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Merge branch 'main' into reb/surface_gripper
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
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‎.github/CODEOWNERS

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# App experience files
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# These are the files that are used to launch the app with the correct settings and configurations
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/apps/ @kellyguo11 @hhansen-bdai @Mayankm96 @Dhoeller19
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/apps/ @kellyguo11 @hhansen-bdai @Mayankm96
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# Core Framework
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/source/isaaclab/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
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/source/isaaclab/isaaclab/actuators @Dhoeller19 @Mayankm96 @nikitardn @jtigue-bdai
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/source/isaaclab/isaaclab/actuators @Mayankm96 @jtigue-bdai
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/source/isaaclab/isaaclab/app @hhansen-bdai @kellyguo11
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/source/isaaclab/isaaclab/assets @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96 @jtigue-bdai
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/source/isaaclab/isaaclab/assets/deformable_object @kellyguo11 @Mayankm96 @masoudmoghani
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/source/isaaclab/isaaclab/assets @kellyguo11 @Mayankm96 @jtigue-bdai
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/source/isaaclab/isaaclab/assets/deformable_object @masoudmoghani @ooctipus
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/source/isaaclab/isaaclab/controllers @Mayankm96
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/source/isaaclab/isaaclab/envs @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
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/source/isaaclab/isaaclab/envs/manager_based_* @jsmith-bdai @Dhoeller19 @Mayankm96
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/source/isaaclab/isaaclab/envs/manager_based_* @Mayankm96 @jtigue-bdai @ooctipus
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/source/isaaclab/isaaclab/envs/direct_* @kellyguo11
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/source/isaaclab/isaaclab/managers @jsmith-bdai @Dhoeller19 @Mayankm96
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/source/isaaclab/isaaclab/sensors @jsmith-bdai @Dhoeller19 @pascal-roth @Mayankm96 @jtigue-bdai
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/source/isaaclab/isaaclab/envs/mdp @ooctipus
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/source/isaaclab/isaaclab/envs/mimic_* @peterd-NV
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/source/isaaclab/isaaclab/envs/ui @ooctipus @ossamaAhmed
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/source/isaaclab/isaaclab/envs/utils @Toni-SM
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/source/isaaclab/isaaclab/managers @jtigue-bdai @Mayankm96 @ooctipus
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/source/isaaclab/isaaclab/sensors/sensor_base* @pascal-roth
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/source/isaaclab/isaaclab/sensors/camera @kellyguo11 @pascal-roth
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/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai
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/source/isaaclab/isaaclab/sensors/frame_transformer @jsmith-bdai
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/source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth @Dhoeller19
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/source/isaaclab/isaaclab/sim @Mayankm96 @jsmith-bdai
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/source/isaaclab/isaaclab/sim/simulation_context.py @Dhoeller19 @kellyguo11
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/source/isaaclab/isaaclab/terrains @Dhoeller19 @Mayankm96 @nikitardn
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/source/isaaclab/isaaclab/utils @Mayankm96 @jsmith-bdai
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/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
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/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai @ooctipus
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/source/isaaclab/isaaclab/sensors/imu @jtigue-bdai @pascal-roth
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/source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth
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/source/isaaclab/isaaclab/sensors/frame_transformer @jtigue-bdai
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/source/isaaclab/isaaclab/sim/converters @Mayankm96 @jtigue-bdai @kellyguo11
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/source/isaaclab/isaaclab/sim/schemas @Mayankm96 @jtigue-bdai @kellyguo11
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/source/isaaclab/isaaclab/sim/spawners @Mayankm96 @jtigue-bdai @ooctipus
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/source/isaaclab/isaaclab/sim/simulation_* @matthewtrepte @ossamaAhmed @kellyguo11
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/source/isaaclab/isaaclab/terrains @Mayankm96
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/source/isaaclab/isaaclab/ui @pascal-roth @jtigue-bdai
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/source/isaaclab/isaaclab/utils/buffers @ooctipus @jtigue-bdai
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/source/isaaclab/isaaclab/utils/datasets @Peter-NV
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/source/isaaclab/isaaclab/utils/interpolation @jtigue-bdai
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/source/isaaclab/isaaclab/utils/io @ooctipus
