# Copyright (c) 2022-2026, 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 - 'release/**' # 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: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }} DOCKER_IMAGE_TAG: isaac-lab-dev:${{ 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 - name: Check Test Results for Fork PRs if: github.event.pull_request.head.repo.full_name != github.repository run: | if [ -f "reports/isaaclab-tasks-report.xml" ]; then # Check if the test results contain any failures if grep -q 'failures="[1-9]' reports/isaaclab-tasks-report.xml || grep -q 'errors="[1-9]' reports/isaaclab-tasks-report.xml; then echo "Tests failed for PR from fork. The test report is in the logs. Failing the job." exit 1 fi else echo "No test results file found. This might indicate test execution failed." exit 1 fi 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 id: 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 $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container" fi - name: Upload General Test Results uses: actions/upload-artifact@v4 if: always() with: name: general-test-results path: reports/general-tests-report.xml retention-days: 1 compression-level: 9 - name: Check Test Results for Fork PRs if: github.event.pull_request.head.repo.full_name != github.repository run: | if [ -f "reports/general-tests-report.xml" ]; then # Check if the test results contain any failures if grep -q 'failures="[1-9]' reports/general-tests-report.xml || grep -q 'errors="[1-9]' reports/general-tests-report.xml; then echo "Tests failed for PR from fork. The test report is in the logs. Failing the job." exit 1 fi else echo "No test results file found. This might indicate test execution failed." exit 1 fi combine-results: needs: [test-isaaclab-tasks, test-general] runs-on: [self-hosted, gpu] if: always() steps: - name: Checkout Code uses: actions/checkout@v4 with: fetch-depth: 0 lfs: false - name: Create Reports Directory run: | mkdir -p reports - name: Download Test Results uses: actions/download-artifact@v4 with: name: isaaclab-tasks-test-results path: reports/ continue-on-error: true - name: Download General Test Results uses: actions/download-artifact@v4 with: name: general-test-results path: reports/ - name: Combine All Test Results uses: ./.github/actions/combine-results with: tests-dir: "reports" output-file: "reports/combined-results.xml" - name: Upload Combined Test Results uses: actions/upload-artifact@v4 if: always() with: name: pr-${{ 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 if: github.event.pull_request.head.repo.full_name == github.repository 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 if: github.event.pull_request.head.repo.full_name == github.repository 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 }}"