uv-ci.yml

# Copyright (c) 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

name: Native uv CI

on:
  pull_request:
  push:
    branches: [ "main" ]
  schedule:
    # Nightly at 06:00 UTC.
    - cron: '0 6 * * *'
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read
  pull-requests: read

jobs:
  uv_changes:
    name: Detect uv-related changes
    runs-on: [self-hosted, gpu-arena]
    timeout-minutes: 5
    # Only meaningful on PRs; other events always run the uv tests.
    if: github.event_name == 'pull_request'
    outputs:
      uv: ${{ steps.filter.outputs.uv }}
    steps:
      # Queries the PR's changed files via the GitHub API; no checkout needed.
      - uses: dorny/paths-filter@v3
        id: filter
        with:
          filters: |
            uv:
              - '.github/workflows/uv-ci.yml'
              - 'pyproject.toml'
              - 'uv.lock'
              - 'submodules/IsaacLab'
              - 'submodules/IsaacLab/**'
              - 'submodules/Isaac-GR00T'
              - 'submodules/Isaac-GR00T/**'

  uv_test:
    name: Run tests (native uv, source)
    runs-on: [self-hosted, gpu-arena]
    timeout-minutes: 120
    needs: [uv_changes]
    # Runs nightly, on push to main, and on manual dispatch; on pull requests
    # only when the PR touches the uv-managed dependency files or this workflow.
    # The !cancelled() guard keeps the job alive when uv_changes is skipped on
    # non-PR events.
    if: >-
      !cancelled() &&
      (github.event_name != 'pull_request' ||
       needs.uv_changes.outputs.uv == 'true')
    env:
      ARENA_INFERENCE_ENDPOINT: public
      NVIDIA_API_KEY: ${{ secrets.ARENA_NVIDIA_API_KEY }}
      # Accept the Isaac Sim EULA so the first launch is non-interactive.
      OMNI_KIT_ACCEPT_EULA: "YES"
      ACCEPT_EULA: "Y"
      # Large CUDA wheels (e.g. nvidia-cublas-cu12) can exceed uv's 30s default.
      UV_HTTP_TIMEOUT: "300"

    # Validates the native workflow in a clean ubuntu:24.04 container.
    container:
      image: nvidia/cuda:12.8.2-base-ubuntu24.04
      env:
        # Needed to give the container access to the driver's graphics libraries.
        NVIDIA_DRIVER_CAPABILITIES: all

    steps:
      - name: nvidia-smi
        run: nvidia-smi

      - name: Install git (and tools needed by hooks)
        run: |
          apt-get update
          apt-get install -y --no-install-recommends git git-lfs clang-format ca-certificates make
          git --version
          git lfs version

      # Clean up residual stuff due to symlinks in the submodules directory.
      - name: Clean up symlinks in submodules directory
        run: |
          rm -f .git/modules/submodules/IsaacLab/index.lock || true
          rm -rf submodules/* || true

      - name: Mark repo as safe for git
        run: git config --global --add safe.directory "$PWD"

      - name: Checkout Code
        uses: actions/checkout@v4
        with:
          submodules: true

      - name: Git LFS
        run: |
          git lfs update --force
          git lfs install --local
          git lfs pull

      - name: Install graphics loader and build tools
        run: |
          apt-get update
          apt-get install -y --no-install-recommends \
            libegl1 libgl1 libglu1-mesa libglx0 libxi6 libxrandr2 libxt6 libsm6 libvulkan1 \
            cmake build-essential bash

      - name: Install uv
        run: |
          apt-get update
          apt-get install -y --no-install-recommends curl ca-certificates
          curl -LsSf https://astral.sh/uv/0.9.27/install.sh | sh
          echo "$HOME/.local/bin" >> "$GITHUB_PATH"

      - name: Validate uv lock
        run: |
          uv python install 3.12
          uv lock --check --no-python-downloads

      # Out-of-source packaging check: validates the lockfile via the
      # packaging tests, run in an out of source directory.
      - name: Validate editable package
        run: |
          uv venv --python 3.12 /tmp/arena-package-venv
          uv pip install --python /tmp/arena-package-venv/bin/python --no-deps --editable .
          uv pip install --python /tmp/arena-package-venv/bin/python pytest
          REPO_DIR="$PWD"
          cd /tmp
          /tmp/arena-package-venv/bin/python -m pytest -v "${REPO_DIR}/isaaclab_arena/tests/test_packaging.py"

      # In-source full environment: sync the locked deps and run the sim suite.
      - name: Sync the locked environment
        run: |
          # Fix dubious ownership issues in cache
          git config --global --add safe.directory '*'
          uv sync --group gr00t-client --extra dev

      - name: Run in-process Newton tests
        shell: bash
        run: |
          source .venv/bin/activate
          pytest -sv --durations=0 -m with_newton \
            isaaclab_arena/tests/

      - name: Run in-process PhysX tests without cameras
        shell: bash
        run: |
          source .venv/bin/activate
          pytest -sv --durations=0 -m "not with_cameras and not with_subprocess and not with_newton" \
            isaaclab_arena/tests/

      - name: Run in-process PhysX tests with cameras
        shell: bash
        run: |
          source .venv/bin/activate
          pytest -sv --durations=0 -m "with_cameras and not with_subprocess" \
            isaaclab_arena/tests/

      - name: Run subprocess-spawning PhysX tests
        shell: bash
        run: |
          source .venv/bin/activate
          ISAACLAB_ARENA_SUBPROCESS_TIMEOUT=900 \
          pytest -sv --durations=0 -m with_subprocess \
            isaaclab_arena/tests/

      - name: Run GR00T remote policy client tests
        shell: bash
        run: |
          source .venv/bin/activate
          pytest -sv --durations=0 \
            isaaclab_arena_gr00t/tests/test_gr00t_remote_closedloop_policy.py