Merge/camera ready into main

.dockerignore

@@ -3,13 +3,10 @@
 # on full builds otherwise). Un-deny only files that a Dockerfile COPYs in.
 #
 # Whitelisted COPY sources:
-#   IsaacDockerfile  -> CL_isaaclab_sim/requirements.txt
 #   RobocasaDockerfile -> core_ws/src/livox_ros_driver2 (baked-in livox build)
 #   BaseDockerfile   -> unitree_sdk2_python (local SDK install)
+#   IsaacDockerfile  -> magpie_msgs + private Humble runtime packager
 *
-!CL_isaaclab_sim
-CL_isaaclab_sim/*
-!CL_isaaclab_sim/requirements.txt
 !core_ws
 core_ws/*
 !core_ws/src
@@ -19,3 +16,13 @@ core_ws/src/livox_ros_driver2/.git
 !unitree_sdk2_python
 !unitree_sdk2_python/**
 unitree_sdk2_python/.git
+
+!core_ws/src/magpie_msgs
+core_ws/src/magpie_msgs/.git
+!docker
+docker/*
+!docker/scripts
+docker/scripts/*
+!docker/scripts/package_humble_runtime.py
+!docker/locks
+!docker/locks/**

.github/workflows/docs.yml

@@ -0,0 +1,48 @@
+name: Docs
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'docs/**'
+      - 'mkdocs.yml'
+      - '.github/workflows/docs.yml'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+          cache-dependency-path: docs/requirements-docs.txt
+      - name: Install docs requirements
+        run: pip install -r docs/requirements-docs.txt
+      - name: Build site
+        run: mkdocs build --strict
+      - uses: actions/configure-pages@v6
+      - uses: actions/upload-pages-artifact@v5
+        with:
+          path: site
+
+  deploy:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - id: deployment
+        uses: actions/deploy-pages@v5

.github/workflows/simulator-tests.yml

@@ -0,0 +1,91 @@
+name: Simulator regression tests
+on:
+  pull_request:
+    paths:
+      - 'CL_isaaclab_sim'
+      - 'CL_isaaclab_sim/**'
+      - 'golem_robocasa/**'
+      - 'docker/**'
+      - 'core_ws/**'
+      - 'CL_Assets'
+      - '.gitmodules'
+      - 'tests/**'
+      - '.github/workflows/simulator-tests.yml'
+  push:
+    branches: [main, master]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  cpu:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Initialize code submodules (no large asset downloads)
+        # .gitmodules uses SSH URLs; the runner has no SSH key, and both are public
+        run: |
+          git config --global url."https://github.com/".insteadOf git@github.com:
+          git submodule update --init CL_isaaclab_sim unitree_sdk2_python
+      - uses: actions/setup-python@v5
+        with:
+          # cyclonedds 0.10.2 ships wheels (with its C library) up to 3.10, the
+          # images' Python; on 3.11 pip builds it against jammy's 0.8.2 and fails
+          python-version: '3.10'
+      - name: Install test dependencies
+        run: |
+          # torch's own index lacks some of its dependencies' build tools
+          python -m pip install torch==2.7.0 --index-url https://download.pytorch.org/whl/cpu \
+            --extra-index-url https://pypi.org/simple
+          python -m pip install -r tests/requirements-isaac-cpu.txt
+      - name: Isaac Lab interface and control regressions
+        env:
+          PYTHONPATH: CL_isaaclab_sim:unitree_sdk2_python
+        run: python -m unittest discover -s tests/isaaclab -p 'test_*.py' -v
+      - name: RoboCasa loop pacing regressions
+        env:
+          PYTHONPATH: golem_robocasa
+        run: python -m unittest discover -s tests/robocasa -p test_loop_timing.py -v
+      - name: RoboCasa robot selection
+        env:
+          PYTHONPATH: golem_robocasa
+        run: python -m unittest discover -s tests/robocasa -p test_robot_select.py -v
+      - name: Linux and Mac Docker workflow regressions
+        run: python -m unittest discover -s tests/docker -v
+      - name: Controller integration acceptance scoring
+        run: python -m unittest discover -s tests/stack -p 'test_*.py' -v
+
+  gpu-integration:
+    # Explicit trusted runs on a prepared worker; CPU job is the portable PR gate.
+    if: github.event_name == 'workflow_dispatch'
+    runs-on: [self-hosted, linux, x64, nvidia]
+    timeout-minutes: 90
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          lfs: true
+      - name: Build simulation and ROS images
+        run: docker/scripts/docker_build.sh isaac robocasa ros
+      - name: Magpie physical linkage schema
+        run: ROS_DOMAIN_ID=186 tests/isaaclab/run_magpie_couplings.sh
+      - name: Magpie native ROS services and actions
+        run: ROS_DOMAIN_ID=190 tests/isaaclab/run_magpie_transport.sh
+      - name: Actual Isaac Lab scene and shutdown
+        run: ROS_DOMAIN_ID=187 tests/isaaclab/run_smoke.sh
+      - name: ROS sensor transport
+        run: ROS_DOMAIN_ID=188 tests/isaaclab/run_sensor_transport.sh
+      - name: Native ROS Livox interoperability
+        run: ROS_DOMAIN_ID=189 tests/isaaclab/run_livox_interop.sh
+      - name: ROS commands drive actual Isaac physics
+        run: ROS_DOMAIN_ID=191 tests/isaaclab/run_robot_interop.sh magpie
+      - name: Inspire variant regression
+        run: ROS_DOMAIN_ID=192 tests/isaaclab/run_robot_interop.sh inspire
+      - name: Real frame-task and lower-body control in both simulators
+        run: tests/stack/run_all.sh
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: simulator-test-results
+          path: tests/results/

.gitignore

@@ -62,8 +62,26 @@ wandb/
 
 # host-side caches for docker container build artefacts
 /container_cache/
+/core_ws/build_stack_tests/
+/core_ws/install_stack_tests/
+/core_ws/log_stack_tests/
 
-# process crash dumps (e.g. h1_robocasa/core from unitree_sdk2py segfaults)
+# process crash dumps (e.g. golem_robocasa/core from unitree_sdk2py segfaults)
 core
+!core/
 core.*
 *.core
+
+# rosbag recordings (multi-GB; share out of band, not via git)
+/bags/
+*.mcap
+*.db3
+
+# local scratch space
+/work/
+
+# Claude Code local settings
+/.claude/
+
+# MkDocs site
+/site/

.gitmodules

@@ -1,18 +1,6 @@
 [submodule "CL_isaaclab_sim"]
 	path = CL_isaaclab_sim
 	url = git@github.com:correlllab/CL_isaaclab_sim.git
-[submodule "core_ws/src/h12_ros2_controller"]
-	path = core_ws/src/h12_ros2_controller
-	url = git@github.com:correlllab/h12_ros2_controller.git
-	branch = main
-[submodule "core_ws/src/h12_ros2_model"]
-	path = core_ws/src/h12_ros2_model
-	url = git@github.com:correlllab/h12_ros2_model.git
-	branch = unified_sim
-[submodule "core_ws/src/h12_safety_layer"]
-	path = core_ws/src/h12_safety_layer
-	url = git@github.com:correlllab/h12_safety_layer.git
-	branch = main
 [submodule "core_ws/src/custom_ros_messages"]
 	path = core_ws/src/custom_ros_messages
 	url = git@github.com:correlllab/custom_ros_messages.git