More CI cleanup, add style workflow (#107)

- Changes on the `test.yml` workflow:
  - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
  - Reduce the trigger scope to only run when files in these directories are modified:
    - `lerobot/`
    - `tests/`
    - `examples/`
    - `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)

.github/workflows/build-docker-images.yml

@@ -1,6 +1,6 @@
 # Inspired by
 # https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
-name: Nightly Builds
+name: Builds
 
 on:
   workflow_dispatch:
@@ -8,10 +8,6 @@ on:
   schedule:
     - cron: "0 1 * * *"
 
-# concurrency:
-#   group: docker-image-builds
-#   cancel-in-progress: false
-
 env:
   PYTHON_VERSION: "3.10"
 #   CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
@@ -40,6 +36,8 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v4
 
+      # HACK(aliberts): to be removed for release
+      # -----------------------------------------
       - name: Checkout gym-aloha
         uses: actions/checkout@v4
         with:
@@ -61,8 +59,6 @@ jobs:
           path: envs/gym-pusht
           ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
-      # HACK(aliberts): to be removed for release
-      # -----------------------------------------
       - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
@@ -134,6 +130,8 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v4
 
+      # HACK(aliberts): to be removed for release
+      # -----------------------------------------
       - name: Checkout gym-aloha
         uses: actions/checkout@v4
         with:
@@ -155,8 +153,6 @@ jobs:
           path: envs/gym-pusht
           ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
-      # HACK(aliberts): to be removed for release
-      # -----------------------------------------
       - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:

.github/workflows/nightly-tests.yml

@@ -1,6 +1,6 @@
 # Inspired by
 # https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
-name: Nightly Tests
+name: Nightly
 
 on:
   workflow_dispatch:
@@ -11,7 +11,6 @@ env:
   DATA_DIR: tests/data
   # SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
 
-
 jobs:
   run_all_tests_cpu:
     name: "Test CPU"
@@ -33,11 +32,13 @@ jobs:
         env:
           DATA_DIR: tests/data
         run: pytest -v --cov=./lerobot --disable-warnings tests
+
       - name: Tests end-to-end
         env:
           DATA_DIR: tests/data
         run: make test-end-to-end
 
+
   run_all_tests_single_gpu:
     name: "Test GPU"
     strategy:
@@ -59,6 +60,7 @@ jobs:
     steps:
       - name: Nvidia-smi
         run: nvidia-smi
+
       - name: Test
         run: pytest -v --cov=./lerobot --cov-report=xml --disable-warnings tests
       #   TODO(aliberts): Link with HF Codecov account
@@ -69,14 +71,6 @@ jobs:
       #     verbose: true
       - name: Tests end-to-end
         run: make test-end-to-end
-      - name: Tailscale Wait
-        if: ${{ failure() || runner.debug == '1' }}
-        uses: huggingface/tailscale-action@v1
-        with:
-           waitForSSH: true
-           authkey: ${{ secrets.TAILSCALE_SSH_AUTHKEY }}
-           slackChannel: ${{ secrets.SLACK_CIFEEDBACK_CHANNEL }}
-           slackToken: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
 
     #   - name: Generate Report
     #     if: always()

.github/workflows/style.yml

@@ -0,0 +1,38 @@
+name: Style
+
+on:
+  workflow_dispatch:
+  workflow_call:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+
+env:
+  PYTHON_VERSION: "3.10"
+
+jobs:
+  ruff_check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      - name: Get Ruff Version from pre-commit-config.yaml
+        id: get-ruff-version
+        run: |
+          RUFF_VERSION=$(awk '/repo: https:\/\/github.com\/astral-sh\/ruff-pre-commit/{flag=1;next}/rev:/{if(flag){print $2;exit}}' .pre-commit-config.yaml)
+          echo "RUFF_VERSION=${RUFF_VERSION}" >> $GITHUB_ENV
+
+      - name: Install Ruff
+        run: python -m pip install "ruff==${{ env.RUFF_VERSION }}"
+
+      - name: Run Ruff
+        run: ruff check .

