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daniela-hasedaniela-hase
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Merge branch 'develop' into dev/replace-torch-with-warp
2 parents 14cb7bc + 3303bef commit 9740acb

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Lines changed: 8270 additions & 1220 deletions

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

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -125,6 +125,7 @@ runs:
125125
-e ISAAC_SIM_LOW_MEMORY=1 \
126126
-e PYTHONUNBUFFERED=1 \
127127
-e PYTHONIOENCODING=utf-8 \
128+
-e GITHUB_ACTIONS=${GITHUB_ACTIONS:-} \
128129
-e TEST_RESULT_FILE=$result_file"
129130
130131
if [ "$curobo_only" = "true" ]; then
@@ -278,7 +279,7 @@ runs:
278279
fi
279280
fi
280281
281-
# Copy comparison images (saved by test_rendering_correctness.py).
282+
# Copy comparison images (saved by source/isaaclab_tasks/test/test_rendering_*.py).
282283
local img_dir="$reports_dir/comparison-images"
283284
if [ -n "$volume_mount_source" ] && [ -d "${volume_mount_source}/tests/comparison-images" ]; then
284285
cp -r "${volume_mount_source}/tests/comparison-images" "$img_dir"

‎.github/workflows/build.yaml‎

Lines changed: 126 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -48,13 +48,6 @@ name: Docker + Tests
4848
on:
4949
pull_request:
5050
types: [opened, synchronize, reopened]
51-
paths:
52-
- 'source/**'
53-
- 'docker/**'
54-
- 'tools/**'
55-
- 'apps/**'
56-
- '.github/workflows/build.yaml'
57-
- '.github/actions/**'
5851
branches:
5952
- main
6053
- develop
@@ -77,6 +70,34 @@ env:
7770
CI_IMAGE_TAG: isaac-lab-ci:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
7871

7972
jobs:
73+
changes:
74+
name: Detect Docker Test Changes
75+
runs-on: ubuntu-latest
76+
outputs:
77+
run_docker_tests: ${{ steps.detect.outputs.run_docker_tests }}
78+
steps:
79+
- id: detect
80+
env:
81+
GH_TOKEN: ${{ github.token }}
82+
PR_NUMBER: ${{ github.event.pull_request.number }}
83+
run: |
84+
set -euo pipefail
85+
86+
if [ "${{ github.event_name }}" != "pull_request" ]; then
87+
echo "run_docker_tests=true" >> "$GITHUB_OUTPUT"
88+
exit 0
89+
fi
90+
91+
changed_files="$(gh api --paginate "repos/${{ github.repository }}/pulls/${PR_NUMBER}/files" --jq '.[].filename')"
92+
printf '%s\n' "$changed_files"
93+
94+
# config.yaml controls the base image names and tags consumed by the Docker build jobs.
95+
if printf '%s\n' "$changed_files" | grep -qE '^(source/|docker/|tools/|apps/|\.github/workflows/build\.yaml$|\.github/workflows/config\.yaml$|\.github/actions/)'; then
96+
echo "run_docker_tests=true" >> "$GITHUB_OUTPUT"
97+
else
98+
echo "run_docker_tests=false" >> "$GITHUB_OUTPUT"
99+
fi
100+
80101
config:
81102
name: Load Config
82103
runs-on: ubuntu-latest
@@ -102,7 +123,8 @@ jobs:
102123
build:
103124
name: Build Base Docker Image
104125
runs-on: [self-hosted, gpu]
105-
needs: [config]
126+
needs: [changes, config]
127+
if: needs.changes.outputs.run_docker_tests == 'true'
106128
steps:
107129
- name: Checkout Code
108130
uses: actions/checkout@v6
@@ -122,7 +144,8 @@ jobs:
122144
build-curobo:
123145
name: Build cuRobo Docker Image
124146
runs-on: [self-hosted, gpu]
125-
needs: [config]
147+
needs: [changes, config]
148+
if: needs.changes.outputs.run_docker_tests == 'true'
126149
steps:
127150
- name: Checkout Code
128151
uses: actions/checkout@v6
@@ -507,6 +530,100 @@ jobs:
507530
container-name: isaac-lab-environments-training-test
508531
#endregion
509532

