[Newton] Adds new CI job that pulls latest Newton builds #4146
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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: 'Run Tests with Latest Newton' | ||||||
| description: 'Runs pytest tests in a Docker container with the latest Newton from main branch' | ||||||
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| inputs: | ||||||
| test-path: | ||||||
| description: 'Path to test directory or pytest arguments' | ||||||
| required: true | ||||||
| result-file: | ||||||
| description: 'Name of the result XML file' | ||||||
| required: true | ||||||
| container-name: | ||||||
| description: 'Name for the Docker container' | ||||||
| required: true | ||||||
| image-tag: | ||||||
| description: 'Docker image tag to use' | ||||||
| required: true | ||||||
| reports-dir: | ||||||
| description: 'Directory to store test results' | ||||||
| default: 'reports' | ||||||
| required: false | ||||||
| pytest-options: | ||||||
| description: 'Additional pytest options (e.g., -k filter)' | ||||||
| default: '' | ||||||
| required: false | ||||||
| filter-pattern: | ||||||
| description: 'Pattern to filter test files (e.g., isaaclab_tasks)' | ||||||
| default: '' | ||||||
| required: false | ||||||
|
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||||||
| runs: | ||||||
| using: composite | ||||||
| steps: | ||||||
| - name: Run Tests with Latest Newton in Docker Container | ||||||
| shell: bash | ||||||
| run: | | ||||||
| # Function to run tests in Docker container with latest Newton | ||||||
| run_tests() { | ||||||
| local test_path="$1" | ||||||
| local result_file="$2" | ||||||
| local container_name="$3" | ||||||
| local image_tag="$4" | ||||||
| local reports_dir="$5" | ||||||
| local pytest_options="$6" | ||||||
| local filter_pattern="$7" | ||||||
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| echo "Running tests with latest Newton in: $test_path" | ||||||
| if [ -n "$pytest_options" ]; then | ||||||
| echo "With pytest options: $pytest_options" | ||||||
| fi | ||||||
| if [ -n "$filter_pattern" ]; then | ||||||
| echo "With filter pattern: $filter_pattern" | ||||||
| fi | ||||||
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| # Create reports directory | ||||||
| mkdir -p "$reports_dir" | ||||||
|
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||||||
| # Clean up any existing container | ||||||
| docker rm -f $container_name 2>/dev/null || true | ||||||
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||||||
| # Build Docker environment variables | ||||||
| docker_env_vars="\ | ||||||
| -e OMNI_KIT_ACCEPT_EULA=yes \ | ||||||
| -e ACCEPT_EULA=Y \ | ||||||
| -e OMNI_KIT_DISABLE_CUP=1 \ | ||||||
| -e ISAAC_SIM_HEADLESS=1 \ | ||||||
| -e ISAAC_SIM_LOW_MEMORY=1 \ | ||||||
| -e PYTHONUNBUFFERED=1 \ | ||||||
| -e PYTHONIOENCODING=utf-8 \ | ||||||
| -e TEST_RESULT_FILE=$result_file" | ||||||
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||||||
| if [ -n "$filter_pattern" ]; then | ||||||
| if [[ "$filter_pattern" == not* ]]; then | ||||||
| # Handle "not pattern" case | ||||||
| exclude_pattern="${filter_pattern#not }" | ||||||
| docker_env_vars="$docker_env_vars -e TEST_EXCLUDE_PATTERN=$exclude_pattern" | ||||||
| echo "Setting exclude pattern: $exclude_pattern" | ||||||
| else | ||||||
| # Handle positive pattern case | ||||||
| docker_env_vars="$docker_env_vars -e TEST_FILTER_PATTERN=$filter_pattern" | ||||||
| echo "Setting include pattern: $filter_pattern" | ||||||
| fi | ||||||
| else | ||||||
| echo "No filter pattern provided" | ||||||
| fi | ||||||
|
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||||||
| echo "Docker environment variables: '$docker_env_vars'" | ||||||
|
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||||||
| # Run tests in container with error handling | ||||||
