Seun/nist gear insertion task example

.gitattributes

@@ -3,4 +3,8 @@
 *.tar filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
 docs/images/ filter=lfs diff=lfs merge=lfs -text
+assets/*.usd filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text

.github/workflows/ci.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# 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
@@ -28,16 +28,18 @@ env:
 
 
 jobs:
-  test:
-    name: Run pre commit checks and tests
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 45
+
+  pre_commit:
+    name: Pre-commit
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 30
 
     container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
-      credentials:
-        username: $oauthtoken
-        password: ${{ env.NGC_API_KEY }}
+      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
@@ -54,25 +56,23 @@ jobs:
         name: Clean up symlinks in submodules directory
         run: |
           rm -f .git/modules/submodules/IsaacLab/index.lock || true
-          rm -rf submodules/IsaacLab || 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:
-          fetch-depth: 0
-          clean: true
           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
 
-      # 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"
-
       # Pull LFS files explicitly (in case checkout didn't get them all)
       - &git_lfs_step
         name: Git LFS
@@ -81,77 +81,147 @@ jobs:
           git lfs install --local
           git lfs pull
 
-      - &setup_python_step
-        name: Setup Python
-        uses: actions/setup-python@v3
+      - name: git status
+        run: |
+          git status
+
+      - name: Run pre-commit
+        uses: pre-commit/action@v3.0.1
+        with:
+          extra_args: --all-files --verbose
+        env:
+          # Avoid "dubious ownership" errors on restored cache dirs — use a
+          # fresh directory owned by the current process instead.
+          PRE_COMMIT_HOME: /tmp/pre-commit-cache
+
+  test:
+    name: Run tests
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 80
+    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: |
-          pip install --no-cache-dir -e .
+          /isaac-sim/python.sh -m pip install --no-cache-dir -e .
           [ -e ./submodules/IsaacLab/_isaac_sim ] || ln -s /isaac-sim ./submodules/IsaacLab/_isaac_sim
 
-      - name: Run pre-commit
+      # Run the tests.
+      #
+      # Note(alexmillane): We have to run the tests in a specific way. To achieve a reasonable test speed,
+      # we don't close the SimulationApp between tests, where this is possible. We need, however, to restart the
+      # SimulationApp between tests that require cameras/rendering and those that don't. To make
+      # matters more complicated, since Isaac Sim 6.0, this persistent SimulationApp scheme is also not
+      # mixing well with subprocess-spawning tests. We get intermittent hangs if a subprocess-spawning
+      # test is run while a persistent SimulationApp is still open. For that reason we also need to
+      # separate those test that spawn subprocess. So in the end, we run
+      #
+      # - All tests not requiring cameras in a shared SimulationApp.
+      # - All tests requiring cameras in a shared SimulationApp.
+      # - All subprocess-spawning tests (each spawns their own SimulationApp)
+      #
+      # To restore sanity here is a goal for Isaac Lab Arena v0.3.
+      - name: Run in-process Newton tests
         run: |
-          pip install --no-cache-dir --upgrade pip pre-commit
-          pre-commit run --all-files
+          /isaac-sim/python.sh -m pytest -sv -m with_newton \
+            isaaclab_arena/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/ --ignore=isaaclab_arena/tests/policy/
+      - name: Run in-process PhysX tests without cameras
+        run: |
+          /isaac-sim/python.sh -m pytest -sv -m "not with_cameras and not with_subprocess and not with_newton" \
+            isaaclab_arena/tests/
+
+      - name: Run in-process PhysX tests with cameras
+        run: |
+          /isaac-sim/python.sh -m pytest -sv -m "with_cameras and not with_subprocess and not with_newton" \
+            isaaclab_arena/tests/
+
+      - name: Run subprocess-spawning  PhysX tests
+        run: |
+          /isaac-sim/python.sh -m pytest -sv -m with_subprocess \
+            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/ --ignore=isaaclab_arena/tests/policy/
 
