Adds surface gripper support in manager-based workflow #165
Workflow file for this run
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| # Copyright (c) 2022-2025, 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 and Test | |
| on: | |
| pull_request: | |
| branches: | |
| - devel | |
| - 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.NGC_API_KEY }} | |
| ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }} | |
| ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }} | |
| DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }} | |
| jobs: | |
| test-isaaclab-tasks: | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 180 | |
| continue-on-error: true | |
| steps: | |
| - name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| lfs: true | |
| - name: Build Docker Image | |
| uses: ./.github/actions/docker-build | |
| with: | |
| image-tag: ${{ env.DOCKER_IMAGE_TAG }} | |
| isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }} | |
| isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }} | |
| - name: Run IsaacLab Tasks Tests | |
| uses: ./.github/actions/run-tests | |
| with: | |
| test-path: "tools" | |
| result-file: "isaaclab-tasks-report.xml" | |
| container-name: "isaac-lab-tasks-test-$$" | |
| image-tag: ${{ env.DOCKER_IMAGE_TAG }} | |
| pytest-options: "" | |
| filter-pattern: "isaaclab_tasks" | |
| - name: Copy Test Results from IsaacLab Tasks Container | |
| run: | | |
| CONTAINER_NAME="isaac-lab-tasks-test-$$" | |
| if docker ps -a | grep -q $CONTAINER_NAME; then | |
| echo "Copying test results from IsaacLab Tasks container..." | |
| docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container" | |
| fi | |
| - name: Upload IsaacLab Tasks Test Results | |
| uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: isaaclab-tasks-test-results | |
| path: reports/isaaclab-tasks-report.xml | |
| retention-days: 1 | |
| compression-level: 9 | |
| test-general: | |
| runs-on: [self-hosted, gpu] | |
| timeout-minutes: 180 | |
| steps: | |
| - name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| lfs: true | |
| - name: Build Docker Image | |
| uses: ./.github/actions/docker-build | |
| with: | |
| image-tag: ${{ env.DOCKER_IMAGE_TAG }} | |
| isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }} | |
| isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }} | |
| - name: Run General Tests | |
| uses: ./.github/actions/run-tests | |
| with: | |
| test-path: "tools" | |
| result-file: "general-tests-report.xml" | |
| container-name: "isaac-lab-general-test-$$" | |
| image-tag: ${{ env.DOCKER_IMAGE_TAG }} | |
| pytest-options: "" | |
| filter-pattern: "not isaaclab_tasks" | |
| - name: Copy Test Results from General Tests Container | |
| run: | | |
| CONTAINER_NAME="isaac-lab-general-test-$$" | |
| if docker ps -a | grep -q $CONTAINER_NAME; then | |
| echo "Copying test results from General Tests container..." | |
| docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container" | |
| fi | |
| - name: Upload General Test Results | |
| uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: general-test-results | |
| path: reports/general-tests-report.xml | |
| retention-days: 1 | |
| compression-level: 9 | |
| combine-results: | |
| needs: [test-isaaclab-tasks, test-general] | |
| runs-on: [self-hosted, gpu] | |
| if: always() | |
| steps: | |
| - name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| lfs: false | |
| - name: Create Reports Directory | |
| run: | | |
| mkdir -p reports | |
| - name: Download Test Results | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: isaaclab-tasks-test-results | |
| path: reports/ | |
| continue-on-error: true | |
| - name: Download General Test Results | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: general-test-results | |
| path: reports/ | |
| - name: Combine All Test Results | |
| uses: ./.github/actions/combine-results | |
| with: | |
| tests-dir: "reports" | |
| output-file: "reports/combined-results.xml" | |
| - name: Upload Combined Test Results | |
| uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: pr-${{ github.event.pull_request.number }}-combined-test-results | |
| path: reports/combined-results.xml | |
| retention-days: 7 | |
| compression-level: 9 | |
| - name: Comment on Test Results | |
| id: test-reporter | |
| uses: EnricoMi/publish-unit-test-result-action@v2 | |
| with: | |
| files: "reports/combined-results.xml" | |
| check_name: "Tests Summary" | |
| comment_mode: changes | |
| comment_title: "Test Results Summary" | |
| report_individual_runs: false | |
| deduplicate_classes_by_file_name: true | |
| compare_to_earlier_commit: true | |
| fail_on: errors | |
| action_fail_on_inconclusive: true | |
| - name: Report Test Results | |
| uses: dorny/test-reporter@v1 | |
| with: | |
| name: IsaacLab Build and Test Results | |
| path: reports/combined-results.xml | |
| reporter: java-junit | |
| fail-on-error: true | |
| only-summary: false | |
| max-annotations: '50' | |
| report-title: "IsaacLab Test Results - ${{ github.workflow }}" |