Linux CPU unit test workflow using GitHub Actions

.circleci/unittest/linux/scripts/install.sh

@@ -30,7 +30,7 @@ printf "Installing PyTorch with %s\n" "${CU_VERSION}"
 if [ "${CU_VERSION:-}" == cpu ] ; then
     pip3 install --pre torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/nightly/cpu
 else
-    pip3 install --pre torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/nightly/cu113
+    pip3 install --pre torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/nightly/$CU_VERSION
 fi
 
 # smoke test

.circleci/unittest/linux/scripts/setup_env.sh

@@ -63,13 +63,21 @@ else
 fi
 
 export MUJOCO_GL=$PRIVATE_MUJOCO_GL
-conda env config vars set MUJOCO_PY_MUJOCO_PATH=$root_dir/.mujoco/mujoco210 \
+if [ "${CU_VERSION:-}" == cpu ]; then
+  conda env config vars set MUJOCO_PY_MUJOCO_PATH=$root_dir/.mujoco/mujoco210 \
   DISPLAY=unix:0.0 \
   MJLIB_PATH=$root_dir/.mujoco/mujoco-2.1.1/lib/libmujoco.so.2.1.1 \
   LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$root_dir/.mujoco/mujoco210/bin \
   SDL_VIDEODRIVER=dummy \
   MUJOCO_GL=$PRIVATE_MUJOCO_GL \
   PYOPENGL_PLATFORM=$PRIVATE_MUJOCO_GL
+else
+  conda env config vars set MUJOCO_PY_MUJOCO_PATH=$root_dir/.mujoco/mujoco210 \
+    MJLIB_PATH=$root_dir/.mujoco/mujoco-2.1.1/lib/libmujoco.so.2.1.1 \
+    LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$root_dir/.mujoco/mujoco210/bin \
+    MUJOCO_GL=$PRIVATE_MUJOCO_GL \
+    PYOPENGL_PLATFORM=$PRIVATE_MUJOCO_GL
+fi
 
 # Software rendering requires GLX and OSMesa.
 if [ $PRIVATE_MUJOCO_GL == 'egl' ] || [ $PRIVATE_MUJOCO_GL == 'osmesa' ] ; then

.github/workflows/test-linux-cpu.yml

@@ -0,0 +1,46 @@
+name: Unit-tests on Linux CPU
+
+on:
+  pull_request:
+  push:
+    branches:
+      - nightly
+      - main
+      - release/*
+  workflow_dispatch:
+
+env:
+  CHANNEL: "nightly"
+
+jobs:
+  tests:
+    strategy:
+      matrix:
+        python_version: ["3.8", "3.9", "3.10"]
+      fail-fast: false
+    uses: pytorch/test-infra/.github/workflows/linux_job.yml@main
+    with:
+      runner: linux.12xlarge
+      repository: pytorch/rl
+      timeout: 90
+      script: |
+        # Set env vars from matrix
+        export PYTHON_VERSION=${{ matrix.python_version }}
+        export CU_VERSION="cpu"
+
+        echo "PYTHON_VERSION: $PYTHON_VERSION"
+        echo "CU_VERSION: $CU_VERSION"
+
+        cd /work
+
+        ## setup_env.sh
+        ./.circleci/unittest/linux/scripts/setup_env.sh
+
+        ## install.sh
+        ./.circleci/unittest/linux/scripts/install.sh
+
+        ## run_test.sh
+        ./.circleci/unittest/linux/scripts/run_test.sh
+
+        ## post_process.sh
+        ./.circleci/unittest/linux/scripts/post_process.sh