| echo "🚀 Starting Docker container for tests with latest Newton..." | ||||||
| if docker run --name $container_name \ | ||||||
| --entrypoint bash --gpus all --network=host \ | ||||||
| --security-opt=no-new-privileges:true \ | ||||||
| --memory=$(echo "$(free -m | awk '/^Mem:/{print $2}') * 0.9 / 1" | bc)m \ | ||||||
| --cpus=$(echo "$(nproc) * 0.9" | bc) \ | ||||||
| --oom-kill-disable=false \ | ||||||
| --ulimit nofile=65536:65536 \ | ||||||
| --ulimit nproc=4096:4096 \ | ||||||
| $docker_env_vars \ | ||||||
| $image_tag \ | ||||||
| -c " | ||||||
| set -e | ||||||
| cd /workspace/isaaclab | ||||||
| mkdir -p tests | ||||||
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||||||
| echo '=== Uninstalling existing newton and mujoco-warp ===' | ||||||
| /isaac-sim/python.sh -m pip uninstall -y newton mujoco-warp mujoco || echo 'Some packages may not have been installed' | ||||||
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| echo '=== Cloning latest Newton from main branch ===' | ||||||
| git clone --depth 1 https://github.com/newton-physics/newton.git /tmp/newton | ||||||
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||||||
| echo '=== Installing Newton with dependencies from uv.lock ===' | ||||||
| cd /tmp/newton | ||||||
|
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||||||
| # Extract mujoco-warp and mujoco versions from uv.lock and install them | ||||||
| # Parse the uv.lock file to get the package versions | ||||||
| if [ -f uv.lock ]; then | ||||||
| echo 'Parsing uv.lock for mujoco-warp and mujoco versions...' | ||||||
|
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||||||
| # Set PIP_FIND_LINKS for mujoco packages | ||||||
| export PIP_FIND_LINKS=https://py.mujoco.org/ | ||||||
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||||||
| # Extract mujoco version from uv.lock | ||||||
| mujoco_version=\$(grep -A5 'name = \"mujoco\"' uv.lock | grep 'version = ' | head -1 | sed 's/.*version = \"\(.*\)\"/\1/') | ||||||
| if [ -n \"\$mujoco_version\" ]; then | ||||||
| echo \"Installing mujoco==\$mujoco_version\" | ||||||
| /isaac-sim/python.sh -m pip install \"mujoco==\$mujoco_version\" | ||||||
| else | ||||||
| echo 'mujoco version not found in uv.lock, installing latest' | ||||||
| /isaac-sim/python.sh -m pip install mujoco | ||||||
| fi | ||||||
|
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||||||
| # Extract mujoco-warp git URL from uv.lock (it's installed from git source) | ||||||
| mujoco_warp_git=\$(grep -A10 'name = \"mujoco-warp\"' uv.lock | grep 'git = ' | head -1 | sed 's/.*git = \"\([^\"]*\)\".*/\1/') | ||||||
| if [ -n \"\$mujoco_warp_git\" ]; then | ||||||
| # Parse the git URL - format is https://github.com/org/repo#commit_hash | ||||||
| git_url=\$(echo \"\$mujoco_warp_git\" | cut -d'#' -f1) | ||||||
| commit_hash=\$(echo \"\$mujoco_warp_git\" | cut -d'#' -f2) | ||||||
| echo \"Installing mujoco-warp from git: \$git_url at commit \$commit_hash\" | ||||||
| /isaac-sim/python.sh -m pip install \"git+\${git_url}@\${commit_hash}\" | ||||||
| else | ||||||
| echo 'mujoco-warp git source not found in uv.lock, installing from pip' | ||||||
| /isaac-sim/python.sh -m pip install mujoco-warp | ||||||
| fi | ||||||
| else | ||||||
| echo 'uv.lock not found, installing latest versions' | ||||||
| export PIP_FIND_LINKS=https://py.mujoco.org/ | ||||||
| /isaac-sim/python.sh -m pip install mujoco | ||||||
| /isaac-sim/python.sh -m pip install git+https://github.com/google-deepmind/mujoco_warp.git | ||||||
| fi | ||||||
|
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||||||
| # Install Newton from the cloned repo | ||||||
| echo '=== Installing Newton from source ===' | ||||||
| /isaac-sim/python.sh -m pip install -e . | ||||||
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||||||
