Run tests faster (and make them easier to re-run) by splitting them up

.github/workflows/tests.yml

@@ -12,10 +12,25 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  test:
+  run_test:
     name: Run Tests
     runs-on: [self-hosted, linux, gpu, dataset-enabled]
 
+    strategy:
+      matrix:
+        test_file:
+          - test_dump_load_states
+          - test_envs
+          - test_object_removal
+          - test_object_states
+          - test_primitives
+          - test_robot_states
+          - test_robot_teleoperation
+          - test_sensors
+          - test_symbolic_primitives
+          - test_systems
+          - test_transition_rules
+
     defaults:
       run:
         shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
@@ -40,14 +55,37 @@ jobs:
 
       - name: Run tests
         working-directory: omnigibson-src
-        run: pytest --junitxml=results.xml
+        run: pytest tests/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
+
+      - name: Deploy artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ github.run_id }}-tests-${{ matrix.test_file }}
+          path: ${{ matrix.test_file }}.xml
 
-      - name: Test Report
+  upload_report:
+    name: Compile Report
+    runs-on: [self-hosted, linux]
+    defaults:
+      run:
+        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
+    needs: [run_test]
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v2
+        with:
+          submodules: true
+          path: omnigibson-src
+      - name: Pull reports
+        uses: actions/download-artifact@v3
+        with:
+          path: omnigibson-src
+      - name: Test Report0
         uses: dorny/test-reporter@v1
         with:
           name: Test Results
           working-directory: omnigibson-src
-          path: results.xml
+          path: ${{ github.run_id }}-tests-*/test_*.xml
           reporter: java-junit
           fail-on-error: 'true'
           fail-on-empty: 'true'

tests/test_envs.py

@@ -79,7 +79,8 @@ def test_rs_int_full_load():
     }
 
     # Make sure sim is stopped
-    og.sim.stop()
+    if og.sim:
+        og.sim.stop()
 
     # Make sure GPU dynamics are enabled (GPU dynamics needed for cloth)
     gm.ENABLE_OBJECT_STATES = True

tests/test_primitives.py

@@ -10,6 +10,10 @@
 from omnigibson.objects.dataset_object import DatasetObject
 
 
+# Make sure that Omniverse is launched before setting up the tests.
+og.launch()
+
+
 def setup_environment(load_object_categories):
     cfg = {
         "scene": {

tests/test_symbolic_primitives.py

@@ -17,7 +17,8 @@
 
 
 def start_env():
-    og.sim.stop()
+    if og.sim:
+        og.sim.stop()
     config = {
         "env": {"initial_pos_z_offset": 0.1},
         "render": {"viewer_width": 1280, "viewer_height": 720},