From aa5da48a3b0547d2b696f8068682e816febb4298 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Tue, 2 Jul 2024 14:52:09 -0700
Subject: [PATCH 01/19] add github actions and workflows test for basic setup,
 linting, and install

---
 .../actions/install_ubuntu_deps/action.yml    | 39 ++++++++++
 .github/workflows/install_and_test.yml        | 73 +++++++++++++++++++
 2 files changed, 112 insertions(+)
 create mode 100644 .github/actions/install_ubuntu_deps/action.yml
 create mode 100644 .github/workflows/install_and_test.yml

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
new file mode 100644
index 0000000000..aa7c44df75
--- /dev/null
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -0,0 +1,39 @@
+name: install_all_ubuntu_deps
+runs:
+  using: composite
+  steps:
+  - name: Install dependencies
+    run: |-
+      echo "Install dependencies"
+      sudo apt-get update || true
+      #TODO: apt-get steps
+    shell: bash
+  - name: Install cuda
+    run: |-
+      echo "Install cuda"
+      wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
+      sudo dpkg -i cuda-keyring_1.1-1_all.deb
+      sudo apt-get update
+      sudo apt-get -y install cuda-toolkit-12-3
+      touch ~/cuda_installed
+      if command -v nvidia-smi; then nvidia-smi; fi
+    shell: bash
+  - name: Setup miniconda
+    uses: conda-incubator/setup-miniconda@v3.0.1
+    with:
+      miniconda-version: "latest"
+      python-version: "3.9"
+      activate-environment: "habitat"
+  - name: Install conda and dependencies
+    run: |-
+      echo "Install conda and dependencies"
+      conda install -y pytorch==1.12.1 torchvision==0.13.1 -c pytorch -c nvidia
+      conda install -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis pytest-mock
+      pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython mock
+    shell: bash -el {0}
+  - name: Validate Pytorch Installation
+    run: |-
+      echo "Validate Pytorch Installation"
+      # Check that pytorch is installed with CUDA.
+      python -c 'import torch; torch.cuda.set_device(0)'
+    shell: bash -el {0}
diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
new file mode 100644
index 0000000000..5be153199d
--- /dev/null
+++ b/.github/workflows/install_and_test.yml
@@ -0,0 +1,73 @@
+name: Install and test
+on:
+  pull_request: {}
+  push:
+    branches:
+    - main
+
+jobs:
+  python_lint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4.1.1
+    - name: Setup python
+      uses: actions/setup-python@v5.0.0
+      with:
+        python-version: '3.9.16'
+    - name: setup
+      run: |-
+        pip install -U pip
+        pip install -U --prefer-binary \
+          black==23.1.0 \
+          flake8 \
+          flake8-bugbear==22.6.22 \
+          flake8-builtins \
+          flake8-comprehensions \
+          flake8-return \
+          flake8-simplify \
+          hypothesis==6.29.3 \
+          isort==5.12.0 \
+          mypy \
+          numpy \
+          pytest \
+          sphinx \
+          tqdm
+        pip install --prefer-binary -r requirements.txt torch --progress-bar off
+    - name: run black
+      run: |-
+        black --version
+        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --diff
+        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --check
+    - name: run isort
+      run: |-
+        isort --version
+        isort src_python/habitat_sim/. examples/. tests/. setup.py --diff
+        isort src_python/habitat_sim/. examples/. tests/. setup.py --check-only
+    - name: run flake8
+      run: |-
+        flake8 --version
+        flake8 src_python/habitat_sim/. examples/. tests/. setup.py
+    - name: run mypy
+      run: mypy
+
+  install_and_test_ubuntu:
+    runs-on: 4-core-ubuntu-gpu-t4
+    env:
+      FPS_THRESHOLD: 900
+    defaults:
+      run:
+        shell: bash -el {0}
+    steps:
+    - uses: actions/checkout@v4.1.1
+      with:
+        path: "./habitat-sim"
+    - name: CPU info
+      run: cat /proc/cpuinfo
+    - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
+    - name: Build, install habitat-sim
+      run: |-
+        cd habitat-sim
+        pip install -r requirements.txt --progress-bar off
+        pip install imageio imageio-ffmpeg
+        git submodule update --init --recursive --jobs 8
+        python -u setup.py install --build-type "Release" --lto --headless --bullet

From 3ceaeb0144bbd65f268ea794446c4c91382c4b8e Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 07:54:38 -0700
Subject: [PATCH 02/19] add cmake install

