[BE] github actions migration (#2422)

* add github actions and workflows

---------

Co-authored-by: Mikael Dallaire Cote <[email protected]>

.github/actions/download_test_data/action.yml

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+name: download_test_data
+runs:
+  using: composite
+  steps:
+  - name: download_test_data
+    run: |
+      # Disable clone protection for git lfs
+        export GIT_CLONE_PROTECTION_ACTIVE=false
+
+        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/
+    shell: bash -el {0}

.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
+      sudo mkdir /opt/cmake312
+      sudo sh ./cmake-3.12.4-Linux-x86_64.sh --prefix=/opt/cmake312 --skip-license
+      sudo ln -s /opt/cmake312/bin/cmake /usr/local/bin/cmake
+      sudo ln -s /opt/cmake312/bin/ctest /usr/local/bin/ctest
+    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 \
+        git-lfs \
+        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: 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/actions/install_ubuntu_gpu_deps/action.yml

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+# This action installs required Ubuntu NVIDIA dependencies.
+# It assumes that `nvidia-smi` is available on the system.
+name: "Install GPU Dependencies"
+runs:
+  using: composite
+  steps:
+  - name: Install GPU Dependencies
+    shell: bash
+    run: |
+      NVIDIA_SMI_OUTPUT=$(nvidia-smi)
+      # Extract CUDA version (e.g., 11.7)
+      CUDA_VERSION=$(echo "$NVIDIA_SMI_OUTPUT" | grep -oP 'CUDA Version:\s+\K[\d.]+')
+
+      FULL_DRIVER_VERSION=$(echo "$NVIDIA_SMI_OUTPUT" | grep -oP 'Driver Version:\s+\K[\d.]+')
+      MAJOR_DRIVER_VERSION=$(echo "$NVIDIA_SMI_OUTPUT" | grep -oP 'Driver Version:\s+\K\d+')
+      UBUNTU_PACKAGE_SUFFIX="${MAJOR_DRIVER_VERSION}=${FULL_DRIVER_VERSION}-0ubuntu1"
+      sudo apt-get update
+      sudo apt-get install -y cuda-toolkit-${CUDA_VERSION}
+      sudo apt-get install -y nvidia-gds-${CUDA_VERSION}
+      sudo apt-get install -y libnvidia-common-${UBUNTU_PACKAGE_SUFFIX}
+      sudo apt-get install -y libnvidia-gl-${UBUNTU_PACKAGE_SUFFIX}
+      sudo apt-get install -y libnvidia-compute-${UBUNTU_PACKAGE_SUFFIX} --allow-downgrades
+      sudo apt-get install -y libnvidia-decode-${UBUNTU_PACKAGE_SUFFIX}
+      sudo apt-get install -y libnvidia-encode-${UBUNTU_PACKAGE_SUFFIX}