IsaacLab-mlx/.github/workflows/mlx-macos.yml at codex/mlx-foundation · RobotFlow-Labs/IsaacLab-mlx · GitHub

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# Copyright (c) 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: MLX macOS smoke

on:
  push:
    branches:
      - main
      - "codex/**"
  pull_request:
    types: [opened, synchronize, reopened]

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  mlx-cartpole:
    name: MLX cartpole backend smoke
    runs-on: macos-14
    timeout-minutes: 30

    steps:
    - name: Checkout code
      uses: actions/checkout@v4

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: "3.11"

    - name: Install uv
      run: python -m pip install --upgrade uv

    - name: Create virtual environment
      run: uv venv --python 3.11 .venv

    - name: Install MLX smoke dependencies
      run: |
        uv pip install --python .venv/bin/python \
          -e source/isaaclab[macos-mlx,dev] \
          -e source/isaaclab_rl[dev]

    - name: Prepare benchmark artifact directory
      run: mkdir -p logs/benchmarks/mlx

    - name: Run public install smoke
      run: |
        PYTHONPATH=.:source/isaaclab:source/isaaclab_rl .venv/bin/python - <<'PY'
        import json
        from pathlib import Path

        from isaaclab.backends import resolve_runtime_selection, set_runtime_selection

        set_runtime_selection(resolve_runtime_selection(compute_backend="mlx", sim_backend="mac-sim", device="cpu"))

        import isaaclab
        import isaaclab.backends.mac_sim
        import isaaclab.controllers
        import isaaclab.envs.mdp.actions.actions_cfg
        import isaaclab.envs.mdp.actions.rmpflow_actions_cfg
        import isaaclab.sim
        import isaaclab.sim.converters
        import isaaclab.sim.schemas
        import isaaclab.sim.spawners.from_files
        import isaaclab_rl.sb3
        import isaaclab_rl.skrl
        from isaaclab.backends.mac_sim import MacCartpoleEnv

        env = MacCartpoleEnv()
        observations, _ = env.reset()
        payload = {
            "modules": [
                "isaaclab",
                "isaaclab.backends.mac_sim",
                "isaaclab.controllers",
                "isaaclab.envs.mdp.actions.actions_cfg",
                "isaaclab.envs.mdp.actions.rmpflow_actions_cfg",
                "isaaclab.sim",
                "isaaclab.sim.converters",
                "isaaclab.sim.schemas",
                "isaaclab.sim.spawners.from_files",
                "isaaclab_rl.sb3",
                "isaaclab_rl.skrl",
            ],
            "policy_shape": list(observations["policy"].shape),
            "package": isaaclab.__name__,
        }
        out_path = Path("logs/benchmarks/mlx/install_import_smoke.json")
        out_path.write_text(json.dumps(payload, indent=2, sort_keys=True) + "\n", encoding="utf-8")
        print(payload["policy_shape"])
        PY

    - name: Run MLX backend smoke tests
      run: |
        PYTHONPATH=.:source/isaaclab:source/isaaclab_rl .venv/bin/pytest \
          scripts/tools/test/test_bootstrap_isaac_sources.py \
          source/isaaclab/test/backends/test_runtime.py \
          source/isaaclab_rl/test/test_import_safety.py \
          source/isaaclab/test/backends/test_portability_utils.py \
          source/isaaclab/test/backends/test_mac_cartpole.py \
          source/isaaclab/test/backends/test_mac_cartpole_showcase.py \
          source/isaaclab/test/backends/test_mac_cart_double_pendulum.py \
          source/isaaclab/test/backends/test_mac_quadcopter.py -q

    - name: Run MLX cart-double-pendulum smoke script
      run: |
        PYTHONPATH=.:source/isaaclab .venv/bin/python \
          scripts/reinforcement_learning/mlx/play_cart_double_pendulum.py \
          --num-envs 8 --episodes 1 --max-steps 256 --random-actions

    - name: Run MLX quadcopter smoke script
      run: |
        PYTHONPATH=.:source/isaaclab .venv/bin/python \
          scripts/reinforcement_learning/mlx/play_quadcopter.py \
          --num-envs 8 --episodes 1 --episode-length-s 0.5 --max-steps 256 --thrust-action 0.2 --no-random-actions

    - name: Run MLX benchmark smoke
      run: |
        PYTHONPATH=.:source/isaaclab .venv/bin/python \
          scripts/benchmarks/mlx/benchmark_mac_tasks.py \
          --tasks cartpole cart-double-pendulum quadcopter \
          --num-envs 64 \
          --steps 128 \
          --json-out logs/benchmarks/mlx/smoke.json

    - name: Upload MLX smoke artifacts
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: mlx-macos-smoke-${{ github.run_id }}
        path: logs/benchmarks/mlx
        if-no-files-found: warn