From a02c9c3de1fc62f4af32005a5c6c83e7b8e70010 Mon Sep 17 00:00:00 2001
From: Josh Kearney <jk0@github.com>
Date: Wed, 24 Apr 2024 14:59:45 -0500
Subject: [PATCH 1/3] Update main.yml

---
 .github/workflows/main.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index f9be74499..2c93ca315 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -52,10 +52,12 @@ jobs:
       run: |
         git submodule sync
         git submodule update --init src/third_party/habitat-lab
-    - uses: "./.github/actions/conda_env_setup"
+    - name: Setup Conda environment
+      uses: conda-incubator/setup-miniconda@v3
+      with:
+        activate-environment: env_home_robot
     - name: Install home-robot-sim dependencies & download data
       run: |
-        conda activate ~/env_home_robot
         mamba env update -f src/home_robot_sim/environment.yml
         pip install -e src/third_party/habitat-lab
         python -m habitat_sim.utils.datasets_download --uids mp3d_example_scene --data-path data/
@@ -63,7 +65,6 @@ jobs:
         mv data/scene_datasets/mp3d_example/17DRP5sb8fy tests/home_robot_sim/data/scene_datasets/mp3d_example/mp3d
     - name: Install libraries and run tests
       run: |
-        conda activate ~/env_home_robot
         pip install -e src/home_robot
         pip install -e src/home_robot_sim
         cd tests/home_robot_sim

From 42496f6b6b0a9f0d3965c7bd827f5ea1be688f7e Mon Sep 17 00:00:00 2001
From: Josh Kearney <jk0@github.com>
Date: Wed, 24 Apr 2024 15:01:07 -0500
Subject: [PATCH 2/3] Delete .github/actions directory

---
 .github/actions/conda_env_setup/action.yml | 33 ----------------------
 1 file changed, 33 deletions(-)
 delete mode 100644 .github/actions/conda_env_setup/action.yml

diff --git a/.github/actions/conda_env_setup/action.yml b/.github/actions/conda_env_setup/action.yml
deleted file mode 100644
index c9812e9b0..000000000
--- a/.github/actions/conda_env_setup/action.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-  - name: Install conda and dependencies
-    run: |
-      if [ ! -d ~/miniconda ]
-      then
-        curl -o ~/miniconda.sh -O  https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
-        chmod +x ~/miniconda.sh
-        bash ~/miniconda.sh -b -p $HOME/miniconda
-        rm ~/miniconda.sh
-        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
-      fi
-      conda init bash
-    shell: bash
-  - name: Install mamba
-    run: conda install -y -n base -c conda-forge mamba
-    shell: bash
-  - name: restore_cache
-    uses: actions/cache@v3.3.2
-    with:
-      key: deps1-{{ .Branch }}-{{ checksum "src/home_robot/environment.yml" }}
-      path: UPDATE_ME
-  - name: Setup env
-    run: "[ -d ~/env_home_robot ] || conda env create -f src/home_robot/environment.yml -p ~/env_home_robot"
-    shell: bash
-  - name: Add pinocchio IK dependency
-    run: |-
-      conda activate ~/env_home_robot
-      conda install pinocchio>=2.6.17 -c conda-forge  -y
-    shell: bash
-  - name: save_cache
-    uses: actions/cache@v3.3.2
-    with:
-      path: "~/env_home_robot"
-      key: deps1-{{ .Branch }}-{{ checksum "src/home_robot/environment.yml" }}

From 599939374e4482ac356aa6b552e129b65b0a8015 Mon Sep 17 00:00:00 2001
From: Josh Kearney <jk0@github.com>
Date: Wed, 24 Apr 2024 15:01:35 -0500
Subject: [PATCH 3/3] Update main.yml

---
 .github/workflows/main.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 2c93ca315..b89e9415b 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -32,8 +32,6 @@ jobs:
         activate-environment: env_home_robot
     - name: Run tests
       run: |
-        conda config --set always_yes yes --set changeps1 no
-        conda info -a
         pip install torch pypandoc
         pip install -e src/home_robot
         cd tests/home_robot