test windows CI

.github/ISSUE_TEMPLATE/question.md

@@ -10,4 +10,4 @@ Basic questions, related to robot learning, that are not bugs or feature request
 
 Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome.
 
-For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html).
+For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://forums.developer.nvidia.com/c/omniverse/simulation/69).

.github/workflows/build.yml

@@ -150,8 +150,143 @@ jobs:
           exit 1
         fi
 
+  test-general-windows:
+    runs-on: [self-hosted, gpu-windows]
+    timeout-minutes: 180
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Setup Isaac Sim and Isaac Lab Environment
+      shell: powershell
+      run: |
+        Write-Host "Setting up Isaac Sim and Isaac Lab environment for Windows..."
+
+        # Check if virtual environment exists, create if not
+        if (-not (Test-Path "env_isaaclab")) {
+          Write-Host "Creating Python 3.11 virtual environment..."
+
+          # Use the pre-installed Python 3.11 on the self-hosted runner
+          $python311Path = "C:\Python311\python.exe"
+
+          if (Test-Path $python311Path) {
+            Write-Host "Using Python 3.11 from: $python311Path"
+            & $python311Path -m venv env_isaaclab
+          } elseif (Get-Command py -ErrorAction SilentlyContinue) {
+            Write-Host "Using Python launcher (py -3.11) to create virtual environment..."
+            py -3.11 -m venv env_isaaclab
+          } else {
+            Write-Host "WARNING: Python 3.11 not found at expected location. Using default python..."
+            python -m venv env_isaaclab
+          }
+        } else {
+          Write-Host "Virtual environment already exists"
+        }
+
+        # Activate virtual environment
+        Write-Host "Activating virtual environment..."
+        & "env_isaaclab\Scripts\Activate.ps1"
+
+        # Upgrade pip
+        Write-Host "Upgrading pip..."
+        python -m pip install --upgrade pip
+
+        # Check if Isaac Sim is installed
+        Write-Host "Checking if Isaac Sim is already installed..."
+        $isaacsimCheck = python -c "try:`n    import isaacsim`n    print('installed')`nexcept:`n    print('not_installed')" 2>&1
+
+        if ($isaacsimCheck -match "installed") {
+          Write-Host "Isaac Sim already installed"
+        } else {
+          Write-Host "Installing Isaac Sim from NVIDIA PyPI..."
+          pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
+        }
+
+        # Install/update PyTorch with CUDA support
+        Write-Host "Installing PyTorch with CUDA 12.8..."
+        pip install -U torch==2.7.0 torchvision==0.22.0 numpy==1.26.0 --index-url https://download.pytorch.org/whl/cu128
+
+        # Install Isaac Lab dependencies
+        Write-Host "Installing Isaac Lab..."
+        & ".\isaaclab.bat" -i
+
+        # Verify pytest is available
+        Write-Host "Verifying pytest installation..."
+        python -m pip show pytest
+
+    - name: Run General Tests on Windows
+      id: run-general-tests-windows
+      shell: powershell
+      continue-on-error: true
+      run: |
+        Write-Host "Running general tests on Windows..."
+
+        # Activate virtual environment
+        & "env_isaaclab\Scripts\Activate.ps1"
+
+        # Create reports directory
+        New-Item -ItemType Directory -Force -Path "reports" | Out-Null
+
+        # Set environment variables for headless mode
+        $env:OMNI_KIT_ACCEPT_EULA = "yes"
+        $env:ACCEPT_EULA = "Y"
+        $env:ISAAC_SIM_HEADLESS = "1"
+        $env:ISAAC_SIM_LOW_MEMORY = "1"
+        $env:PYTHONUNBUFFERED = "1"
+        $env:PYTHONIOENCODING = "utf-8"
+
+        # Run tests using isaaclab.bat with pytest
+        # Run pytest directly with filter to exclude isaaclab_tasks
+        & ".\isaaclab.bat" -p -m pytest tools `
+          --ignore=tools/conftest.py `
+          -k "not isaaclab_tasks" `
+          -v `
+          --junitxml=reports/general-tests-windows-report.xml
+
+        $testExitCode = $LASTEXITCODE
+        Write-Host "Tests completed with exit code: $testExitCode"
+
+        # Check if report was generated
+        if (Test-Path "reports/general-tests-windows-report.xml") {
+          Write-Host "Test report generated successfully"
+        } else {
+          Write-Host "Warning: Test report not found"
+          # Create a fallback report
+          $fallbackReport = '<?xml version="1.0" encoding="utf-8"?><testsuite name="windows-general-tests" tests="0" failures="0" errors="1" time="0"><testcase classname="setup" name="no_results_found"><error message="No test results found">Tests may have failed to generate results</error></testcase></testsuite>'
+          Set-Content -Path "reports/general-tests-windows-report.xml" -Value $fallbackReport
+        }
+
+    - name: Upload Windows General Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: general-test-results-windows
+        path: reports/general-tests-windows-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
+      shell: powershell
+      run: |
+        if (Test-Path "reports/general-tests-windows-report.xml") {
+          # Read the XML and check for failures
+          $xmlContent = Get-Content "reports/general-tests-windows-report.xml" -Raw
+          if ($xmlContent -match 'failures="[1-9]' -or $xmlContent -match 'errors="[1-9]') {
+            Write-Host "Tests failed for PR from fork. The test report is in the logs. Failing the job."
+            exit 1
+          }
+        } else {
+          Write-Host "No test results file found. This might indicate test execution failed."
+          exit 1
+        }
+
   combine-results:
-    needs: [test-isaaclab-tasks, test-general]
+    needs: [test-isaaclab-tasks, test-general, test-general-windows]
     runs-on: [self-hosted, gpu]
     if: always()
 