533+
docker-tests-gate:
534+
name: Docker Tests Gate
535+
runs-on: ubuntu-latest
536+
needs:
537+
- changes
538+
- build
539+
- build-curobo
540+
- test-isaaclab-tasks
541+
- test-isaaclab-tasks-2
542+
- test-isaaclab-tasks-3
543+
- test-isaaclab-core
544+
- test-isaaclab-core-2
545+
- test-isaaclab-core-3
546+
- test-isaaclab-rl
547+
- test-isaaclab-mimic
548+
- test-isaaclab-assets
549+
- test-isaaclab-contrib
550+
- test-isaaclab-teleop
551+
- test-isaaclab-visualizers
552+
- test-isaaclab-newton
553+
- test-isaaclab-physx
554+
- test-isaaclab-ov
555+
- test-curobo
556+
- test-skillgen
557+
- test-environments-training
558+
if: always()
559+
steps:
560+
- name: Check Docker test results
561+
env:
562+
CHANGES_RESULT: ${{ needs.changes.result }}
563+
RUN_DOCKER_TESTS: ${{ needs.changes.outputs.run_docker_tests }}
564+
BUILD_RESULT: ${{ needs.build.result }}
565+
BUILD_CUROBO_RESULT: ${{ needs.build-curobo.result }}
566+
TASKS_1_RESULT: ${{ needs.test-isaaclab-tasks.result }}
567+
TASKS_2_RESULT: ${{ needs.test-isaaclab-tasks-2.result }}
568+
TASKS_3_RESULT: ${{ needs.test-isaaclab-tasks-3.result }}
569+
CORE_1_RESULT: ${{ needs.test-isaaclab-core.result }}
570+
CORE_2_RESULT: ${{ needs.test-isaaclab-core-2.result }}
571+
CORE_3_RESULT: ${{ needs.test-isaaclab-core-3.result }}
572+
RL_RESULT: ${{ needs.test-isaaclab-rl.result }}
573+
MIMIC_RESULT: ${{ needs.test-isaaclab-mimic.result }}
574+
ASSETS_RESULT: ${{ needs.test-isaaclab-assets.result }}
575+
CONTRIB_RESULT: ${{ needs.test-isaaclab-contrib.result }}
576+
TELEOP_RESULT: ${{ needs.test-isaaclab-teleop.result }}
577+
VISUALIZERS_RESULT: ${{ needs.test-isaaclab-visualizers.result }}
578+
NEWTON_RESULT: ${{ needs.test-isaaclab-newton.result }}
579+
PHYSX_RESULT: ${{ needs.test-isaaclab-physx.result }}
580+
OV_RESULT: ${{ needs.test-isaaclab-ov.result }}
581+
CUROBO_RESULT: ${{ needs.test-curobo.result }}
582+
SKILLGEN_RESULT: ${{ needs.test-skillgen.result }}
583+
ENVIRONMENTS_TRAINING_RESULT: ${{ needs.test-environments-training.result }}
584+
run: |
585+
set -euo pipefail
586+
587+
if [ "$CHANGES_RESULT" != "success" ]; then
588+
echo "Change detection failed with result: $CHANGES_RESULT"
589+
exit 1
590+
fi
591+
592+
if [ "$RUN_DOCKER_TESTS" != "true" ]; then
593+
echo "Docker tests are not required for this change."
594+
exit 0
595+
fi
596+
597+
failures=()
598+
[ "$BUILD_RESULT" = "success" ] || failures+=("Build Base Docker Image: $BUILD_RESULT")
599+
[ "$BUILD_CUROBO_RESULT" = "success" ] || failures+=("Build cuRobo Docker Image: $BUILD_CUROBO_RESULT")
600+
[ "$TASKS_1_RESULT" = "success" ] || failures+=("isaaclab_tasks [1/3]: $TASKS_1_RESULT")
601+
[ "$TASKS_2_RESULT" = "success" ] || failures+=("isaaclab_tasks [2/3]: $TASKS_2_RESULT")
602+
[ "$TASKS_3_RESULT" = "success" ] || failures+=("isaaclab_tasks [3/3]: $TASKS_3_RESULT")
603+
[ "$CORE_1_RESULT" = "success" ] || failures+=("isaaclab (core) [1/3]: $CORE_1_RESULT")
604+
[ "$CORE_2_RESULT" = "success" ] || failures+=("isaaclab (core) [2/3]: $CORE_2_RESULT")
605+
[ "$CORE_3_RESULT" = "success" ] || failures+=("isaaclab (core) [3/3]: $CORE_3_RESULT")
606+
[ "$RL_RESULT" = "success" ] || failures+=("isaaclab_rl: $RL_RESULT")
607+
[ "$MIMIC_RESULT" = "success" ] || failures+=("isaaclab_mimic: $MIMIC_RESULT")
608+
[ "$ASSETS_RESULT" = "success" ] || failures+=("isaaclab_assets: $ASSETS_RESULT")
609+
[ "$CONTRIB_RESULT" = "success" ] || failures+=("isaaclab_contrib: $CONTRIB_RESULT")
610+
[ "$TELEOP_RESULT" = "success" ] || failures+=("isaaclab_teleop: $TELEOP_RESULT")
611+
[ "$VISUALIZERS_RESULT" = "success" ] || failures+=("isaaclab_visualizers: $VISUALIZERS_RESULT")
612+
[ "$NEWTON_RESULT" = "success" ] || failures+=("isaaclab_newton: $NEWTON_RESULT")
613+
[ "$PHYSX_RESULT" = "success" ] || failures+=("isaaclab_physx: $PHYSX_RESULT")
614+
[ "$OV_RESULT" = "success" ] || failures+=("isaaclab_ov: $OV_RESULT")
615+
[ "$CUROBO_RESULT" = "success" ] || failures+=("test-curobo: $CUROBO_RESULT")
616+
[ "$SKILLGEN_RESULT" = "success" ] || failures+=("test-skillgen: $SKILLGEN_RESULT")
617+
[ "$ENVIRONMENTS_TRAINING_RESULT" = "success" ] || failures+=("environments_training: $ENVIRONMENTS_TRAINING_RESULT")
618+
619+
if [ "${#failures[@]}" -gt 0 ]; then
620+
printf 'Docker checks did not pass:\n'
621+
printf ' - %s\n' "${failures[@]}"
622+
exit 1
623+
fi
624+
625+
echo "Docker checks passed."
626+
510627
#region disabled quarantined tests
511628
# test-quarantined:
512629
# name: "Quarantined Tests"

