Add factory_assembly_task and the relevant task examples #1390
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| # Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md). | |
| # All rights reserved. | |
| # | |
| # SPDX-License-Identifier: Apache-2.0 | |
| name: IsaacLab Arena CI | |
| on: | |
| pull_request: | |
| push: | |
| branches: [ "main" ] | |
| # Concurrency control to prevent parallel runs on the same PR | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| permissions: | |
| contents: read | |
| pull-requests: write | |
| checks: write | |
| issues: read | |
| env: | |
| NGC_API_KEY: ${{ secrets.ARENA_NGC_API_KEY }} | |
| OMNI_PASS: ${{ secrets.OMNI_PASS }} | |
| OMNI_USER: ${{ secrets.OMNI_USER }} | |
| jobs: | |
| pre_commit: | |
| name: Pre-commit | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 30 | |
| container: | |
| image: python:3.11-slim | |
| env: | |
| # We're getting issues with the markers on the checked out files. | |
| SKIP: check-executables-have-shebangs | |
| steps: | |
| - &install_git_step | |
| name: Install git (and tools needed by hooks) | |
| run: | | |
| apt-get update | |
| apt-get install -y --no-install-recommends git git-lfs clang-format ca-certificates make | |
| git --version | |
| git lfs version | |
| # Clean up residual stuff due to symlinks in the submodules directory | |
| # We do this prior to checkout because the symlink causes issues if it's there from a previous run. | |
| - &cleanup_step | |
| name: Clean up symlinks in submodules directory | |
| run: | | |
| rm -f .git/modules/submodules/IsaacLab/index.lock || true | |
| rm -rf submodules/* || true | |
| # Fix "detected dubious ownership in repository" inside containers | |
| - &mark_repo_safe_step | |
| name: Mark repo as safe for git | |
| run: git config --global --add safe.directory "$PWD" | |
| # Checkout Code | |
| - &checkout_step | |
| name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| # LFS checkout here somehow causes issues when LFS stuff changes over time. | |
| # So I do LFS manually in a step after. | |
| # lfs: true | |
| # Pull LFS files explicitly (in case checkout didn't get them all) | |
| - &git_lfs_step | |
| name: Git LFS | |
| run: | | |
| git lfs update --force | |
| git lfs install --local | |
| git lfs pull | |
| - name: git status | |
| run: | | |
| git status | |
| - name: Run pre-commit | |
| uses: pre-commit/[email protected] | |
| with: | |
| extra_args: --all-files --verbose | |
| test: | |
| name: Run tests | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 60 | |
| needs: [pre_commit] | |
| container: | |
| image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest | |
| credentials: | |
| username: $oauthtoken | |
| password: ${{ env.NGC_API_KEY }} | |
| steps: | |
| # nvidia-smi | |
| - &nvidia_smi | |
| name: nvidia-smi | |
| run: nvidia-smi | |
| # Setup | |
| - *install_git_step | |
| - *cleanup_step | |
| - *mark_repo_safe_step | |
| - *checkout_step | |
| - *git_lfs_step | |
| - &install_project_step | |
| name: Install project and link isaac-sim | |
| run: | | |
| pip install --no-cache-dir -e . | |
| [ -e ./submodules/IsaacLab/_isaac_sim ] || ln -s /isaac-sim ./submodules/IsaacLab/_isaac_sim | |
| # Run the tests (excluding the gr00t related tests) | |
| - name: Run pytest excluding policy-related tests. First we run all tests without cameras. | |
| run: /isaac-sim/python.sh -m pytest -sv -m "not with_cameras" isaaclab_arena/tests/ --ignore=isaaclab_arena/tests/policy/ | |
| - name: Run pytest excluding policy-related tests. Now we run all tests with cameras. | |
| run: /isaac-sim/python.sh -m pytest -sv -m with_cameras isaaclab_arena/tests/ --ignore=isaaclab_arena/tests/policy/ | |
| test_policy: | |
| name: Run policy-related tests with GR00T & cuda12_8 deps | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 60 | |
| needs: [pre_commit] | |
| container: | |
| image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t | |
| credentials: | |
| username: $oauthtoken | |
| password: ${{ env.NGC_API_KEY }} | |
| steps: | |
| # nvidia-smi | |
| - *nvidia_smi | |
| # Setup. | |
| - *install_git_step | |
| - *cleanup_step | |
| - *mark_repo_safe_step | |
| - *checkout_step | |
| - *git_lfs_step | |
| - *install_project_step | |
| # Run the policy (GR00T) related tests. | |
| - name: Run policy-related pytest | |
| run: /isaac-sim/python.sh -m pytest -sv isaaclab_arena/tests/policy/ | |
| build_docs_pre_merge: | |
| name: Build the docs (pre-merge) | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 30 | |
| needs: [pre_commit] | |
| container: | |
| image: python:3.11-slim | |
| steps: | |
| # Setup. | |
| - *install_git_step | |
| - *mark_repo_safe_step | |
| - *cleanup_step | |
| # Checkout all branches, and tags, such that sphinx-multiversion can build the docs for all versions. | |
| - name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| fetch-tags: true | |
| # Build docs | |
| - name: Build docs | |
| working-directory: ./docs | |
| run: | | |
| pip3 install -r requirements.txt | |
| make SPHINXOPTS=-W multi-docs | |
| touch ./_build/.nojekyll | |
| build_and_push_image_post_merge: | |
| name: Build & push NGC image (post-merge) | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 90 | |
| needs: [test, test_policy] # only push if tests passed | |
| if: github.event_name == 'push' && github.ref == 'refs/heads/main' | |
| container: | |
| image: ubuntu:latest | |
| env: | |
| # already defined at top, but keep here for clarity/local override if needed | |
| NGC_API_KEY: ${{ secrets.ARENA_NGC_API_KEY }} | |
| steps: | |
| # Setup. | |
| - *install_git_step | |
| - *mark_repo_safe_step | |
| - *cleanup_step | |
| - *checkout_step | |
| - name: Install docker | |
| run: | | |
| apt-get update | |
| apt-get install -y ca-certificates curl gnupg && \ | |
| install -m 0755 -d /etc/apt/keyrings && \ | |
| curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg && \ | |
| chmod a+r /etc/apt/keyrings/docker.gpg && \ | |
| echo "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \ | |
| "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null && | |
| apt-get update && apt-get install -y docker.io docker-buildx-plugin | |
| docker --version | |
| - name: Docker login to NGC | |
| # $oauthtoken is the literal NGC username; pipe the NGC API key via stdin | |
| run: echo "${NGC_API_KEY}" | docker login nvcr.io -u '$oauthtoken' --password-stdin | |
| - name: Build & push image to NGC | |
| run: | | |
| chmod +x ./docker/push_to_ngc* || true | |
| ./docker/push_to_ngc.sh -p | |
| - name: Build & push image to NGC (GR00T Image) | |
| run: | | |
| chmod +x ./docker/push_to_ngc* || true | |
| ./docker/push_to_ngc.sh -p -g -t cuda_gr00t |