@@ -178,6 +313,14 @@ jobs:
       with:
         name: general-test-results
         path: reports/
+      continue-on-error: true
+
+    - name: Download Windows General Test Results
+      uses: actions/download-artifact@v4
+      with:
+        name: general-test-results-windows
+        path: reports/
+      continue-on-error: true
 
     - name: Combine All Test Results
       uses: ./.github/actions/combine-results
@@ -219,4 +362,4 @@ jobs:
         fail-on-error: true
         only-summary: false
         max-annotations: '50'
-        report-title: "IsaacLab Test Results - ${{ github.workflow }}"
+        report-title: "IsaacLab Test Results - ${{ github.workflow }}"

.github/workflows/check-links.yml

@@ -0,0 +1,120 @@
+# 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: Check Documentation Links
+
+on:
+  # Run on pull requests that modify documentation
+  pull_request:
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Run on pushes to main branches
+  push:
+    branches:
+      - main
+      - devel
+      - 'release/**'
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Allow manual trigger
+  workflow_dispatch:
+  # Run weekly to catch external links that break over time
+  schedule:
+    - cron: '0 0 * * 0'  # Every Sunday at midnight UTC
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-links:
+    name: Check for Broken Links
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Restore lychee cache
+      uses: actions/cache@v4
+      with:
+        path: .lycheecache
+        key: cache-lychee-${{ github.sha }}
+        restore-keys: cache-lychee-
+
+    - name: Run Link Checker
+      uses: lycheeverse/lychee-action@v2
+      with:
+        # Check all markdown files and documentation
+        args: >-
+          --verbose
+          --no-progress
+          --cache
+          --max-cache-age 1d
+          --exclude-path './docs/_build'
+          --exclude-path './apps/warp-*'
+          --exclude-path './logs'
+          --exclude-path './outputs'
+          --exclude-loopback
+          --exclude '^file://'
+          --exclude '^mailto:'
+          --exclude 'localhost'
+          --exclude '127\.0\.0\.1'
+          --exclude 'example\.com'
+          --exclude 'your-organization'
+          --exclude 'YOUR_'
+          --exclude 'yourdomain'
+          --exclude 'user@'
+          --exclude 'helm\.ngc\.nvidia\.com'
+          --exclude 'slurm\.schedmd\.com'
+          --max-retries 3
+          --retry-wait-time 5
+          --timeout 30
+          --accept 200,201,202,203,204,206,301,302,303,307,308,429
+          --scheme https
+          --scheme http
+          '*.md'
+          '**/*.md'
+          'docs/**/*.rst'
+          'docs/**/*.html'
+        # Output results to a file
+        output: ./lychee-output.md
+        # Fail action on broken links
+        fail: true
+        # Optional: Use GitHub token for authenticated requests (higher rate limit)
+        token: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Print results to logs
+      if: always()
+      run: |
+        echo "========================================"
+        echo "Link Checker Results:"
+        echo "========================================"
+        if [ -f ./lychee-output.md ]; then
+          cat ./lychee-output.md
+          echo ""
+          echo "========================================"
+
+          # Also add to GitHub step summary for easy viewing
+          echo "## Link Checker Results" >> $GITHUB_STEP_SUMMARY
+          echo "" >> $GITHUB_STEP_SUMMARY
+          cat ./lychee-output.md >> $GITHUB_STEP_SUMMARY
+        else
+          echo "No output file generated"
+          echo "========================================"
+        fi
+
+    - name: Fail job if broken links found
+      if: failure()
+      run: |
+        echo "❌ Broken links were found in the documentation!"
+        echo "Please review the link checker report above and fix all broken links."
+        exit 1

