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| 1 | +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). |
| 2 | +# All rights reserved. |
| 3 | +# |
| 4 | +# SPDX-License-Identifier: BSD-3-Clause |
| 5 | + |
| 6 | +# ARM/Spark CI — exercises Isaac Lab on aarch64 Linux self-hosted runners |
| 7 | +# (NVIDIA DGX Spark). Mirrors the spirit of build.yaml but stays lean by |
| 8 | +# running tests inside the multi-arch nvcr.io/nvidian/isaac-sim image |
| 9 | +# instead of building a full isaac-lab-ci image. (Once the apt deps and |
| 10 | +# editable-install scope stabilize, we can promote to a Dockerfile.base |
| 11 | +# build that mirrors build.yaml's structure end-to-end.) |
| 12 | +# |
| 13 | +# Single job, multiple steps. Each test step sets `continue-on-error: true` |
| 14 | +# so a failure in one tier does not abort the others. Each pytest invocation |
| 15 | +# passes `--timeout=N --timeout-method=signal --continue-on-collection-errors` |
| 16 | +# so a hung or import-broken test cannot consume the whole job slot. |
| 17 | +# |
| 18 | +# Marker-driven discovery: `pytest <path> -m arm_ci`. Adding a new aarch64-safe |
| 19 | +# test = tag it with arm_ci, no yaml edit. |
| 20 | + |
| 21 | +name: ARM CI |
| 22 | + |
| 23 | +on: |
| 24 | + pull_request: |
| 25 | + types: [opened, synchronize, reopened] |
| 26 | + branches: |
| 27 | + - main |
| 28 | + - develop |
| 29 | + - 'release/**' |
| 30 | + push: |
| 31 | + branches: |
| 32 | + - main |
| 33 | + - develop |
| 34 | + - 'release/**' |
| 35 | + workflow_dispatch: |
| 36 | + |
| 37 | +concurrency: |
| 38 | + group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} |
| 39 | + cancel-in-progress: true |
| 40 | + |
| 41 | +permissions: |
| 42 | + contents: read |
| 43 | + pull-requests: write |
| 44 | + checks: write |
| 45 | + |
| 46 | +env: |
| 47 | + NGC_API_KEY: ${{ secrets.NGC_API_KEY }} |
| 48 | + |
| 49 | +jobs: |
| 50 | + changes: |
| 51 | + name: Detect Changes |
| 52 | + runs-on: ubuntu-latest |
| 53 | + outputs: |
| 54 | + run_arm_ci: ${{ steps.detect.outputs.run_arm_ci }} |
| 55 | + steps: |
| 56 | + - id: detect |
| 57 | + env: |
| 58 | + GH_TOKEN: ${{ github.token }} |
| 59 | + PR_NUMBER: ${{ github.event.pull_request.number }} |
| 60 | + EVENT_NAME: ${{ github.event_name }} |
| 61 | + REPO: ${{ github.repository }} |
| 62 | + run: | |
| 63 | + set -euo pipefail |
| 64 | + patterns=( |
| 65 | + $'^source/\tLibrary source code' |
| 66 | + $'^tools/\tBuild tooling' |
| 67 | + $'^apps/\tStandalone apps' |
| 68 | + $'^docker/\tContainer build inputs' |
| 69 | + $'(^|/)pyproject\\.toml$\tPython project metadata' |
| 70 | + $'^\\.github/workflows/arm-ci\\.yaml$\tThis workflow file' |
| 71 | + $'^\\.github/actions/ecr-build-push-pull/\tECR action' |
| 72 | + $'^VERSION$\tVersion file' |
| 73 | + ) |
| 74 | + any_match() { |
| 75 | + local files="$1" entry regex |
| 76 | + for entry in "${patterns[@]}"; do |
| 77 | + IFS=$'\t' read -r regex _ <<< "$entry" |
| 78 | + if grep -qE "$regex" <<< "$files"; then |
| 79 | + return 0 |
| 80 | + fi |
| 81 | + done |
| 82 | + return 1 |
| 83 | + } |
| 84 | + if [ "$EVENT_NAME" != "pull_request" ]; then |
| 85 | + echo "run_arm_ci=true" >> "$GITHUB_OUTPUT" |
| 86 | + exit 0 |
| 87 | + fi |
| 88 | + changed_files="$(gh api --paginate "repos/$REPO/pulls/$PR_NUMBER/files" --jq '.[].filename' || true)" |
