct directory.
+      # Can't use the checkout action to checkout to a different directory, so we have to simlink.
+      - name: Move code to correct directory
+        run: rm -rf /opt/baeisner/code && ln -s $GITHUB_WORKSPACE /opt/baeisner/code
 
       - name: Code Quality
         run: python -m black taxpose/ tests/ --check
@@ -58,6 +42,5 @@ jobs:
         run: python -m mypy taxpose/ tests/
 
       # Run tests.
-      # # SKIPPING BECAUSE OF PYTORCH3D IMPORT ISSUES... Prebuilt Linux binaries demand torch CUDA.
-      # - name: Test with pytest
-        # run: python -m pytest
+      - name: Test with pytest
+        run: python -m pytest tests/

CONTRIBUTING.md

@@ -10,6 +10,22 @@ pre-commit install
 ## Run CI locally
 To run the CI locally:
 
+### [optional] Start the cache.
+
+Download
+https://github.com/sp-ricard-valverde/github-act-cache-server
+
+Run
+```
+ACT_CACHE_AUTH_KEY=foo docker compose up --build
+```
+
+Also modify your .actrc.
+
+
+### Run
+
+
 Setup (make sure docker is installed):
 ```
 brew install act

Dockerfile

@@ -189,3 +189,4 @@ ENTRYPOINT ["/opt/baeisner/entrypoint.sh"]
 
 # Set up the entry point
 CMD ["python", "-c", "import torch; print(torch.cuda.is_available())"]
+