| echo '=== Verifying installations ===' | ||||||
| /isaac-sim/python.sh -c \"import newton; print(f'Newton version: {newton.__version__}')\" || echo 'Newton import check' | ||||||
| /isaac-sim/python.sh -c \"import mujoco_warp; print('mujoco_warp imported successfully')\" || echo 'mujoco_warp not available' | ||||||
| /isaac-sim/python.sh -c \"import mujoco; print(f'mujoco version: {mujoco.__version__}')\" || echo 'mujoco not available' | ||||||
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| cd /workspace/isaaclab | ||||||
| echo '=== Starting pytest with path: $test_path ===' | ||||||
| /isaac-sim/python.sh -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file || echo 'Pytest completed with exit code: \$?' | ||||||
| "; then | ||||||
| echo "✅ Docker container completed successfully" | ||||||
| else | ||||||
| echo "⚠️ Docker container failed, but continuing to copy results..." | ||||||
| fi | ||||||
|
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||||||
| # Copy test results with error handling | ||||||
| echo "📋 Attempting to copy test results..." | ||||||
| if docker cp $container_name:/workspace/isaaclab/tests/$result_file "$reports_dir/$result_file" 2>/dev/null; then | ||||||
| echo "✅ Test results copied successfully" | ||||||
| else | ||||||
| echo "❌ Failed to copy specific result file, trying to copy all test results..." | ||||||
| if docker cp $container_name:/workspace/isaaclab/tests/ "$reports_dir/" 2>/dev/null; then | ||||||
| echo "✅ All test results copied successfully" | ||||||
| # Look for any XML files and use the first one found | ||||||
| if [ -f "$reports_dir/full_report.xml" ]; then | ||||||
| mv "$reports_dir/full_report.xml" "$reports_dir/$result_file" | ||||||
| echo "✅ Found and renamed full_report.xml to $result_file" | ||||||
| elif [ -f "$reports_dir/test-reports-"*".xml" ]; then | ||||||
|
Contributor
There was a problem hiding this comment. logic: This test condition will always fail. When using wildcards in
Suggested change
|
||||||
| # Combine individual test reports if no full report exists | ||||||
| echo "📊 Combining individual test reports..." | ||||||
| echo '<?xml version="1.0" encoding="utf-8"?><testsuites>' > "$reports_dir/$result_file" | ||||||
| for xml_file in "$reports_dir"/test-reports-*.xml; do | ||||||
| if [ -f "$xml_file" ]; then | ||||||
| echo " Processing: $xml_file" | ||||||
| sed '1d; /^<testsuite/d; /^<\/testsuite/d' "$xml_file" >> "$reports_dir/$result_file" 2>/dev/null || true | ||||||
| fi | ||||||
| done | ||||||
| echo '</testsuites>' >> "$reports_dir/$result_file" | ||||||
| echo "✅ Combined individual test reports into $result_file" | ||||||
| else | ||||||
| echo "❌ No test result files found, creating fallback" | ||||||
| echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"no_results_found\"><error message=\"No test results found\">Container may have failed to generate any results</error></testcase></testsuite>" > "$reports_dir/$result_file" | ||||||
| fi | ||||||
| else | ||||||
| echo "❌ Failed to copy any test results, creating fallback" | ||||||
| echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"copy_failed\"><error message=\"Failed to copy test results\">Container may have failed to generate results</error></testcase></testsuite>" > "$reports_dir/$result_file" | ||||||
| fi | ||||||
| fi | ||||||
|
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||||||
| # Clean up container | ||||||
| echo "🧹 Cleaning up Docker container..." | ||||||
| docker rm $container_name 2>/dev/null || echo "⚠️ Container cleanup failed, but continuing..." | ||||||
| } | ||||||
|
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||||||
| # Call the function with provided parameters | ||||||
| run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}" | ||||||
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