---
 .github/actions/install_ubuntu_deps/action.yml | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index aa7c44df75..3444b9d3c4 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -2,6 +2,20 @@ name: install_all_ubuntu_deps
 runs:
   using: composite
   steps:
+  - name: install cmake
+    # OpenEXR requires CMake 3.12. We also download CMake 3.20, which
+    # we'll use later for the JS build only.
+    run: |
+      echo $(date +%F) > ./date
+      echo $(git ls-remote https://github.com/facebookresearch/habitat-lab.git HEAD | awk '{ print $1}') > ./hablab_sha
+      cat ./hablab_sha
+      wget https://cmake.org/files/v3.12/cmake-3.12.4-Linux-x86_64.sh
+      wget https://cmake.org/files/v3.20/cmake-3.20.1-linux-x86_64.sh
+      sudo mkdir /opt/cmake312
+      sudo mkdir /opt/cmake320
+      sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
+      sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
+      sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
   - name: Install dependencies
     run: |-
       echo "Install dependencies"

From 99510887c6561db72f2168fbc9876183e05ef082 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 08:05:08 -0700
Subject: [PATCH 03/19] add shell for cmake build

---
 .github/actions/install_ubuntu_deps/action.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 3444b9d3c4..e848f4ffbe 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -16,6 +16,7 @@ runs:
       sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
+    shell: bash
   - name: Install dependencies
     run: |-
       echo "Install dependencies"

From 0f39852be9b474c38a175a511a1ef761550b4012 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 08:33:55 -0700
Subject: [PATCH 04/19] add ssh debug

---
 .github/workflows/install_and_test.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 5be153199d..b0bd2f17bd 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,6 +64,8 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
         cd habitat-sim

From c7b01b8dc235052356ec13c671be1d07507651b9 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 08:38:09 -0700
Subject: [PATCH 05/19] try sudo

---
 .github/workflows/install_and_test.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index b0bd2f17bd..3eb801c0d3 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -72,4 +72,4 @@ jobs:
         pip install -r requirements.txt --progress-bar off
         pip install imageio imageio-ffmpeg
         git submodule update --init --recursive --jobs 8
-        python -u setup.py install --build-type "Release" --lto --headless --bullet
+        sudo python -u setup.py install --build-type "Release" --lto --headless --bullet

From bda25cb9666e646be8ffe8a2bffc6e6dbf005cd1 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 09:52:21 -0700
Subject: [PATCH 06/19] add dependency installs and adjust python bin path

---
 .../actions/install_ubuntu_deps/action.yml    | 20 ++++++++++++++++++-
 .github/workflows/install_and_test.yml        |  3 +--
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index e848f4ffbe..f52ddaff66 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -21,7 +21,25 @@ runs:
     run: |-
       echo "Install dependencies"
       sudo apt-get update || true
-      #TODO: apt-get steps
+      sudo apt-get install -y --no-install-recommends \
+        build-essential \
+        git \
+        curl \
+        vim \
+        ca-certificates \
+        libjpeg-dev \
+        libglm-dev \
+        libegl1-mesa-dev \
+        ninja-build \
+        xorg-dev \
+        freeglut3-dev \
+        pkg-config \
+        wget \
+        zip \
+        lcov\
+        libhdf5-dev \
+        libomp-dev \
+        unzip || true
     shell: bash
   - name: Install cuda
     run: |-
diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 3eb801c0d3..582c8cfca9 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -70,6 +70,5 @@ jobs:
       run: |-
         cd habitat-sim
         pip install -r requirements.txt --progress-bar off
-        pip install imageio imageio-ffmpeg
         git submodule update --init --recursive --jobs 8
-        sudo python -u setup.py install --build-type "Release" --lto --headless --bullet
+        sudo ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet

From ec0152fb18ca026c9884676eeb952a79c7edfecc Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 11:26:41 -0700
Subject: [PATCH 07/19] try activating conda env correctly

---
 .github/workflows/install_and_test.yml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 582c8cfca9..5d436db504 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,11 +64,15 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
+        export PATH=$HOME/miniconda/bin:$PATH
+        conda init
+        source ~/.bashrc
+        conda activate habitat
         cd habitat-sim
         pip install -r requirements.txt --progress-bar off
         git submodule update --init --recursive --jobs 8
         sudo ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18

