Merge origin/develop into feature/event_mdp_parity

Resolve changelog and extension.toml version conflicts.
Bump version to 4.5.30 to follow develop's 4.5.29.

Author: AntoineRichard

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

@@ -61,6 +61,28 @@ inputs:
 runs:
   using: composite
   steps:
+    # Display some details on AWS instance we're running on
+    - name: AWS Instance Info
+      shell: bash
+      run: |
+        # get instance ID for debugging purposes (if running on EC2)
+        IMDS_TOKEN=$(curl -sf -X PUT "http://169.254.169.254/latest/api/token" \
+          -H "X-aws-ec2-metadata-token-ttl-seconds: 21600") || true
+        if [ -n "$IMDS_TOKEN" ]; then
+          INSTANCE_ID=$(curl -sf -H "X-aws-ec2-metadata-token: ${IMDS_TOKEN}" \
+            "http://169.254.169.254/latest/meta-data/instance-id") || true
+          INSTANCE_REGION=$(curl -sf -H "X-aws-ec2-metadata-token: ${IMDS_TOKEN}" \
+              "http://169.254.169.254/latest/meta-data/placement/region") || true
+          INSTANCE_TYPE=$(curl -sf -H "X-aws-ec2-metadata-token: ${IMDS_TOKEN}" \
+              "http://169.254.169.254/latest/meta-data/instance-type") || true
+          echo "⚪ Instance ID: ${INSTANCE_ID:-Not running on EC2}"
+          echo "⚪ Instance Region: ${INSTANCE_REGION:-Not running on EC2}"
+          echo "⚪ Instance Type: ${INSTANCE_TYPE:-Not running on EC2}"
+          echo "⚪ Connect: https://${INSTANCE_REGION}.console.aws.amazon.com/ec2-instance-connect/ssh/home?region=${INSTANCE_REGION}&connType=standard&instanceId=${INSTANCE_ID}&osUser=ubuntu&sshPort=22&addressFamily=ipv4"
+        else
+          echo "🟠 Could not obtain IMDS token, probably not running on EC2"
+        fi
+
     - name: Record pull start time
       id: pull-start
       shell: bash
@@ -134,6 +156,8 @@ runs:
         # Don't let cleanup errors fail a passing test job
         set +e
 
+        echo "🔵 Cleaning up old Docker images..."
+
         echo "⚪ Disk usage before cleanup:"
         df -h /var/lib/docker
 

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

@@ -183,8 +183,10 @@ runs:
               set -e
               cd /workspace/isaaclab
               mkdir -p tests
+              rm _isaac_sim || true
+              ln -s /isaac-sim _isaac_sim
               echo 'Starting pytest with path: $test_path'
-              /isaac-sim/python.sh -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file
+              ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py --ignore=source/isaaclab/test/install_ci $test_path $pytest_options -v --junitxml=tests/$result_file
             "
 
           # Stream container logs to CI output (this is the killable foreground process).

.github/workflows/build.yaml

@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+# region help
 # Test job gating summary
 #
 # +------------------------------------+-----------------------------------------------------+
@@ -63,6 +64,7 @@
 #
 # Remember to REVERT all temporary changes before merging!
 # =============================================================================
+#endregion
 
 name: Docker + Tests
 
@@ -242,6 +244,7 @@ jobs:
           done
         } >> "$GITHUB_STEP_SUMMARY"
 
+  #region build jobs
   build:
     name: Build Base Docker Image
     runs-on: [self-hosted, gpu]
@@ -262,7 +265,6 @@ jobs:
         dockerfile-path: docker/Dockerfile.base
         cache-tag: cache-base
 
-
   build-curobo:
     name: Build cuRobo Docker Image
     runs-on: [self-hosted, gpu]
@@ -287,12 +289,9 @@ jobs:
         isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
         dockerfile-path: docker/Dockerfile.curobo
         cache-tag: cache-curobo
+  #endregion
 
-
-
-  # Each test job checks out code, then calls run-package-tests which handles
-  # ECR pull, pytest in Docker, artifact upload, and fork-PR checks.
-
+  #region test jobs
   test-isaaclab-tasks:
     name: isaaclab_tasks [1/3]
     runs-on: [self-hosted, gpu]
@@ -320,7 +319,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-tasks-1-test
 
-
   test-isaaclab-tasks-2:
     name: isaaclab_tasks [2/3]
     runs-on: [self-hosted, gpu]
@@ -348,7 +346,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-tasks-2-test
 
-
   test-isaaclab-tasks-3:
     name: isaaclab_tasks [3/3]
     runs-on: [self-hosted, gpu]
@@ -376,7 +373,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-tasks-3-test
 
