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Reactivate camera tests that were accidentally deactivated. #950

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Merged
alexmillane merged 2 commits into from
Jul 24, 2026
Merged

Reactivate camera tests that were accidentally deactivated. #950

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8c416ba
Reactivate camera tests that were accidentally deactivated.
alexmillane Jul 24, 2026
a6fca1b
Merge branch 'main' into alex/fix/reactivate_camera_tests
alexmillane Jul 24, 2026
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281 changes: 144 additions & 137 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -98,143 +98,6 @@ jobs:
# fresh directory owned by the current process instead.
PRE_COMMIT_HOME: /tmp/pre-commit-cache

uv_changes:
name: Detect uv-related changes
runs-on: [self-hosted, gpu-arena]
timeout-minutes: 5
# Only meaningful on PRs; other events always run the uv tests.
if: github.event_name == 'pull_request'
outputs:
uv: ${{ steps.filter.outputs.uv }}
steps:
# Queries the PR's changed files via the GitHub API; no checkout needed.
- uses: dorny/paths-filter@v3
id: filter
with:
filters: |
uv:
- 'pyproject.toml'
- 'uv.lock'
- 'submodules/IsaacLab'
- 'submodules/IsaacLab/**'

uv_test:
name: Run tests (native uv, ${{ matrix.variant }})
runs-on: [self-hosted, gpu-arena]
timeout-minutes: 120
needs: [pre_commit, uv_changes]
# Runs nightly, on push to main, and on manual dispatch; on pull requests
# only when the PR touches the uv-managed dependency files
# (pyproject.toml, uv.lock, or the IsaacLab submodule). The !cancelled()
# guard keeps the job alive when uv_changes is skipped on non-PR events.
if: >-
!cancelled() &&
needs.pre_commit.result == 'success' &&
(github.event_name != 'pull_request' ||
needs.uv_changes.outputs.uv == 'true')
strategy:
# Keep running the other variant when one fails.
fail-fast: false
# Test matrix:
# - wheel: uv-based installation that consumes isaaclab through its published wheel
# - source: uv-based installation that consumes isaaclab through source code.
matrix:
include:
- variant: wheel
uv_flags: "--no-default-groups --group isaaclab-from-wheel"
- variant: source
uv_flags: ""
env:
# NV_API_KEY is consumed by the live-endpoint tests for agentic env gen.
NV_API_KEY: ${{ secrets.ARENA_NV_API_KEY }}
# Accept the Isaac Sim EULA so the first launch is non-interactive.
OMNI_KIT_ACCEPT_EULA: "YES"
ACCEPT_EULA: "Y"
# Large CUDA wheels (e.g. nvidia-cublas-cu12) can exceed uv's 30s default.
UV_HTTP_TIMEOUT: "300"

# Validates the native workflow in a clean ubuntu:24.04 container.
container:
image: nvidia/cuda:12.8.2-base-ubuntu24.04
env:
# Needed to give the container access to the driver's graphics libraries.
NVIDIA_DRIVER_CAPABILITIES: all

steps:
- name: nvidia-smi
run: nvidia-smi

- *install_git_step
- *cleanup_step
- *mark_repo_safe_step
- *checkout_step
- *git_lfs_step

- name: Install graphics loader and build tools
run: |
apt-get update
apt-get install -y --no-install-recommends \
libegl1 libgl1 libglu1-mesa libglx0 libxi6 libxrandr2 libxt6 libsm6 libvulkan1 \
cmake build-essential bash

- name: Install uv
run: |
apt-get update
apt-get install -y --no-install-recommends curl ca-certificates
curl -LsSf https://astral.sh/uv/0.9.27/install.sh | sh
echo "$HOME/.local/bin" >> "$GITHUB_PATH"

- name: Validate uv lock
run: |
uv python install 3.12
uv lock --check --no-python-downloads

# Out-of-source packaging check: validates the lockfile via the
# packaging tests, run in an out of source directory.
- name: Validate editable package
run: |
uv venv --python 3.12 /tmp/arena-package-venv
uv pip install --python /tmp/arena-package-venv/bin/python --no-deps --editable .
uv pip install --python /tmp/arena-package-venv/bin/python pytest
REPO_DIR="$PWD"
cd /tmp
/tmp/arena-package-venv/bin/python -m pytest -v "${REPO_DIR}/isaaclab_arena/tests/test_packaging.py"

# In-source full environment: sync the locked deps and run the sim suite.
- name: Sync the locked environment
run: |
# Fix dubious ownership issues in cache
git config --global --add safe.directory '*'
uv sync ${{ matrix.uv_flags }}

- name: Run in-process Newton tests
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m with_newton \
isaaclab_arena/tests/

- name: Run in-process PhysX tests without cameras
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m "not with_cameras and not with_subprocess and not with_newton" \
isaaclab_arena/tests/

- name: Run in-process PhysX tests with cameras
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m "with_cameras and not with_subprocess" \
isaaclab_arena/tests/

- name: Run subprocess-spawning PhysX tests
shell: bash
run: |
source .venv/bin/activate
ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \
pytest -sv --durations=0 -m with_subprocess \
isaaclab_arena/tests/

test:
name: Run tests
Expand Down Expand Up @@ -303,6 +166,11 @@ jobs:
/isaac-sim/python.sh -m pytest -sv --durations=0 -m "not with_cameras and not with_subprocess and not with_newton" \
isaaclab_arena/tests/