‎.github/workflows/docs.yaml‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -131,4 +131,3 @@ jobs:
131131
github_token: ${{ secrets.GITHUB_TOKEN }}
132132
publish_dir: ./docs/_build
133133
keep_files: false
134-
force_orphan: true

‎.github/workflows/install-ci.yml‎

Lines changed: 61 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -7,15 +7,6 @@ name: Installation Tests
77
on:
88
pull_request:
99
types: [opened, synchronize, reopened]
10-
paths:
11-
- 'apps/**'
12-
- 'VERSION'
13-
- 'tools/**'
14-
- 'source/**'
15-
- '**/pyproject.toml'
16-
- '**/environment.yaml'
17-
- '.github/actions/run-package-tests/**'
18-
- '.github/workflows/install-ci.yml'
1910
push:
2011
branches:
2112
- main
@@ -38,9 +29,39 @@ concurrency:
3829

3930
permissions:
4031
contents: read
32+
pull-requests: read
4133
jobs:
34+
changes:
35+
name: Detect Installation Test Changes
36+
runs-on: ubuntu-latest
37+
outputs:
38+
run_install_tests: ${{ steps.detect.outputs.run_install_tests }}
39+
steps:
40+
- id: detect
41+
env:
42+
GH_TOKEN: ${{ github.token }}
43+
PR_NUMBER: ${{ github.event.pull_request.number }}
44+
run: |
45+
set -euo pipefail
46+
47+
if [ "${{ github.event_name }}" != "pull_request" ]; then
48+
echo "run_install_tests=true" >> "$GITHUB_OUTPUT"
49+
exit 0
50+
fi
51+
52+
changed_files="$(gh api --paginate "repos/${{ github.repository }}/pulls/${PR_NUMBER}/files" --jq '.[].filename')"
53+
printf '%s\n' "$changed_files"
54+
55+
if printf '%s\n' "$changed_files" | grep -qE '^(apps/|tools/|source/|\.github/actions/run-package-tests/|\.github/workflows/install-ci\.yml$|VERSION$)|(^|/)pyproject\.toml$|(^|/)environment\.ya?ml$'; then
56+
echo "run_install_tests=true" >> "$GITHUB_OUTPUT"
57+
else
58+
echo "run_install_tests=false" >> "$GITHUB_OUTPUT"
59+
fi
60+
4261
install-tests:
4362
name: Installation Tests
63+
needs: [changes]
64+
if: needs.changes.outputs.run_install_tests == 'true'
4465
runs-on: [self-hosted, gpu]
4566
timeout-minutes: 90
4667
steps:
@@ -61,3 +82,34 @@ jobs:
6182
fi
6283
6384
tools/run_install_ci.py docker $RUNNER_ARGS -- --tb=short "${PYTEST_EXTRA_ARGS[@]}"
85+
86+
installation-tests-gate:
87+
name: Installation Tests Gate
88+
needs: [changes, install-tests]
89+
if: always()
90+
runs-on: ubuntu-latest
91+
steps:
92+
- name: Check installation test result
93+
env:
94+
CHANGES_RESULT: ${{ needs.changes.result }}
95+
RUN_INSTALL_TESTS: ${{ needs.changes.outputs.run_install_tests }}
96+
INSTALL_TESTS_RESULT: ${{ needs.install-tests.result }}
97+
run: |
98+
set -euo pipefail
99+
100+
if [ "$CHANGES_RESULT" != "success" ]; then
101+
echo "Change detection failed with result: $CHANGES_RESULT"
102+
exit 1
103+
fi
104+
105+
if [ "$RUN_INSTALL_TESTS" != "true" ]; then
106+
echo "Installation tests are not required for this change."
107+
exit 0
108+
fi
109+
110+
if [ "$INSTALL_TESTS_RESULT" != "success" ]; then
111+
echo "Installation Tests did not pass: $INSTALL_TESTS_RESULT"
112+
exit 1
113+
fi
114+
115+
echo "Installation Tests passed."

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