From 67b4e14dfc254277edc99c17b0df459116858a10 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 14:42:18 -0700
Subject: [PATCH 08/19] try changing the permissions and not building with sudo

---
 .github/actions/install_ubuntu_deps/action.yml | 1 +
 .github/workflows/install_and_test.yml         | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index f52ddaff66..70861ffccd 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -16,6 +16,7 @@ runs:
       sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
+      cmake --version
     shell: bash
   - name: Install dependencies
     run: |-
diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 5d436db504..3272a7c64e 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -66,6 +66,7 @@ jobs:
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
     - name: Build, install habitat-sim
       run: |-
+        sudo chmod -R 777 /
         export PATH=$HOME/miniconda/bin:$PATH
         conda init
         source ~/.bashrc
@@ -73,6 +74,6 @@ jobs:
         cd habitat-sim
         pip install -r requirements.txt --progress-bar off
         git submodule update --init --recursive --jobs 8
-        sudo ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet
+        ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet
     - name: Debugging with tmate
       uses: mxschmitt/action-tmate@v3.18

From c67695a0f8c52f726a49fffc9d357c84004d5819 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 14:50:32 -0700
Subject: [PATCH 09/19] refresh PATH to find cmake?

---
 .github/actions/install_ubuntu_deps/action.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 70861ffccd..7ae3400b44 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -16,6 +16,7 @@ runs:
       sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
+      . ~/.bashrc
       cmake --version
     shell: bash
   - name: Install dependencies

From 7adb2a3d0c5b2582116324d2abb5c118cd19a644 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 15:04:10 -0700
Subject: [PATCH 10/19] more details

---
 .github/actions/install_ubuntu_deps/action.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 7ae3400b44..52a125a764 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -17,6 +17,9 @@ runs:
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
       . ~/.bashrc
+      echo ls -la /usr/local/bin/cmake
+      echo ls -la /usr/local/bin/
+      echo ls -la /opt
       cmake --version
     shell: bash
   - name: Install dependencies

From db96b4874618df333c39213d563c1b899d5811a2 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 15:06:52 -0700
Subject: [PATCH 11/19] try again

---
 .github/actions/install_ubuntu_deps/action.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 52a125a764..ba6b1d58d1 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -17,9 +17,9 @@ runs:
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
       . ~/.bashrc
-      echo ls -la /usr/local/bin/cmake
-      echo ls -la /usr/local/bin/
-      echo ls -la /opt
+      ls -la /usr/local/bin/cmake
+      ls -la /usr/local/bin/
+      ls -la /opt
       cmake --version
     shell: bash
   - name: Install dependencies

From d006968b44bd0d51cb6e872c7e14b0aacbfb1502 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 3 Jul 2024 15:17:26 -0700
Subject: [PATCH 12/19] try opening permissions to /usr/local/bin

---
 .github/actions/install_ubuntu_deps/action.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index ba6b1d58d1..ff3488369c 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -16,6 +16,7 @@ runs:
       sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
+      sudo chmod -R a+rwX /usr/
       . ~/.bashrc
       ls -la /usr/local/bin/cmake
       ls -la /usr/local/bin/

From 282ba8d7726876c652e6e0f5c531a6f021b01bd1 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 08:30:21 -0700
Subject: [PATCH 13/19] open ssh again

---
 .github/workflows/install_and_test.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 3272a7c64e..9626a117d4 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,6 +64,8 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
         sudo chmod -R 777 /
@@ -75,5 +77,3 @@ jobs:
         pip install -r requirements.txt --progress-bar off
         git submodule update --init --recursive --jobs 8
         ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18

From 79626d9b83561b6e52f676566796dd6825671796 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 08:56:19 -0700
Subject: [PATCH 14/19] remove failing cmake call

---
 .github/actions/install_ubuntu_deps/action.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index ff3488369c..455d2fca51 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -1,4 +1,4 @@
-name: install_all_ubuntu_deps
+name: install_ubuntu_deps
 runs:
   using: composite
   steps:
@@ -21,7 +21,7 @@ runs:
       ls -la /usr/local/bin/cmake
       ls -la /usr/local/bin/
       ls -la /opt
-      cmake --version
+      #cmake --version
     shell: bash
   - name: Install dependencies
     run: |-

From e87bee2edbedbdb552d94ea7fb7291a9c61763da Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 09:10:20 -0700
Subject: [PATCH 15/19] changing permissions broke sudo