- name: Run in-process PhysX tests with cameras
run: |
/isaac-sim/python.sh -m pytest -sv --durations=0 -m "with_cameras and not with_subprocess and not with_newton" \
isaaclab_arena/tests/

- name: Run GR00T policy/data tests (lightweight gr00t deps only)
run: |
/isaac-sim/python.sh -m pytest -sv --durations=0 -m gr00t_policy \
Expand Down Expand Up @@ -464,6 +332,145 @@ jobs:
make SPHINXOPTS=-W html


uv_changes:
name: Detect uv-related changes
runs-on: [self-hosted, gpu-arena]
timeout-minutes: 5
# Only meaningful on PRs; other events always run the uv tests.
if: github.event_name == 'pull_request'
outputs:
uv: ${{ steps.filter.outputs.uv }}
steps:
# Queries the PR's changed files via the GitHub API; no checkout needed.
- uses: dorny/paths-filter@v3
id: filter
with:
filters: |
uv:
- 'pyproject.toml'
- 'uv.lock'
- 'submodules/IsaacLab'
- 'submodules/IsaacLab/**'

uv_test:
name: Run tests (native uv, ${{ matrix.variant }})
runs-on: [self-hosted, gpu-arena]
timeout-minutes: 120
needs: [pre_commit, uv_changes]
# Runs nightly, on push to main, and on manual dispatch; on pull requests
# only when the PR touches the uv-managed dependency files
# (pyproject.toml, uv.lock, or the IsaacLab submodule). The !cancelled()
# guard keeps the job alive when uv_changes is skipped on non-PR events.
if: >-
!cancelled() &&
needs.pre_commit.result == 'success' &&
(github.event_name != 'pull_request' ||
needs.uv_changes.outputs.uv == 'true')
strategy:
# Keep running the other variant when one fails.
fail-fast: false
# Test matrix:
# - wheel: uv-based installation that consumes isaaclab through its published wheel
# - source: uv-based installation that consumes isaaclab through source code.
matrix:
include:
- variant: wheel
uv_flags: "--no-default-groups --group isaaclab-from-wheel"
- variant: source
uv_flags: ""
env:
# NV_API_KEY is consumed by the live-endpoint tests for agentic env gen.
NV_API_KEY: ${{ secrets.ARENA_NV_API_KEY }}
# Accept the Isaac Sim EULA so the first launch is non-interactive.
OMNI_KIT_ACCEPT_EULA: "YES"
ACCEPT_EULA: "Y"
# Large CUDA wheels (e.g. nvidia-cublas-cu12) can exceed uv's 30s default.
UV_HTTP_TIMEOUT: "300"

# Validates the native workflow in a clean ubuntu:24.04 container.
container:
image: nvidia/cuda:12.8.2-base-ubuntu24.04
env:
# Needed to give the container access to the driver's graphics libraries.
NVIDIA_DRIVER_CAPABILITIES: all

steps:
- name: nvidia-smi
run: nvidia-smi

- *install_git_step
- *cleanup_step
- *mark_repo_safe_step
- *checkout_step
- *git_lfs_step

- name: Install graphics loader and build tools
run: |
apt-get update
apt-get install -y --no-install-recommends \
libegl1 libgl1 libglu1-mesa libglx0 libxi6 libxrandr2 libxt6 libsm6 libvulkan1 \
cmake build-essential bash

- name: Install uv
run: |
apt-get update
apt-get install -y --no-install-recommends curl ca-certificates
curl -LsSf https://astral.sh/uv/0.9.27/install.sh | sh
echo "$HOME/.local/bin" >> "$GITHUB_PATH"

- name: Validate uv lock
run: |
uv python install 3.12
uv lock --check --no-python-downloads

# Out-of-source packaging check: validates the lockfile via the
# packaging tests, run in an out of source directory.
- name: Validate editable package
run: |
uv venv --python 3.12 /tmp/arena-package-venv
uv pip install --python /tmp/arena-package-venv/bin/python --no-deps --editable .
uv pip install --python /tmp/arena-package-venv/bin/python pytest
REPO_DIR="$PWD"
cd /tmp
/tmp/arena-package-venv/bin/python -m pytest -v "${REPO_DIR}/isaaclab_arena/tests/test_packaging.py"

# In-source full environment: sync the locked deps and run the sim suite.
- name: Sync the locked environment
run: |
# Fix dubious ownership issues in cache
git config --global --add safe.directory '*'
uv sync ${{ matrix.uv_flags }}

- name: Run in-process Newton tests
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m with_newton \
isaaclab_arena/tests/

- name: Run in-process PhysX tests without cameras
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m "not with_cameras and not with_subprocess and not with_newton" \
isaaclab_arena/tests/

- name: Run in-process PhysX tests with cameras
shell: bash
run: |
source .venv/bin/activate
pytest -sv --durations=0 -m "with_cameras and not with_subprocess" \
isaaclab_arena/tests/
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alexmillane marked this conversation as resolved.

- name: Run subprocess-spawning PhysX tests
shell: bash
run: |
source .venv/bin/activate
ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \
pytest -sv --durations=0 -m with_subprocess \
isaaclab_arena/tests/


build_and_push_image_post_merge:
name: Build & push NGC image (post-merge)
runs-on: [self-hosted, gpu-arena]
Expand Down
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