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‎.github/workflows/ci.yml‎

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env:
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# We're getting issues with the markers on the checked out files.
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SKIP: check-executables-have-shebangs
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SKIP: check-executables-have-shebangs,insert-license
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steps:
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- &install_git_step

‎.github/workflows/ci_new.yml‎

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# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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name: IsaacLab Arena CI
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on:
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pull_request:
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push:
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branches: [ "main" ]
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# Concurrency control to prevent parallel runs on the same PR
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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permissions:
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contents: read
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pull-requests: write
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checks: write
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issues: read
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env:
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NGC_API_KEY: ${{ secrets.ARENA_NGC_API_KEY }}
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OMNI_PASS: ${{ secrets.OMNI_PASS }}
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OMNI_USER: ${{ secrets.OMNI_USER }}
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jobs:
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pre_commit:
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name: Pre-commit
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runs-on: [self-hosted, gpu]
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timeout-minutes: 30
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container:
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image: python:3.11-slim
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env:
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# We're getting issues with the markers on the checked out files.
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SKIP: check-executables-have-shebangs
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steps:
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- &install_git_step
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name: Install git (and tools needed by hooks)
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run: |
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apt-get update
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apt-get install -y --no-install-recommends git git-lfs clang-format ca-certificates make
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git --version
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git lfs version
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# Clean up residual stuff due to symlinks in the submodules directory
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# We do this prior to checkout because the symlink causes issues if it's there from a previous run.
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- &cleanup_step
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name: Clean up symlinks in submodules directory
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run: |
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rm -f .git/modules/submodules/IsaacLab/index.lock || true
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rm -rf submodules/* || true
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# Fix "detected dubious ownership in repository" inside containers
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- &mark_repo_safe_step
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name: Mark repo as safe for git
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run: git config --global --add safe.directory "$PWD"
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# Checkout Code
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- &checkout_step
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name: Checkout Code
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uses: actions/checkout@v4
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with:
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submodules: true
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# LFS checkout here somehow causes issues when LFS stuff changes over time.
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# So I do LFS manually in a step after.
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# lfs: true
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# Pull LFS files explicitly (in case checkout didn't get them all)
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- &git_lfs_step
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name: Git LFS
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run: |
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git lfs update --force
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git lfs install --local
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git lfs pull
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- name: git status
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run: |
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git status
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- name: Run pre-commit
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uses: pre-commit/action@v3.0.1
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with:
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extra_args: --all-files --verbose
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test:
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name: Run tests
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runs-on: [self-hosted, gpu]
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timeout-minutes: 60
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needs: [pre_commit]
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container:
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image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
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credentials:
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username: $oauthtoken
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password: ${{ env.NGC_API_KEY }}
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steps:
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# nvidia-smi
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- &nvidia_smi
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name: nvidia-smi
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run: nvidia-smi
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# Setup
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- *install_git_step
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- *cleanup_step
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- *mark_repo_safe_step
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- *checkout_step
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- *git_lfs_step
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- &install_project_step
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name: Install project and link isaac-sim
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run: |
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pip install --no-cache-dir -e .
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[ -e ./submodules/IsaacLab/_isaac_sim ] || ln -s /isaac-sim ./submodules/IsaacLab/_isaac_sim
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# Run the tests (excluding the gr00t related tests)
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- name: Run pytest excluding policy-related tests. First we run all tests without cameras.
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run: /isaac-sim/python.sh -m pytest -sv -m "not with_cameras" isaaclab_arena/tests/
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- name: Run pytest excluding policy-related tests. Now we run all tests with cameras.
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run: /isaac-sim/python.sh -m pytest -sv -m with_cameras isaaclab_arena/tests/
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test_policy:
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name: Run policy-related tests with GR00T & cuda12_8 deps
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runs-on: [self-hosted, gpu]
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timeout-minutes: 60
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needs: [pre_commit]
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container:
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image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t_gn16
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credentials:
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username: $oauthtoken
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password: ${{ env.NGC_API_KEY }}
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steps:
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# nvidia-smi
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- *nvidia_smi
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# Setup.
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- *install_git_step
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- *cleanup_step
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- *mark_repo_safe_step
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- *checkout_step
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- *git_lfs_step
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- *install_project_step
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# Run the policy (GR00T) related tests.
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- name: Run policy-related pytest
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run: /isaac-sim/python.sh -m pytest -sv isaaclab_arena_gr00t/tests/
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build_docs_pre_merge:
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name: Build the docs (pre-merge)
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runs-on: [self-hosted, gpu]
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timeout-minutes: 30
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needs: [pre_commit]
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container:
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image: python:3.11-slim
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steps:
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# Setup.
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- *install_git_step
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- *mark_repo_safe_step
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- *cleanup_step
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- name: Checkout Code
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uses: actions/checkout@v4
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# Build docs for the current branch (validates PR changes)
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- name: Build docs
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working-directory: ./docs
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run: |
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pip3 install -r requirements.txt
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make SPHINXOPTS=-W html
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build_and_push_image_post_merge:
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name: Build & push NGC image (post-merge)
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runs-on: [self-hosted, gpu]
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timeout-minutes: 90
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needs: [test, test_policy] # only push if tests passed
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if: github.event_name == 'push' && github.ref == 'refs/heads/main'
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container:
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image: ubuntu:latest
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env:
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# already defined at top, but keep here for clarity/local override if needed
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NGC_API_KEY: ${{ secrets.ARENA_NGC_API_KEY }}
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steps:
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# Setup.
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- *install_git_step
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- *mark_repo_safe_step
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- *cleanup_step
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- *checkout_step
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- name: Install docker
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run: |
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apt-get update
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apt-get install -y ca-certificates curl gnupg && \
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install -m 0755 -d /etc/apt/keyrings && \
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curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg && \
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chmod a+r /etc/apt/keyrings/docker.gpg && \
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echo "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
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"$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null &&
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apt-get update && apt-get install -y docker.io docker-buildx-plugin
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docker --version
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- name: Docker login to NGC
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# $oauthtoken is the literal NGC username; pipe the NGC API key via stdin
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run: echo "${NGC_API_KEY}" | docker login nvcr.io -u '$oauthtoken' --password-stdin
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- name: Build & push image to NGC
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run: |
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chmod +x ./docker/push_to_ngc* || true
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./docker/push_to_ngc.sh -p
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- name: Build & push image to NGC (GR00T Image)
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run: |
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chmod +x ./docker/push_to_ngc* || true
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./docker/push_to_ngc.sh -p -g -t cuda_gr00t_gn16

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