-
   test-isaaclab-core:
     name: isaaclab (core) [1/3]
     runs-on: [self-hosted, gpu]
@@ -402,7 +398,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-core-1-test
 
-
   test-isaaclab-core-2:
     name: isaaclab (core) [2/3]
     runs-on: [self-hosted, gpu]
@@ -428,7 +423,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-core-2-test
 
-
   test-isaaclab-core-3:
     name: isaaclab (core) [3/3]
     runs-on: [self-hosted, gpu]
@@ -454,7 +448,6 @@ jobs:
         shard-count: "3"
         container-name: isaac-lab-core-3-test
 
-
   test-isaaclab-rl:
     name: isaaclab_rl
     runs-on: [self-hosted, gpu]
@@ -479,7 +472,6 @@ jobs:
         filter-pattern: "isaaclab_rl"
         container-name: isaac-lab-rl-test
 
-
   test-isaaclab-mimic:
     name: isaaclab_mimic
     runs-on: [self-hosted, gpu]
@@ -504,7 +496,6 @@ jobs:
         filter-pattern: "isaaclab_mimic"
         container-name: isaac-lab-mimic-test
 
-
   test-isaaclab-contrib:
     name: isaaclab_contrib
     runs-on: [self-hosted, gpu]
@@ -529,7 +520,6 @@ jobs:
         filter-pattern: "isaaclab_contrib"
         container-name: isaac-lab-contrib-test
 
-
   test-isaaclab-teleop:
     name: isaaclab_teleop
     runs-on: [self-hosted, gpu]
@@ -554,7 +544,6 @@ jobs:
         filter-pattern: "isaaclab_teleop"
         container-name: isaac-lab-teleop-test
 
-
   test-isaaclab-visualizers:
     name: isaaclab_visualizers
     runs-on: [self-hosted, gpu]
@@ -579,7 +568,6 @@ jobs:
         filter-pattern: "isaaclab_visualizers"
         container-name: isaac-lab-visualizers-test
 
-
   test-isaaclab-assets:
     name: isaaclab_assets
     runs-on: [self-hosted, gpu]
@@ -604,7 +592,6 @@ jobs:
         filter-pattern: "isaaclab_assets"
         container-name: isaac-lab-assets-test
 
-
   test-isaaclab-newton:
     name: isaaclab_newton
     runs-on: [self-hosted, gpu]
@@ -629,7 +616,6 @@ jobs:
         filter-pattern: "isaaclab_newton"
         container-name: isaac-lab-newton-test
 
-
   test-isaaclab-physx:
     name: isaaclab_physx
     runs-on: [self-hosted, gpu]
@@ -654,7 +640,6 @@ jobs:
         filter-pattern: "isaaclab_physx"
         container-name: isaac-lab-physx-test
 
-
   test-isaaclab-ov:
     name: isaaclab_ov
     runs-on: [self-hosted, gpu]
@@ -679,7 +664,6 @@ jobs:
         filter-pattern: "isaaclab_ov"
         container-name: isaac-lab-ov-test
 
-
   test-curobo:
     name: test-curobo
     runs-on: [self-hosted, gpu]
@@ -707,7 +691,6 @@ jobs:
         include-files: "test_curobo_planner_franka.py,test_curobo_planner_cube_stack.py,test_pink_ik.py"
         container-name: isaac-lab-curobo-test
 
-
   test-skillgen:
     name: test-skillgen
     runs-on: [self-hosted, gpu]
@@ -736,29 +719,6 @@ jobs:
         include-files: "test_generate_dataset_skillgen.py,test_environments_skillgen.py,test_environments_automate.py"
         container-name: isaac-lab-skillgen-test
 
-
-  # test-quarantined:
-  #   name: "Quarantined Tests"
-  #   runs-on: [self-hosted, gpu]
-  #   timeout-minutes: 180
-  #   continue-on-error: true
-  #   needs: [build, detect-changes]
-  #   if: >-
-  #     always() && needs.build.result == 'success' &&
-  #     vars.RUN_QUARANTINED_TESTS == 'true'
-  #   steps:
-  #   - uses: actions/checkout@v6
-  #     with:
-  #       fetch-depth: 1
-  #       lfs: true
-  #   - uses: ./.github/actions/run-package-tests
-  #     with:
-  #       image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-  #       isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
-  #       isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
-  #       quarantined-only: "true"
-  #       container-name: isaac-lab-quarantined-test
-
   test-environments-training:
     name: "environments_training"
     runs-on: [self-hosted, gpu]
@@ -784,3 +744,28 @@ jobs:
         filter-pattern: "isaaclab_tasks"
         include-files: "test_environments_training.py"
         container-name: isaac-lab-environments-training-test
+  #endregion
+
+#region disabled quarantined tests
+# test-quarantined:
+#   name: "Quarantined Tests"
+#   runs-on: [self-hosted, gpu]
+#   timeout-minutes: 180
+#   continue-on-error: true
+#   needs: [build, detect-changes]
+#   if: >-
+#     always() && needs.build.result == 'success' &&
+#     vars.RUN_QUARANTINED_TESTS == 'true'
+#   steps:
+#   - uses: actions/checkout@v6
+#     with:
+#       fetch-depth: 1
+#       lfs: true
+#   - uses: ./.github/actions/run-package-tests
+#     with:
+#       image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+#       isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
+#       isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
+#       quarantined-only: "true"
+#       container-name: isaac-lab-quarantined-test
+#endregion