| 89 | + if [ -z "$changed_files" ] || any_match "$changed_files"; then |
| 90 | + echo "run_arm_ci=true" >> "$GITHUB_OUTPUT" |
| 91 | + else |
| 92 | + echo "run_arm_ci=false" >> "$GITHUB_OUTPUT" |
| 93 | + fi |
| 94 | +
|
| 95 | + config: |
| 96 | + name: Load Config |
| 97 | + runs-on: ubuntu-latest |
| 98 | + needs: [changes] |
| 99 | + if: needs.changes.outputs.run_arm_ci == 'true' |
| 100 | + outputs: |
| 101 | + isaacsim_image_name: ${{ steps.load.outputs.isaacsim_image_name }} |
| 102 | + isaacsim_image_tag: ${{ steps.load.outputs.isaacsim_image_tag }} |
| 103 | + steps: |
| 104 | + - uses: actions/checkout@v4 |
| 105 | + with: |
| 106 | + fetch-depth: 1 |
| 107 | + - id: load |
| 108 | + shell: bash |
| 109 | + run: | |
| 110 | + set -euo pipefail |
| 111 | + # Read isaacsim_image_name/tag from .github/workflows/config.yaml. |
| 112 | + # Fallback to nightly tag if yq is unavailable on ubuntu-latest. |
| 113 | + if command -v yq >/dev/null 2>&1; then |
| 114 | + name=$(yq -r .isaacsim_image_name .github/workflows/config.yaml) |
| 115 | + tag=$(yq -r .isaacsim_image_tag .github/workflows/config.yaml) |
| 116 | + else |
| 117 | + name=$(grep '^isaacsim_image_name:' .github/workflows/config.yaml | awk '{print $2}') |
| 118 | + tag=$(grep '^isaacsim_image_tag:' .github/workflows/config.yaml | awk '{print $2}') |
| 119 | + fi |
| 120 | + echo "isaacsim_image_name=$name" >> "$GITHUB_OUTPUT" |
| 121 | + echo "isaacsim_image_tag=$tag" >> "$GITHUB_OUTPUT" |
| 122 | +
|
| 123 | + arm-ci: |
| 124 | + name: arm-ci |
| 125 | + runs-on: [self-hosted, arm64] |
| 126 | + needs: [changes, config] |
| 127 | + if: needs.changes.outputs.run_arm_ci == 'true' |
| 128 | + timeout-minutes: 120 |
| 129 | + steps: |
| 130 | + - name: Checkout |
| 131 | + uses: actions/checkout@v4 |
| 132 | + with: |
| 133 | + fetch-depth: 1 |
| 134 | + lfs: false |
| 135 | + |
| 136 | + - name: Login to nvcr.io |
| 137 | + shell: bash |
| 138 | + run: | |
| 139 | + set -euo pipefail |
| 140 | + if [ -n "${NGC_API_KEY:-}" ]; then |
| 141 | + echo "${NGC_API_KEY}" | docker login nvcr.io --username '$oauthtoken' --password-stdin |
| 142 | + fi |
| 143 | +
|
| 144 | + - name: Pull arm64 Isaac Sim image |
| 145 | + shell: bash |
| 146 | + run: | |
| 147 | + set -euo pipefail |
| 148 | + # Multi-arch manifest at this tag has both linux/arm64 and linux/amd64. |
| 149 | + # Docker on an aarch64 host auto-resolves to the arm64 variant. |
| 150 | + docker pull --platform linux/arm64 \ |
| 151 | + "${{ needs.config.outputs.isaacsim_image_name }}:${{ needs.config.outputs.isaacsim_image_tag }}" |
| 152 | +
|
| 153 | + - name: Install system build deps inside the container |
| 154 | + shell: bash |
| 155 | + run: | |
| 156 | + set -euo pipefail |
| 157 | + # pytetwild's fTetWild source build needs libgmp / libmpfr / libeigen3 / |
| 158 | + # libcgal / libboost; isaaclab's editable install pulls pytetwild as a |
| 159 | + # hard dep (added in PR isaac-sim/IsaacLab#5710 on 2026-05-20). |
| 160 | + # We install into a fresh container layer per run so the apt cost (~1-2 |
| 161 | + # min) shows up only when this workflow runs, not on the Sim image. |
| 162 | + # Persist by committing into a per-run image tagged isaac-lab-arm-ci. |
| 163 | + # Build a tagged image with deps baked in so subsequent test runs are fast. |
