[Task Clean-up][Manager] Dexterous Part 5/8: Add the reorientation manager counterparts #6719
Workflow file for this run
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| # 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: Build PIP Wheel | |
| on: | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| push: | |
| branches: | |
| - main | |
| - develop | |
| - 'release/**' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.sha }} | |
| cancel-in-progress: ${{ github.event_name == 'pull_request' }} | |
| permissions: | |
| contents: read | |
| pull-requests: read | |
| jobs: | |
| build-wheel: | |
| name: Build Wheel | |
| runs-on: ubuntu-latest | |
| timeout-minutes: 20 | |
| steps: | |
| - name: Detect wheel-relevant changes | |
| id: changes | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| PR_NUMBER: ${{ github.event.pull_request.number }} | |
| EVENT_NAME: ${{ github.event_name }} | |
| REPO: ${{ github.repository }} | |
| run: | | |
| set -euo pipefail | |
| # Keep this workflow unconditionally triggered on PRs so required | |
| # branch-protection checks are always reported. The build steps below | |
| # run only when inputs that can affect the wheel have changed. | |
| patterns=( | |
| $'^apps/\tStandalone apps packaged in the wheel' | |
| $'^VERSION$\tPackage version' | |
| $'^source/\tPython packages' | |
| $'^tools/wheel_builder/\tWheel build tooling' | |
| $'^\.github/workflows/wheel\.yml$\tThis workflow file' | |
| ) | |
| render_table() { | |
| local files="$1" entry regex desc matched count sample | |
| echo "| Pattern | What it covers | Matched files |" | |
| echo "|---|---|---|" | |
| for entry in "${patterns[@]}"; do | |
| IFS=$'\t' read -r regex desc <<< "$entry" | |
| # Feed grep/head from a here-string rather than `printf ... |` so that | |
| # an early-closing reader (head) cannot SIGPIPE an upstream printf and | |
| # trip `set -o pipefail` when the file list is large. | |
| matched=$(grep -E "$regex" <<< "$files" || true) | |
| if [ -n "$matched" ]; then | |
| count=$(wc -l <<< "$matched") | |
| sample=$(head -3 <<< "$matched" | paste -sd ', ' -) | |
| [ "$count" -gt 3 ] && sample="$sample (and $((count - 3)) more)" | |
| echo "| \`$regex\` | $desc | $sample |" | |
| else | |
| echo "| \`$regex\` | $desc | - |" | |
| fi | |
| done | |
| } | |
| any_match() { | |
| local files="$1" entry regex | |
| for entry in "${patterns[@]}"; do | |
| IFS=$'\t' read -r regex _ <<< "$entry" | |
| if grep -qE "$regex" <<< "$files"; then | |
| return 0 | |
| fi | |
| done | |
| return 1 | |
| } | |
| decide() { | |
| local decision="$1" reason="$2" files="${3:-}" | |
| echo "run_build=$decision" >> "$GITHUB_OUTPUT" | |
| { | |
| echo "## Wheel build gating" | |
| echo "" | |
| if [ "$decision" = "true" ]; then | |
| echo "The wheel build will **run**: $reason." | |
| else | |
| echo "The wheel build will be **skipped**: $reason." | |
| fi | |
| if [ -n "$files" ]; then | |
| echo "" | |
| render_table "$files" | |
| fi | |
| } >> "$GITHUB_STEP_SUMMARY" | |
| } | |
| if [ "$EVENT_NAME" != "pull_request" ]; then | |
| decide true "non-PR event ($EVENT_NAME)" | |
| exit 0 | |
| fi | |
| if ! changed_files="$(gh api --paginate "repos/$REPO/pulls/$PR_NUMBER/files" --jq '.[].filename')"; then | |
| echo "::warning::Could not list changed files; defaulting to building the wheel" | |
| decide true "fail-safe (could not list changed files)" | |
| exit 0 | |
| fi | |
| if any_match "$changed_files"; then | |
| decide true "wheel-relevant paths changed" "$changed_files" | |
| else | |
| decide false "no wheel-relevant paths changed" "$changed_files" | |
| fi | |
| - name: Skip wheel build | |
| if: steps.changes.outputs.run_build == 'false' | |
| run: echo "Skipping wheel build because this PR does not change wheel inputs." | |
| - name: Checkout code | |
| if: steps.changes.outputs.run_build == 'true' | |
| uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6 | |
| with: | |
| fetch-depth: 1 | |
| lfs: true | |
| - name: Setup Python | |
| if: steps.changes.outputs.run_build == 'true' | |
| uses: actions/setup-python@a26af69be951a213d495a4c3e4e4022e16d87065 # v5 | |
| with: | |
| python-version: "3.12" | |
| architecture: x64 | |
| # Compose Docker-image-style metadata for the artifact. The artifact | |
| # name is what QA sees in `gh run download`, so we make it scannable: | |
| # isaaclab-<VERSION>-build<RUN_NUMBER>-<SHA7>. The wheel inside follows | |
| # PEP 440 (VERSION+buildN.SHA7) since pip requires that format. | |
| - name: Compute wheel metadata | |
| if: steps.changes.outputs.run_build == 'true' | |
| id: meta | |
| run: | | |
| set -euo pipefail | |
| version=$(cat VERSION) | |
| sha_slug="${GITHUB_SHA:0:7}" | |
| echo "artifact_name=isaaclab-${version}-build${{ github.run_number }}-${sha_slug}" >> "$GITHUB_OUTPUT" | |
| - name: Build wheel | |
| if: steps.changes.outputs.run_build == 'true' | |
| env: | |
| WHEEL_BUILD_NUMBER: ${{ github.run_number }} | |
| WHEEL_SHA: ${{ github.sha }} | |
| run: bash tools/wheel_builder/build.sh | |
| - name: Upload wheel artifact | |
| if: steps.changes.outputs.run_build == 'true' | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: ${{ steps.meta.outputs.artifact_name }} | |
| path: tools/wheel_builder/build/dist/isaaclab-*.whl | |
| if-no-files-found: error | |
| retention-days: 30 | |
| - name: Download wheel artifact for install test | |
| if: steps.changes.outputs.run_build == 'true' | |
| uses: actions/download-artifact@v7 | |
| with: | |
| name: ${{ steps.meta.outputs.artifact_name }} | |
| path: /tmp/isaaclab-wheel-artifact | |
| - name: Test wheel extras resolution | |
| if: steps.changes.outputs.run_build == 'true' | |
| run: | | |
| set -euo pipefail | |
| python -m pip install --user uv | |
| export PATH="$HOME/.local/bin:$PATH" | |
| cd /tmp | |
| uv venv --python 3.12 /tmp/isaaclab-wheel-install | |
| source /tmp/isaaclab-wheel-install/bin/activate | |
| uv pip install --upgrade pip | |
| wheel="$(find /tmp/isaaclab-wheel-artifact -name 'isaaclab-*.whl' -print -quit)" | |
| if [ -z "$wheel" ]; then | |
| echo "No isaaclab wheel found in downloaded artifact" >&2 | |
| exit 1 | |
| fi | |
| uv pip install \ | |
| --dry-run \ | |
| --extra-index-url https://pypi.nvidia.com \ | |
| --index-strategy unsafe-best-match \ | |
| --prerelease=allow \ | |
| "${wheel}[isaacsim,all]" |