README.md

@@ -87,7 +87,7 @@ innovation in robotics and simulation.
 Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html) section for
 common fixes or [submit an issue](https://github.com/isaac-sim/IsaacLab/issues).
 
-For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
+For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/67).
 
 ## Support

docs/source/deployment/cluster.rst

@@ -204,7 +204,7 @@ ANYmal rough terrain locomotion training can be executed with the following comm
 The above will, in addition, also render videos of the training progress and store them under ``isaaclab/logs`` directory.
 
 .. _Singularity: https://docs.sylabs.io/guides/2.6/user-guide/index.html
-.. _ETH Zurich Euler: https://scicomp.ethz.ch/wiki/Euler
+.. _ETH Zurich Euler: https://www.gdc-docs.ethz.ch/EulerManual/site/overview/
 .. _PBS Official Site: https://openpbs.org/
 .. _apptainer: https://apptainer.org/
 .. _documentation: https://www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages

scripts/tools/test/test_cosmos_prompt_gen.py

@@ -18,6 +18,7 @@
 def temp_templates_file():
     """Create temporary templates file."""
     temp_file = tempfile.NamedTemporaryFile(suffix=".json", delete=False)
+    temp_file.close()  # Close file handle before opening with json
 
     # Create test templates
     test_templates = {
@@ -34,16 +35,29 @@ def temp_templates_file():
 
     yield temp_file.name
     # Cleanup
-    os.remove(temp_file.name)
+    try:
+        os.remove(temp_file.name)
+    except PermissionError:
+        # On Windows, wait a bit and retry
+        import time
+        time.sleep(0.1)
+        os.remove(temp_file.name)
 
 
 @pytest.fixture
 def temp_output_file():
     """Create temporary output file."""
     temp_file = tempfile.NamedTemporaryFile(suffix=".txt", delete=False)
+    temp_file.close()  # Close file handle immediately
     yield temp_file.name
     # Cleanup
-    os.remove(temp_file.name)
+    try:
+        os.remove(temp_file.name)
+    except PermissionError:
+        # On Windows, wait a bit and retry
+        import time
+        time.sleep(0.1)
+        os.remove(temp_file.name)
 
 
 class TestCosmosPromptGen:
@@ -72,14 +86,21 @@ def test_generate_prompt_invalid_file(self):
     def test_generate_prompt_invalid_json(self):
         """Test generating a prompt with invalid JSON file."""
         # Create a temporary file with invalid JSON
-        with tempfile.NamedTemporaryFile(suffix=".json", delete=False) as temp_file:
-            temp_file.write(b"invalid json content")
-            temp_file.flush()
+        temp_file = tempfile.NamedTemporaryFile(suffix=".json", delete=False)
+        temp_file.write(b"invalid json content")
+        temp_file.flush()
+        temp_file.close()  # Close file handle before cleanup
 
+        try:
+            with pytest.raises(ValueError):
+                generate_prompt(temp_file.name)
+        finally:
             try:
-                with pytest.raises(ValueError):
-                    generate_prompt(temp_file.name)
-            finally:
+                os.remove(temp_file.name)
+            except PermissionError:
+                # On Windows, wait a bit and retry
+                import time
+                time.sleep(0.1)
                 os.remove(temp_file.name)
 
     def test_main_function_single_prompt(self, temp_templates_file, temp_output_file):