   test_policy:
     name: Run policy-related tests with GR00T & cuda12_8 deps
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 30
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 60
+    needs: [pre_commit]
 
     container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t_gn16
       credentials:
         username: $oauthtoken
         password: ${{ env.NGC_API_KEY }}
+    env:
+      GROOT_DEPS_DIR: /opt/groot_deps
     steps:
+      # nvidia-smi
+      - *nvidia_smi
+
       # Setup.
       - *install_git_step
       - *cleanup_step
-      - *checkout_step
       - *mark_repo_safe_step
+      - *checkout_step
       - *git_lfs_step
-      - *setup_python_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/tests/policy/
+        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, zurich]
+    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
-      - *checkout_step
 
-      # Build docs
+      - name: Checkout Code
+        uses: actions/checkout@v4
+
+      # Build docs for the current branch (validates PR changes)
       - name: Build docs
+        working-directory: ./docs
         run: |
-          cd docs
           pip3 install -r requirements.txt
           make SPHINXOPTS=-W html
-          touch ./_build/html/.nojekyll
+
 
   build_and_push_image_post_merge:
     name: Build & push NGC image (post-merge)
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 60
-    needs: [test, test_policy, build_docs_pre_merge]       # only push if tests passed
+    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:
@@ -192,4 +262,4 @@ jobs:
       - 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
+          ./docker/push_to_ngc.sh -p -g -t cuda_gr00t_gn16

.github/workflows/gh-pages.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# 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
@@ -7,7 +7,7 @@ name: GitHub Pages
 
 on:
   push:
-    branches: [ "main" ]
+    branches: [ "main", "feature/isaac_lab_3_newton" ]
 
 # Concurrency control to prevent parallel runs on the same PR
 concurrency:
@@ -28,11 +28,11 @@ env:
 jobs:
   deploy_docs:
     name: Deploy the docs
-    runs-on: [self-hosted, zurich]
+    runs-on: [self-hosted, gpu]
     timeout-minutes: 30
 
     container:
-      image: python:3.11-slim
+      image: python:3.12-slim
 
     steps:
       - name: Install git (and tools needed by hooks)
@@ -48,33 +48,24 @@ jobs:
         with:
           clean: true
           fetch-depth: 0
+          fetch-tags: true
+
+      # Fix "detected dubious ownership in repository" inside containers
+      - name: Mark repo as safe for git
+        run: git config --global --add safe.directory "$PWD"
 
       # Build docs
       - name: Build docs
         run: |
           cd docs
           pip3 install -r requirements.txt
-          make SPHINXOPTS=-W html
-          touch ./_build/html/.nojekyll
+          make SPHINXOPTS=-W multi-docs
+          touch ./_build/.nojekyll
 
       - name: Copy redirect file
         run: |
           cp ./docs/_redirect/index.html ./docs/_build/index.html
 
-      # Upload docs artifact
-      - name: Upload docs artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: docs-html
-          path: ./docs/_build
-
-      # Download docs artifact
-      - name: Download docs artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: docs-html
-          path: ./docs/_build
-
       # Deploy to gh-pages
       - name: Deploy to gh-pages
         uses: peaceiris/actions-gh-pages@v3

.pre-commit-config.yaml

@@ -1,4 +1,4 @@
-# Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# 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
@@ -66,3 +66,12 @@ repos:
           - .github/LICENSE_HEADER.txt
           - --use-current-year
         exclude: "submodules/"
+
+  - repo: local
+    hooks:
+      - id: check-contributors
+        name: Check that CONTRIBUTORS.md lists all contributors
+        entry: python3 tools/check_contributors.py
+        language: system
+        pass_filenames: false
+        types: [python]

.vscode/settings.json

@@ -0,0 +1,18 @@
+{
+    "python.analysis.extraPaths": [
+        "${workspaceFolder}",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_assets",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_rl",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_mimic",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_tasks",
+    ],
+    "cursorpyright.analysis.extraPaths": [
+        "${workspaceFolder}",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_assets",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_rl",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_mimic",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_tasks",
+    ]
+}