[WIP] github actions migration

.github/actions/install_ubuntu_deps/action.yml

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+name: install_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
+    shell: bash
+  - name: Install dependencies
+    run: |-
+      echo "Install dependencies"
+      sudo apt-get update || true
+      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: |-
+      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/[email protected]
+    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}

.github/workflows/install_and_test.yml

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+name: Install and test
+on:
+  pull_request: {}
+  push:
+    branches:
+    - main
+
+jobs:
+  python_lint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/[email protected]
+    - name: Setup python
+      uses: actions/[email protected]
+      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/[email protected]
+      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: |-
+        #give cmake ownership to the runner for installation
+        sudo chown runner -R /opt/cmake312/
+        #activate conda env
+        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$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
+        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
+        conda init
+        source ~/.bashrc
+        conda 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/[email protected]