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/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
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/source/isaaclab/isaaclab/utils/noise @jtigue-bdai @kellyguo11
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/source/isaaclab/isaaclab/utils/warp @Dhoeller19 @pascal-roth
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/source/isaaclab/isaaclab/utils/assets.py @Dhoeller19 @kellyguo11 @Mayankm96
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/source/isaaclab/isaaclab/utils/math.py @jsmith-bdai @Dhoeller19 @Mayankm96
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/source/isaaclab/isaaclab/utils/configclass.py @Mayankm96 @Dhoeller19
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/source/isaaclab/isaaclab/utils/warp @pascal-roth
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/source/isaaclab/isaaclab/utils/assets.py @kellyguo11 @Mayankm96
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/source/isaaclab/isaaclab/utils/math.py @jtigue-bdai @Mayankm96
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/source/isaaclab/isaaclab/utils/configclass.py @Mayankm96
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/source/isaaclab/isaaclab/utils/sensors.py @kellyguo11 @pascal-roth
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# RL Environment
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/source/isaaclab_tasks/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
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/source/isaaclab_tasks/isaaclab_tasks/direct @Dhoeller19 @kellyguo11
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/source/isaaclab_tasks/isaaclab_tasks/manager_based @Dhoeller19 @Mayankm96 @jsmith-bdai @jtigue-bdai
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/source/isaaclab_tasks/isaaclab_tasks/direct @kellyguo11
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/source/isaaclab_tasks/isaaclab_tasks/manager_based @Mayankm96
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/source/isaaclab_tasks/isaaclab_tasks/utils @Mayankm96
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# Assets
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/source/isaaclab_assets/isaaclab_assets/ @Dhoeller19 @pascal-roth @jsmith-bdai
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/source/isaaclab_assets/isaaclab_assets/ @pascal-roth
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# Mimic
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/source/isaaclab_mimic/isaaclab_mimic @peterd-NV
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# RL
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/source/isaaclab_rl/isaaclab_rl/rsl_rl @Mayankm96 @ClemensSchwarke
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/source/isaaclab_rl/isaaclab_rl/rl_games @Toni-SM
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/source/isaaclab_rl/isaaclab_rl/sb3 @Toni-SM
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/source/isaaclab_rl/isaaclab_rl/skrl @Toni-SM
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# Standalone Scripts
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/scripts/demos/ @jsmith-bdai @jtigue-bdai @Dhoeller19 @kellyguo11 @Mayankm96
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/scripts/environments/ @Mayankm96
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/scripts/tools/ @jsmith-bdai @Mayankm96
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/scripts/tutorials/ @jsmith-bdai @pascal-roth @kellyguo11 @Dhoeller19 @Mayankm96
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/scripts/reinforcement_learning/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
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/scripts/imitation_learning/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
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/scripts/benchmarks/ @ooctipus @kellyguo11
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/scripts/demos/ @ooctipus
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/scripts/environments/ @ooctipus
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/scripts/imitation_learning/ @Peter-NV
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/scripts/reinforcement_learning/ @ooctipus @Toni-NV
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/scripts/tools/ @jtigue-bdai @Mayankm96
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/scripts/tutorials/ @jtigue-bdai @pascal-roth
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# Github Actions
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# This list is for people wanting to be notified every time there's a change
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# related to Github Actions
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/.github/ @kellyguo11 @jsmith-bdai
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/.github/ @kellyguo11 @hhansen-bdai
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# Visual Studio Code
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/.vscode/ @hhansen-bdai @Mayankm96
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# Infrastructure (Docker, Docs, Tools)
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/docker/ @hhansen-bdai @pascal-roth
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/docs/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
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/tools/ @hhansen-bdai @jsmith-bdai @Dhoeller19
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/isaaclab.* @hhansen-bdai @Dhoeller19 @Mayankm96 @kellyguo11
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/docs/ @jtigue-bdai @kellyguo11 @Mayankm96
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/tools/ @hhansen-bdai
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/isaaclab.* @hhansen-bdai @Mayankm96 @kellyguo11