---
 .github/actions/install_ubuntu_deps/action.yml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 455d2fca51..be7bb8c1e1 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -16,12 +16,6 @@ runs:
       sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
       sudo sh ./cmake-3.20.1-linux-x86_64.sh --prefix=/opt/cmake320 --skip-license
       sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
-      sudo chmod -R a+rwX /usr/
-      . ~/.bashrc
-      ls -la /usr/local/bin/cmake
-      ls -la /usr/local/bin/
-      ls -la /opt
-      #cmake --version
     shell: bash
   - name: Install dependencies
     run: |-

From 5f92e90192d70695e5694737a2348da10adb1329 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 10:40:21 -0700
Subject: [PATCH 16/19] fix build process and download test data before ssh

---
 .github/workflows/install_and_test.yml | 26 ++++++++++++++++++++++----
 1 file changed, 22 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 9626a117d4..9becd01434 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,16 +64,34 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
-        sudo chmod -R 777 /
+        #give cmake ownership to the runner for installation
+        sudo chown runner /opt/cmake312/bin/cmake
+        #activate conda env
         export PATH=$HOME/miniconda/bin:$PATH
         conda init
         source ~/.bashrc
         conda activate habitat
+        #install habitat-sim
         cd habitat-sim
         pip install -r requirements.txt --progress-bar off
         git submodule update --init --recursive --jobs 8
-        ~/miniconda3/envs/habitat/bin/python -u setup.py install --build-type "Release" --lto --headless --bullet
+        python -u setup.py install --build-type "Release" --lto --headless --bullet
+    - name: Download test data
+      run: |-
+        # Disable clone protection for git lfs
+        export GIT_CLONE_PROTECTION_ACTIVE=false
+
+        sudo apt install git-lfs
+        git --version
+        git-lfs --version
+        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
+        . activate habitat
+        conda install -y gitpython git-lfs
+        cd habitat-sim
+        git lfs install
+        python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets ycb rearrange_dataset_v2 --replace --data-path data/ --no-prune
+        ls -la data/scene_datasets/habitat-test-scenes/
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18

From 50dc339ada1fe58884358b66c418502cd48d2eac Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 10:59:00 -0700
Subject: [PATCH 17/19] move ssh back up

---
 .github/workflows/install_and_test.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 9becd01434..5d83c22623 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,6 +64,8 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
         #give cmake ownership to the runner for installation
@@ -93,5 +95,3 @@ jobs:
         git lfs install
         python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets ycb rearrange_dataset_v2 --replace --data-path data/ --no-prune
         ls -la data/scene_datasets/habitat-test-scenes/
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18

From f75814933d55f1327d4e6718139037dc75bc0ecf Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 11:14:07 -0700
Subject: [PATCH 18/19] reset owner recursively for cmake dir

---
 .github/workflows/install_and_test.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 5d83c22623..1d673957f8 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,12 +64,10 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18
     - name: Build, install habitat-sim
       run: |-
         #give cmake ownership to the runner for installation
-        sudo chown runner /opt/cmake312/bin/cmake
+        sudo chown runner -R /opt/cmake312/
         #activate conda env
         export PATH=$HOME/miniconda/bin:$PATH
         conda init
@@ -95,3 +93,5 @@ jobs:
         git lfs install
         python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets ycb rearrange_dataset_v2 --replace --data-path data/ --no-prune
         ls -la data/scene_datasets/habitat-test-scenes/
+    - name: Debugging with tmate
+      uses: mxschmitt/action-tmate@v3.18

From 4e0e20d9c0c3a43f29e2f61bc2827f686f154192 Mon Sep 17 00:00:00 2001
From: aclegg3 <alexanderwclegg@gmail.com>
Date: Wed, 10 Jul 2024 11:38:13 -0700
Subject: [PATCH 19/19] setup conda env activation uniformly

---
 .github/workflows/install_and_test.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 1d673957f8..898f31085f 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -69,7 +69,7 @@ jobs:
         #give cmake ownership to the runner for installation
         sudo chown runner -R /opt/cmake312/
         #activate conda env
-        export PATH=$HOME/miniconda/bin:$PATH
+        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
         conda init
         source ~/.bashrc
         conda activate habitat
@@ -87,7 +87,9 @@ jobs:
         git --version
         git-lfs --version
         export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
-        . activate habitat
+        conda init
+        source ~/.bashrc
+        conda activate habitat
         conda install -y gitpython git-lfs
         cd habitat-sim
         git lfs install