test: enable tests in ci (#16)

Co-authored-by: Xuehai Pan <XuehaiPan@outlook.com>
Co-authored-by: Xuehai Pan <XuehaiPan@pku.edu.cn>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

.github/workflows/tests.yml

@@ -0,0 +1,70 @@
+name: Tests
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    paths:
+      - setup.py
+      - pyproject.toml
+      - MANIFEST.in
+      - tests/**
+      - safety_gymnasium/**
+      - .github/workflows/tests.yml
+  # Allow to trigger the workflow manually
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: "${{ github.workflow }}-${{ github.ref }}"
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  test-ubuntu:
+    name: Test for Python ${{ matrix.python-version }} on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+        # TODO: add Python 3.11 to test matrix
+        python-version: ["3.8", "3.9", "3.10"]
+      fail-fast: false
+    timeout-minutes: 30
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          submodules: "recursive"
+          fetch-depth: 1
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+          update-environment: true
+
+      - name: Upgrade pip
+        run: |
+          python -m pip install --upgrade pip setuptools wheel
+
+      - name: Install rendering dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install libosmesa6-dev
+          sudo apt-get install python3-opengl
+
+      - name: Set MUJOCO_GL
+        run: |
+          echo "MUJOCO_GL=osmesa" >> "${GITHUB_ENV}"
+          echo "PYOPENGL_PLATFORM=osmesa" >> "${GITHUB_ENV}"
+
+      - name: Install Safety-Gymnasium
+        run: |
+          python -m pip install -vvv --editable '.[test]'
+
+      - name: Test with pytest
+        run: |
+          make pytest

safety_gymnasium/__init__.py

@@ -99,8 +99,8 @@ def __combine(tasks, agents, max_episode_steps):
             if MAKE_DEBUG_ENVIRONMENTS and robot_name in ['Point', 'Car', 'Racecar']:
                 # Keyboard inputs for debugging
                 debug_env_name = f'{PREFIX}{robot_name}{task_name}Debug-{VERSION}'
-                debug_config = copy.deepcopy(combined_config)
-                debug_config.update({'debug': True})
+                debug_config = {'debug': True}
+                debug_config.update(combined_config)
                 __register_helper(
                     env_id=debug_env_name,
                     entry_point='safety_gymnasium.builder:Builder',

safety_gymnasium/bases/underlying.py

@@ -541,7 +541,6 @@ def render(
         if mode in {'rgb_array', 'depth_array'}:
             # Extract depth part of the read_pixels() tuple
             data = self._get_viewer(mode).render(render_mode=mode, camera_id=camera_id)
-            # original image is upside-down, so flip it
             self.viewer._markers[:] = []  # pylint: disable=protected-access
             self.viewer._overlays.clear()  # pylint: disable=protected-access
             return data

safety_gymnasium/version.py

@@ -14,7 +14,7 @@
 # ==============================================================================
 """Safety-Gymnasium."""
 
-__version__ = '0.2.0'
+__version__ = '0.3.0'
 __license__ = 'Apache License, Version 2.0'
 __author__ = 'Safety-Gymnasium Contributors'
 __release__ = False

tests/requirements.txt

@@ -1,3 +1,3 @@
-pytes
+pytest
 pytest-cov
 pytest-xdist