Restack micro-benchmark documentation

Bring the guide onto the hardened benchmark stack and document the shared sensor timing boundaries, observer floor, structured outputs, and reproducibility requirements.

Author: AntoineRichard

.agents/skills/isaaclab-updating-environment-docs

@@ -0,0 +1 @@
+../../skills/developer/isaaclab-updating-environment-docs

.github/CODEOWNERS

@@ -49,7 +49,7 @@ mkdir -p /tmp/mgpu-base-home /tmp/mgpu-pyuserbase
 
 # Pytest deps (same as run-tests action). junitparser is imported at
 # tools/conftest.py load time, so it must be present first.
-./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flatdict flaky "coverage>=7.6.1"
+./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flaky "coverage>=7.6.1"
 
 # Shard count from nvidia-smi -L (truth; torch under-counts MIG).
 MIG_COUNT=$(nvidia-smi -L | grep -c "^  MIG ")  # grep -c = count of matching lines (MIG slices)

.github/actions/multi-gpu/multi_gpu_shard_runner.sh

@@ -155,6 +155,7 @@ runs:
                 if [ -n \"\$wait_pid\" ]; then kill \"\$wait_pid\" 2>/dev/null || true; fi; \
                 exit 130" HUP INT TERM
 
+          echo "::group::Configuration / Setup"
           echo "Running tests in: $test_path"
           if [ -n "$pytest_options" ]; then
             echo "With pytest options: $pytest_options"
@@ -364,6 +365,7 @@ runs:
           fi
 
           echo "Docker environment variables: '$docker_env_vars'"
+          echo "::endgroup::"
 
           # Run tests in a detached container and follow logs.  Running detached
           # means the container lifecycle is independent of the shell - if the
@@ -394,7 +396,7 @@ runs:
               # set this detect-only flag, which makes cold asset downloads
               # fall back to slow repeated retries.
               unset HUB__ARGS__DETECT_ONLY
-              ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flatdict flaky \"coverage>=7.6.1\"
+              ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flaky \"coverage>=7.6.1\"
               if [ -n \"\${TEST_WHEELHOUSE_PACKAGES:-}\" ]; then
                 if [ ! -d \"\${TEST_WHEELHOUSE_PATH:-}\" ]; then
                   echo \"Wheelhouse path is missing: \${TEST_WHEELHOUSE_PATH:-}\"
@@ -429,6 +431,7 @@ runs:
               ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file
             "
 
+          echo "::group::Following Docker container logs"
           # Stream container logs in background.
           docker logs -f "$container_name" &
           logs_pid=$!
@@ -453,13 +456,15 @@ runs:
           kill $logs_pid 2>/dev/null || true
           wait $logs_pid 2>/dev/null || true
           logs_pid=""
+          echo "::endgroup::"
 
           if [ $DOCKER_EXIT -eq 0 ]; then
             echo "🟢 Docker container completed successfully"
           else
             echo "🟠 Docker container failed (exit $DOCKER_EXIT), but continuing to copy results..."
           fi
 
+          echo "::group::Copy results"
           # Copy test results with error handling.
           # When volume-mounted, test output lands on the host filesystem directly
           # (docker cp cannot see bind-mounted paths after the container stops).
@@ -511,13 +516,16 @@ runs:
           elif docker cp "$container_name:/workspace/isaaclab/tests/comparison-images" "$img_dir" 2>/dev/null; then
             echo "🟢 Comparison images copied from container to $img_dir"
           fi
+          echo "::endgroup::"
 
+          echo "::group::Cleanup"
           # Clean up container
           echo "🔵 Cleaning up Docker container..."
           docker rm $container_name 2>/dev/null || echo "🟠 Container cleanup failed, but continuing..."
           if [ -n "$docker_runtime_dir" ]; then
             rm -rf "$docker_runtime_dir" || echo "🟠 Docker runtime storage cleanup failed, but continuing..."
           fi
+          echo "::endgroup::"
 
           return $DOCKER_EXIT
         }

.github/actions/run-tests/action.yml

@@ -118,10 +118,9 @@ jobs:
         git for-each-ref --format="%(refname:short)" refs/heads/ | xargs -r git branch -D
         make multi-docs
 
-    - name: Upload docs artifact
-      uses: actions/upload-artifact@v7
+    - name: Upload GitHub Pages artifact
+      uses: actions/upload-pages-artifact@v4
       with:
-        name: docs-html
         path: ./docs/_build
 
   deploy-docs:
@@ -131,16 +130,15 @@ jobs:
     # deploy only on "deploy" branches
     if: needs.doc-build-type.outputs.trigger-deploy == 'true'
 
-    steps:
-    - name: Download docs artifact
-      uses: actions/download-artifact@v8
-      with:
-        name: docs-html
-        path: ./docs/_build
+    permissions:
+      pages: write
+      id-token: write
 
-    - name: Deploy to gh-pages
-      uses: peaceiris/actions-gh-pages@v4
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./docs/_build
-        keep_files: false
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    steps:
+    - name: Deploy GitHub Pages
+      id: deployment
+      uses: actions/deploy-pages@v4

.github/workflows/docs.yaml

@@ -60,6 +60,7 @@ jobs:
             $'^\\.github/workflows/install-ci\\.yml$\tThis workflow file'
             $'^VERSION$\tVersion file'
             $'(^|/)pyproject\\.toml$\tPython project metadata'
+            $'^uv\\.lock$\tuv lockfile'
             $'(^|/)environment\\.ya?ml$\tConda environment file'
           )
 

.github/workflows/install-ci.yml

@@ -19,7 +19,8 @@ on:
     paths:
       - "source/isaaclab/isaaclab/app/app_launcher.py"
       - "source/isaaclab_tasks/isaaclab_tasks/utils/sim_launcher.py"
-      - "scripts/reinforcement_learning/**/train.py"
+      - "scripts/reinforcement_learning/train.py"
+      - "source/isaaclab_rl/isaaclab_rl/entrypoints/**"
       - ".github/workflows/test-multi-gpu.yaml"
   workflow_dispatch:
 
@@ -120,7 +121,8 @@ jobs:
 
           # Run 2-GPU distributed training for 3 iterations
           ./isaaclab.sh -p -m torch.distributed.run --nproc_per_node=2 \
-            scripts/reinforcement_learning/${TRAINER}/train.py \
+            scripts/reinforcement_learning/train.py \
+            --rl_library ${TRAINER} \
             --task=${{ matrix.task }} \
             --headless \
             --distributed \

.github/workflows/test-multi-gpu.yaml

@@ -19,4 +19,4 @@ CLUSTER_SIF_PATH=/some/path/on/cluster/
 # Remove the temporary isaaclab code copy after the job is done
 REMOVE_CODE_COPY_AFTER_JOB=false
 # Python executable within Isaac Lab directory to run with the submitted job
-CLUSTER_PYTHON_EXECUTABLE=scripts/reinforcement_learning/rsl_rl/train.py
+CLUSTER_PYTHON_EXECUTABLE=scripts/reinforcement_learning/train.py