‎.github/workflows/build.yml

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env:
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NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
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ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
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ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '4.5.0' }}
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ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}
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DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
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jobs:
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reporter: java-junit
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fail-on-error: true
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only-summary: false
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max-annotations: '50'
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report-title: "IsaacLab Test Results - ${{ github.workflow }}"

‎.github/workflows/cherry-pick.yml

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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name: Cherry-pick from main to devel
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on:
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push:
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branches:
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- main
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jobs:
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cherry-pick:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repository
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uses: actions/checkout@v3
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with:
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fetch-depth: 0 # fetch full history to access other branches
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- name: Set up Git config
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run: |
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git config user.name "github-actions[bot]"
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git config user.email "github-actions[bot]@users.noreply.github.com"
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- name: Get latest commit SHA on main
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id: get_commit
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run: echo "::set-output name=sha::$(git rev-parse HEAD)"
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- name: Checkout devel branch
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run: git checkout devel
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- name: Cherry-pick latest commit from main
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run: |
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git cherry-pick ${{ steps.get_commit.outputs.sha }}
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- name: Push changes to devel
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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git push origin devel

‎.github/workflows/daily-compatibility.yml

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retention-days: 30
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compression-level: 9
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- name: Publish Test Results
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uses: EnricoMi/publish-unit-test-result-action@v2
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- name: Report Test Results
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uses: dorny/test-reporter@v1
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if: always()
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with:
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files: "reports/combined-compat-results.xml"
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name: IsaacLab Compatibility Test Results
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path: reports/combined-compat-results.xml
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reporter: java-junit
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max-annotations: '50'
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report-title: "IsaacLab Compatibility Test Results - ${{ github.workflow }}"
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notify-compatibility-status:
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needs: [combine-compat-results]

‎.github/workflows/license-check.yaml

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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name: Check Python Dependency Licenses
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on:
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pull_request:
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types: [opened, synchronize, reopened]
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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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jobs:
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license-check:
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout code
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uses: actions/checkout@v3
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# - name: Install jq
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# run: sudo apt-get update && sudo apt-get install -y jq
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- name: Set up Python
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uses: actions/setup-python@v4
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with:
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python-version: '3.10' # Adjust as needed
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- name: Install dependencies using ./isaaclab.sh -i
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run: |
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# first install isaac sim
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pip install --upgrade pip
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pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com
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chmod +x ./isaaclab.sh # Make sure the script is executable
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# install all lab dependencies
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./isaaclab.sh -i
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- name: Install pip-licenses
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run: |
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pip install pip-licenses
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pip install -r tools/template/requirements.txt
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pip install -r docs/requirements.txt
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# Optional: Print the license report for visibility
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- name: Print License Report
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run: pip-licenses --from=mixed --format=markdown
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- name: Check licenses against whitelist and exceptions
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run: |
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# Define the whitelist of allowed licenses
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ALLOWED_LICENSES="MIT Apache BSD ISC zlib"
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# Load the exceptions list from the exceptions.json file
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EXCEPTIONS_FILE=".github/workflows/license-exceptions.json"
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# Initialize counter for failed packages
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FAILED_PACKAGES=0
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# Get the list of installed packages and their licenses
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pip-licenses --from=mixed --format=json > licenses.json
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# Check the output of pip-licenses to ensure it is valid JSON
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if ! jq empty licenses.json; then
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echo "ERROR: Failed to parse pip-licenses output. Exiting..."
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exit 1
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fi
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# Split ALLOWED_LICENSES into individual words
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IFS=' ' read -r -a allowed_licenses <<< "$ALLOWED_LICENSES"
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# Loop through the installed packages and their licenses
75+
for pkg in $(jq -r '.[].Name' licenses.json); do
76+
LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json)
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# Check if any of the allowed licenses are a substring of the package's license
79+
match_found=false
80+
for allowed_license in "${allowed_licenses[@]}"; do
81+
if [[ "$LICENSE" == *"$allowed_license"* ]]; then
82+
match_found=true
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break
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fi
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done
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if [ "$match_found" = false ]; then
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# Check if the package is in the exceptions list
89+
EXCEPTION=$(jq -r --arg pkg "$pkg" --arg license "$LICENSE" \
90+
'.[] | select(.package == $pkg)' "$EXCEPTIONS_FILE")
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# If the package is in the exceptions list
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if [ -n "$EXCEPTION" ]; then
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# If the license is provided in the exceptions list, check the license
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EXCEPTION_LICENSE=$(echo "$EXCEPTION" | jq -r '.license')
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# echo "Comparing licenses for $pkg:"
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# echo " EXCEPTION_LICENSE='${EXCEPTION_LICENSE}' (len=${#EXCEPTION_LICENSE})"
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# echo " LICENSE='${LICENSE}' (len=${#LICENSE})"
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# If the exceptions list has a license and doesn't match the current license
102+
if [ "$EXCEPTION_LICENSE" != "null" ] && [ "$EXCEPTION_LICENSE" != "$LICENSE" ]; then
103+
echo "ERROR: $pkg has license: $LICENSE"
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FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
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fi
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else
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# If the package is not in the exceptions list
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echo "ERROR: $pkg has license: $LICENSE"
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FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
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fi
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fi
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done
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# After all packages are processed, check if there were any errors
115+
if [ "$FAILED_PACKAGES" -gt 0 ]; then
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echo "ERROR: $FAILED_PACKAGES packages were flagged."
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exit 1 # Fail the build
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else
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echo "All packages were checked."
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fi
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# Print pipdeptree
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- name: Print pipdeptree
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run: |
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pip install pipdeptree
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pipdeptree

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