.github/workflows/test-poetry_DEPRECATED.yml

@@ -1,120 +0,0 @@
-# name: Tests poetry
-
-# on:
-#   pull_request:
-#     branches:
-#       - main
-#   push:
-#     branches:
-#       - main
-
-# jobs:
-#   tests:
-#     runs-on: ubuntu-latest
-#     env:
-#       POETRY_VERSION: 1.8.2
-#       DATA_DIR: tests/data
-#       MUJOCO_GL: egl
-#     steps:
-#       #----------------------------------------------
-#       #       check-out repo and set-up python
-#       #----------------------------------------------
-#       - name: Check out repository
-#         uses: actions/checkout@v4
-#         with:
-#           lfs: true
-
-#       - name: Set up python
-#         id: setup-python
-#         uses: actions/setup-python@v5
-#         with:
-#           python-version: '3.10'
-
-#       - name: Add SSH key for installing envs
-#         uses: webfactory/ssh-agent@v0.9.0
-#         with:
-#           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-#       #----------------------------------------------
-#       #         install & configure poetry
-#       #----------------------------------------------
-#       - name: Load cached Poetry installation
-#         id: restore-poetry-cache
-#         uses: actions/cache/restore@v3
-#         with:
-#           path: ~/.local
-#           key: poetry-${{ env.POETRY_VERSION }}
-
-#       - name: Install Poetry
-#         if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
-#         uses: snok/install-poetry@v1
-#         with:
-#           version: ${{ env.POETRY_VERSION }}
-#           virtualenvs-create: true
-#           installer-parallel: true
-
-#       - name: Save cached Poetry installation
-#         if: |
-#           steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
-#           github.ref_name == 'main'
-#         id: save-poetry-cache
-#         uses: actions/cache/save@v3
-#         with:
-#           path: ~/.local
-#           key: poetry-${{ env.POETRY_VERSION }}
-
-#       - name: Configure Poetry
-#         run: poetry config virtualenvs.in-project true
-
-#       #----------------------------------------------
-#       #           install dependencies
-#       #----------------------------------------------
-#       # TODO(aliberts): move to gpu runners
-#       - name: Select cpu dependencies  # HACK
-#         run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
-
-#       - name: Load cached venv
-#         id: restore-dependencies-cache
-#         uses: actions/cache/restore@v3
-#         with:
-#           path: .venv
-#           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
-
-#       - name: Install dependencies
-#         if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
-#         run: poetry install --no-interaction --no-root --all-extras
-
-#       - name: Save cached venv
-#         if: |
-#             steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
-#             github.ref_name == 'main'
-#         id: save-dependencies-cache
-#         uses: actions/cache/save@v3
-#         with:
-#           path: .venv
-#           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
-
-#       - name: Install EGL
-#         run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
-
-#       #----------------------------------------------
-#       #             install project
-#       #----------------------------------------------
-#       - name: Install project
-#         run: poetry install --no-interaction --all-extras
-
-#       #----------------------------------------------
-#       #            run tests & coverage
-#       #----------------------------------------------
-#       - name: Run tests
-#         run: |
-#           source .venv/bin/activate
-#           pytest -v --cov=./lerobot tests
-
-#       #----------------------------------------------
-#       #            run end-to-end tests
-#       #----------------------------------------------
-#       - name: Tests end-to-end
-#         run: |
-#           source .venv/bin/activate
-#           make test-end-to-end

.github/workflows/test.yml

@@ -4,9 +4,19 @@ on:
   pull_request:
     branches:
       - main
+    paths:
+      - "lerobot/**"
+      - "tests/**"
+      - "examples/**"
+      - ".github/**"
   push:
     branches:
       - main
+    paths:
+      - "lerobot/**"
+      - "tests/**"
+      - "examples/**"
+      - ".github/**"
 
 jobs:
   tests:
@@ -21,26 +31,27 @@ jobs:
           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
       - uses: actions/checkout@v4
-        with:
-          lfs: true
+
+      - name: Install EGL
+        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
+
+      - name: Install poetry
+        run: |
+          pipx install poetry && poetry config virtualenvs.in-project true
+          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
 
       - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
           python-version: "3.10"
-          cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
-          cache-dependency-path: pyproject.toml
+          cache: "poetry"
 
-      - name: Install EGL
-        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
-
-      - name: Install pip dependencies
+      - name: Install poetry dependencies
         run: |
-          python -m pip install --upgrade pip
-          pip install -e ".[test, aloha, xarm, pusht]"
+          poetry install --all-extras
 
       - name: Test with pytest
-        run: pytest -v --cov=./lerobot tests
+        run: pytest -v --cov=./lerobot --durations=0 tests
 
       - name: Test end-to-end
         run: make test-end-to-end