Removing CI executing in a container

Author: nv-apoddubny

.github/workflows/build-and-test.yml

@@ -1,3 +1,18 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 name: Build and Test
 
 on:
@@ -20,53 +35,35 @@ jobs:
     runs-on: [self-hosted, gpu]
     timeout-minutes: 240
     env:
-        CUDA_VISIBLE_DEVICES: all
-        NVIDIA_VISIBLE_DEVICES: all
-        NVIDIA_DRIVER_CAPABILITIES: all
-        CUDA_HOME: /usr/local/cuda
-        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
-        DOCKER_HOST: unix:///var/run/docker.sock
-        DOCKER_TLS_CERTDIR: ""
-        OMNI_KIT_ALLOW_ROOT: 1
-    container:
-      image: ubuntu:22.04
-      options: --gpus all --security-opt=no-new-privileges:true --privileged
+      OMNI_KIT_ALLOW_ROOT: 1
 
     steps:
-    - name: Install dependencies
-      run: |
-        apt-get update
-        apt-get install -y git git-lfs build-essential python3 python3-pip curl wget ca-certificates gnupg lsb-release
-        # Install Docker
-        curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null
-        apt-get update
-        apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
-        # Start Docker daemon
-        dockerd --host=unix:///var/run/docker.sock --host=tcp://0.0.0.0:2376 &
-        sleep 10
-
     - name: Checkout repository
       uses: actions/checkout@v4
       with:
         fetch-depth: 0
         lfs: true
 
-    - name: Configure Git LFS
+    - name: Clean checkout
       run: |
-        git config --global --add safe.directory $GITHUB_WORKSPACE
-        git lfs install
-        git lfs update --force
+        git clean -fdx
+        git reset --hard HEAD
 
-    - name: Build Isaac Sim
+    - name: Build and Test Isaac Sim
       run: |
+        set -euo pipefail  # Exit on error, undefined vars, pipe failures
+        set -x  # Print commands being executed
+        # Build Isaac Sim
         touch .eula_accepted
         chmod +x ./build.sh
         ./build.sh
-
-    - name: Test Isaac Sim
-      run: |
+        if [ $? -ne 0 ]; then
+          echo 'BUILD FAILED with exit code ' $?
+          exit 1
+        fi
+        
+        # Test Isaac Sim
         cd _build/linux-x86_64/release
         touch .eula_accepted
         chmod +x ./isaac-sim.sh
-        ./isaac-sim.sh --no-window --/app/quitAfter=500 --/app/file/ignoreUnsavedOnExit=1
+        ./isaac-sim.sh --no-window --/app/quitAfter=500 --/app/file/ignoreUnsavedOnExit=1