| 164 | + # Override the Sim image's entrypoint (Kit launcher) with bash so we can |
| 165 | + # run plain shell commands. EULA env vars set per build.yaml conventions. |
| 166 | + docker run --name arm-deps-prep --user root \ |
| 167 | + --entrypoint bash \ |
| 168 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 169 | + -e PRIVACY_CONSENT=Y \ |
| 170 | + "${{ needs.config.outputs.isaacsim_image_name }}:${{ needs.config.outputs.isaacsim_image_tag }}" \ |
| 171 | + -c " |
| 172 | + set -euo pipefail |
| 173 | + apt-get update |
| 174 | + apt-get install -y --no-install-recommends \ |
| 175 | + libgmp-dev libmpfr-dev libeigen3-dev libcgal-dev libboost-all-dev \ |
| 176 | + cmake build-essential |
| 177 | + rm -rf /var/lib/apt/lists/* |
| 178 | + " |
| 179 | + docker commit arm-deps-prep isaac-lab-arm-ci:${{ github.sha }} |
| 180 | + docker rm arm-deps-prep |
| 181 | +
|
| 182 | + - name: Editable install of isaaclab + isaaclab_tasks in a uv venv |
| 183 | + shell: bash |
| 184 | + timeout-minutes: 25 |
| 185 | + run: | |
| 186 | + set -euo pipefail |
| 187 | + # All Tier 2 jobs need both packages installed once. We do the install |
| 188 | + # inside a uv venv mounted under /workspace/isaaclab so subsequent |
| 189 | + # docker run invocations see the same env_isaaclab_uv directory. |
| 190 | + docker run --rm --user root \ |
| 191 | + --entrypoint bash \ |
| 192 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 193 | + -e PRIVACY_CONSENT=Y \ |
| 194 | + -v "${{ github.workspace }}":/workspace/isaaclab \ |
| 195 | + -w /workspace/isaaclab \ |
| 196 | + --gpus all \ |
| 197 | + isaac-lab-arm-ci:${{ github.sha }} \ |
| 198 | + -c " |
| 199 | + set -e |
| 200 | + if ! command -v uv >/dev/null 2>&1; then |
| 201 | + curl -LsSf https://astral.sh/uv/install.sh | sh |
| 202 | + export PATH=\$HOME/.local/bin:\$PATH |
| 203 | + fi |
| 204 | + uv venv --python 3.12 env_isaaclab_uv |
| 205 | + source env_isaaclab_uv/bin/activate |
| 206 | + uv pip install -e source/isaaclab |
| 207 | + uv pip install -e source/isaaclab_assets |
| 208 | + uv pip install -e source/isaaclab_tasks |
| 209 | + uv pip install pytest pytest-timeout |
| 210 | + python -c 'import isaaclab, isaaclab_assets, isaaclab_tasks; print(\"editable imports ok\")' |
| 211 | + " |
| 212 | +
|
| 213 | + - name: Tier 1 — general-arm smoke (torch + scipy) |
| 214 | + shell: bash |
| 215 | + continue-on-error: true |
| 216 | + timeout-minutes: 10 |
| 217 | + run: | |
| 218 | + set -e |
| 219 | + mkdir -p reports |
| 220 | + docker run --rm --user root \ |
| 221 | + --entrypoint bash \ |
| 222 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 223 | + -e PRIVACY_CONSENT=Y \ |
| 224 | + -v "${{ github.workspace }}":/workspace/isaaclab \ |
| 225 | + -w /workspace/isaaclab \ |
| 226 | + --gpus all \ |
| 227 | + isaac-lab-arm-ci:${{ github.sha }} \ |
| 228 | + -c " |
| 229 | + source env_isaaclab_uv/bin/activate |
| 230 | + python -m pytest \ |
| 231 | + source/isaaclab/test/deps \ |
| 232 | + --ignore=tools/conftest.py \ |
| 233 | + -m arm_ci \ |
| 234 | + --continue-on-collection-errors \ |
| 235 | + --timeout=60 \ |
| 236 | + --timeout-method=signal \ |
| 237 | + -v \ |
| 238 | + --junitxml=reports/general-arm.xml |
| 239 | + " |
| 240 | +
|
| 241 | + - name: Tier 1 — kit-launch-arm (boot Kit headless) |
| 242 | + shell: bash |
