ci.yml

# Copyright (c) 2025-2026, 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/action@v3.0.1
        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: |
          /isaac-sim/python.sh -m 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/

      - 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/


  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_gn16
      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_gr00t/tests/


  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

      - name: Checkout Code
        uses: actions/checkout@v4

      # Build docs for the current branch (validates PR changes)
      - name: Build docs
        working-directory: ./docs
        run: |
          pip3 install -r requirements.txt
          make SPHINXOPTS=-W html


  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_gn16