install.yml

name: Installation Tests

on:
  workflow_call:

jobs:
  build:
    runs-on: ubuntu-22.04
    steps:
      - name: Maximize storage space
        run: |
          # Remove Java (JDKs)
          sudo rm -rf /usr/lib/jvm
  
          # Remove .NET SDKs
          sudo rm -rf /usr/share/dotnet
  
          # Remove Swift toolchain
          sudo rm -rf /usr/share/swift
  
          # Remove Haskell (GHC)
          sudo rm -rf /usr/local/.ghcup
  
          # Remove Julia
          sudo rm -rf /usr/local/julia*
  
          # Remove Android SDKs
          sudo rm -rf /usr/local/lib/android
  
          # Remove Chromium (optional if not using for browser tests)
          sudo rm -rf /usr/local/share/chromium
  
          # Remove Microsoft/Edge and Google Chrome builds
          sudo rm -rf /opt/microsoft /opt/google
  
          # Remove Azure CLI
          sudo rm -rf /opt/az
  
          # Remove PowerShell
          sudo rm -rf /usr/local/share/powershell
  
          # Remove CodeQL and other toolcaches
          sudo rm -rf /opt/hostedtoolcache
  
          docker system prune -af || true
          docker builder prune -af || true
          df -h

      - name: Checkout code
        uses: actions/checkout@v5

      - name: Install reason
        run: |
          pip install uv
          TEST_BUILD=1 bash requirements/install.sh agentic
          rm -rf .venv

      - name: Install openvla
        run: |
          pip install uv
          bash requirements/install.sh embodied --model openvla --env maniskill_libero
          rm -rf .venv

      - name: Install openvla-oft
        run: |
          pip install uv
          bash requirements/install.sh embodied --model openvla-oft --env maniskill_libero
          rm -rf .venv
          bash requirements/install.sh embodied --model openvla-oft --env metaworld
          rm -rf .venv
          bash requirements/install.sh embodied --model openvla-oft --env calvin
          rm -rf .venv

      - name: Install openpi
        run: |
          pip install uv
          bash requirements/install.sh embodied --model openpi --env maniskill_libero
          rm -rf .venv
          bash requirements/install.sh embodied --model openpi --env metaworld
          rm -rf .venv
          bash requirements/install.sh embodied --model openpi --env calvin
          rm -rf .venv
          bash requirements/install.sh embodied --model openpi --env isaaclab
          rm -rf .venv
          
      - name: Install gr00t
        run: |
          pip install uv
          bash requirements/install.sh embodied --model gr00t --env maniskill_libero
          rm -rf .venv
          bash requirements/install.sh embodied --model gr00t --env isaaclab
          rm -rf .venv

      - name: Install dexbotic
        run: |
          pip install uv
          bash requirements/install.sh embodied --model dexbotic --env maniskill_libero
          rm -rf .venv
      
      - name: Install xsquare_turtle2
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh embodied --env xsquare_turtle2
          rm -rf .venv

      - name: Install d4rl (offline env)
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh embodied --env d4rl
      - name: Install embodichain
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh embodied --env embodichain
          rm -rf .venv

      - name: Install liberopro
        run: |
          pip install uv
          bash requirements/install.sh embodied --model openvla-oft --env liberopro
          rm -rf .venv

      - name: Install liberoplus
        run: |
          sudo apt-get update
          sudo apt-get install -y libexpat1 libfontconfig1-dev libpython3-stdlib libmagickwand-dev
          pip install uv
          bash requirements/install.sh embodied --model openvla-oft --env liberoplus
          rm -rf .venv

      - name: Install starvla
        run: |
          pip install uv
          bash requirements/install.sh embodied --model starvla --env maniskill_libero
          rm -rf .venv

      - name: Install behavior-openvla-oft
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh embodied --model openvla-oft --env behavior
          rm -rf .venv

      - name: Install roboverse
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh embodied --model openpi --env roboverse
          rm -rf .venv

      - name: Install docs
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh docs
          rm -rf .venv

      - name: Install docs
        run: |
          pip install uv
          uv cache prune --ci
          bash requirements/install.sh docs --use-mirror
          rm -rf .venv

  build-franka:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:20.04
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install franka
        run: |
          export UV_LINK_MODE=symlink
          apt update -y
          apt install -y python3-pip git
          ln -fs /usr/share/zoneinfo/Asia/Shanghai /etc/localtime
          for v in 0.10.0 0.13.3 0.14.1 0.15.0 0.18.0; do \
            LIBFRANKA_VERSION="$v" FRANKA_ROS_VERSION=0.10.0 bash requirements/install.sh embodied --venv "franka-$v" --env franka; \
          done

  sys-deps-fedora:
    runs-on: ubuntu-latest
    container:
      image: fedora:42
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install sys-deps
        run: |
          bash requirements/embodied/sys_deps.sh

  sys-deps-arch:
    runs-on: ubuntu-latest
    container:
      image: archlinux:latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install sys-deps
        run: |
          bash requirements/embodied/sys_deps.sh

  sys-deps-almalinux:
    runs-on: ubuntu-latest
    container:
      image: almalinux:10
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install sys-deps
        run: |
          bash requirements/embodied/sys_deps.sh

  sys-deps-rockylinux:
    runs-on: ubuntu-latest
    container:
      image: rockylinux:9.3
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install sys-deps
        run: |
          bash requirements/embodied/sys_deps.sh

  sys-deps-ubuntu-latest:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v5
      - name: Install sys-deps
        run: |
          bash requirements/embodied/sys_deps.sh