Merge remote-tracking branch 'origin/main' into back_to_rlbench

.github/workflows/build-site.yaml

@@ -28,24 +28,8 @@ jobs:
       - 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 Dependencies
-        run: pip install -e ".[build_docs]"
-
-      - name: Install ndf_robot
-        run: pip install -e third_party/ndf_robot
+      - name: Install doc requirements.
+        run: pip install mkdocs-material mkdocstrings[python]
 
       - name: Build mkdocs site
         working-directory: docs

CONTRIBUTING.md

@@ -35,3 +35,18 @@ Run act
 ```
 act -j develop
 ```
+
+
+## Testing
+
+To run the tests:
+
+```
+pytest
+```
+
+To run all the tests, including long ones
+
+```
+pytest -m "long"
+```