| 243 | + continue-on-error: true |
| 244 | + timeout-minutes: 10 |
| 245 | + run: | |
| 246 | + set -e |
| 247 | + docker run --rm --user root \ |
| 248 | + --entrypoint bash \ |
| 249 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 250 | + -e PRIVACY_CONSENT=Y \ |
| 251 | + -v "${{ github.workspace }}":/workspace/isaaclab \ |
| 252 | + -w /workspace/isaaclab \ |
| 253 | + --gpus all \ |
| 254 | + isaac-lab-arm-ci:${{ github.sha }} \ |
| 255 | + -c " |
| 256 | + source env_isaaclab_uv/bin/activate |
| 257 | + uv pip install --extra-index-url https://pypi.nvidia.com 'isaacsim[all]' |
| 258 | + timeout 120 python - <<'EOF' |
| 259 | + import sys |
| 260 | + from isaaclab.app import AppLauncher |
| 261 | + sim = AppLauncher(headless=True).app |
| 262 | + assert sim is not None, 'AppLauncher did not return a SimulationApp' |
| 263 | + sim.close() |
| 264 | + sys.exit(0) |
| 265 | + EOF |
| 266 | + " |
| 267 | +
|
| 268 | + - name: Tier 2 — kitless-arm (Warp + OvRTX rendering on aarch64) |
| 269 | + shell: bash |
| 270 | + continue-on-error: true |
| 271 | + timeout-minutes: 30 |
| 272 | + run: | |
| 273 | + set -e |
| 274 | + docker run --rm --user root \ |
| 275 | + --entrypoint bash \ |
| 276 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 277 | + -e PRIVACY_CONSENT=Y \ |
| 278 | + -v "${{ github.workspace }}":/workspace/isaaclab \ |
| 279 | + -w /workspace/isaaclab \ |
| 280 | + --gpus all \ |
| 281 | + isaac-lab-arm-ci:${{ github.sha }} \ |
| 282 | + -c " |
| 283 | + source env_isaaclab_uv/bin/activate |
| 284 | + python -m pytest \ |
| 285 | + source/isaaclab_tasks/test \ |
| 286 | + --ignore=tools/conftest.py \ |
| 287 | + -m arm_ci \ |
| 288 | + --continue-on-collection-errors \ |
| 289 | + --timeout=300 \ |
| 290 | + --timeout-method=signal \ |
| 291 | + -v \ |
| 292 | + --junitxml=reports/kitless-arm.xml |
| 293 | + " |
| 294 | +
|
| 295 | + - name: Tier 2 — determinism-arm (controllers / math) |
| 296 | + shell: bash |
| 297 | + continue-on-error: true |
| 298 | + timeout-minutes: 20 |
| 299 | + run: | |
| 300 | + set -e |
| 301 | + docker run --rm --user root \ |
| 302 | + --entrypoint bash \ |
| 303 | + -e OMNI_KIT_ACCEPT_EULA=yes -e ACCEPT_EULA=Y -e ISAAC_SIM_HEADLESS=1 \ |
| 304 | + -e PRIVACY_CONSENT=Y \ |
| 305 | + -v "${{ github.workspace }}":/workspace/isaaclab \ |
| 306 | + -w /workspace/isaaclab \ |
| 307 | + --gpus all \ |
| 308 | + isaac-lab-arm-ci:${{ github.sha }} \ |
| 309 | + -c " |
| 310 | + source env_isaaclab_uv/bin/activate |
| 311 | + python -m pytest \ |
| 312 | + source/isaaclab/test \ |
| 313 | + --ignore=tools/conftest.py \ |
| 314 | + --ignore=source/isaaclab/test/deps \ |
| 315 | + -m arm_ci \ |
| 316 | + --continue-on-collection-errors \ |
| 317 | + --timeout=180 \ |
| 318 | + --timeout-method=signal \ |
| 319 | + -v \ |
| 320 | + --junitxml=reports/determinism-arm.xml |
| 321 | + " |
| 322 | +
|
| 323 | + - name: Upload test reports |
| 324 | + if: always() |
| 325 | + uses: actions/upload-artifact@v4 |
| 326 | + with: |
| 327 | + name: arm-ci-reports |
| 328 | + path: reports/ |
| 329 | + retention-days: 7 |
| 330 | + |
| 331 | + - name: Clean up per-run image |
| 332 | + if: always() |
| 333 | + shell: bash |
| 334 | + run: | |
| 335 | + docker rmi -f isaac-lab-arm-ci:${{ github.sha }} || true |
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