.github/workflows/install-ci.yml

@@ -0,0 +1,42 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Installation Tests
+on:
+  workflow_dispatch:
+    inputs:
+      base_image:
+        description: 'Docker base image for the test container'
+        required: false
+        default: 'ubuntu:24.04'
+        type: string
+      test_filter:
+        description: 'pytest -k filter expression (e.g. "uv" or "bugs")'
+        default: ''
+permissions:
+  contents: read
+jobs:
+  install-tests:
+    name: Installation Tests (${{ inputs.base_image }})
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 90
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6
+      - name: Run installation tests
+        env:
+          BASE_IMAGE: ${{ inputs.base_image }}
+          TEST_FILTER: ${{ inputs.test_filter }}
+        run: |
+          RUNNER_ARGS="--base-image $BASE_IMAGE"
+          RUNNER_ARGS="$RUNNER_ARGS --results-dir ${{ github.workspace }}/results"
+          RUNNER_ARGS="$RUNNER_ARGS --gpu"
+
+          PYTEST_EXTRA_ARGS=(-sv)
+          if [ -n "$TEST_FILTER" ]; then
+            PYTEST_EXTRA_ARGS+=(-k "$TEST_FILTER")
+          fi
+
+          tools/run_install_ci.py docker $RUNNER_ARGS -- --tb=short "${PYTEST_EXTRA_ARGS[@]}"

.gitignore

@@ -65,7 +65,7 @@ _build
 /datasets/
 
 # Tests
-tests/
+/tests/
 
 # Docker history
 .isaac-lab-docker-history

CONTRIBUTORS.md

@@ -34,6 +34,7 @@ Guidelines for modifications:
 * Kelly (Yunrong) Guo
 * Matthew Trepte
 * Mayank Mittal
+* Mikhail Yurasov
 * Nikita Rudin
 * Octi (Zhengyu) Zhang
 * Ossama Ahmed
@@ -123,7 +124,6 @@ Guidelines for modifications:
 * Michael Noseworthy
 * Miguel Alonso Jr
 * Mihir Kulkarni
-* Mikhail Yurasov
 * Mingxue Gu
 * Mingyu Lee
 * Muhong Guo

docker/Dockerfile.base

@@ -100,11 +100,19 @@ RUN touch /bin/nvidia-smi && \
 # installing Isaac Lab dependencies
 # use pip caching to avoid reinstalling large packages
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/isaaclab.sh --install
+    DEBUG=1 ${ISAACLAB_PATH}/isaaclab.sh --install
 
 # HACK: Remove install of quadprog dependency
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
 
+# HACK: Expose pin/pinocchio from IsaacSim's private extension prebundle
+ENV PYTHONPATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle:${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib/python3.12/site-packages:${PYTHONPATH}"
+ENV LD_LIBRARY_PATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib:${LD_LIBRARY_PATH}"
+
+# HACK: Expose nvidia.srl from Kit python into the ml_archive nvidia namespace
+RUN ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
+    ${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
+
 # aliasing isaaclab.sh and python for convenience
 RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
     echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \

docker/Dockerfile.curobo

@@ -148,11 +148,19 @@ RUN rm -rf ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/pip* &&
 # installing Isaac Lab dependencies
 # use pip caching to avoid reinstalling large packages
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/isaaclab.sh --install
+    DEBUG=1 ${ISAACLAB_PATH}/isaaclab.sh --install
 
 # HACK: Uninstall quadprog as it causes issues with some reinforcement learning frameworks
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
 
+# HACK: Expose pin/pinocchio from IsaacSim's private extension prebundle
+ENV PYTHONPATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle:${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib/python3.12/site-packages:${PYTHONPATH}"
+ENV LD_LIBRARY_PATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib:${LD_LIBRARY_PATH}"
+
+# HACK: Expose nvidia.srl from Kit python into the ml_archive nvidia namespace
+RUN ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
+    ${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
+
 # Install cuRobo from source (pinned commit); needs CUDA env and Torch
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation \
     "nvidia-curobo @ git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8"