Merge branch 'main' into fix/docs-typos

.github/workflows/postmerge-ci-buildspec.yml

@@ -5,8 +5,8 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
+      - docker build -t $IMAGE_NAME:latest-1.2 --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
       - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.1
-      - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.2
+      - docker tag $IMAGE_NAME:latest-1.2 $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER

.github/workflows/premerge-ci-buildspec.yml

@@ -4,7 +4,7 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-064d9f428f75cebb1 --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-0f7f7fb14ee15d5ae --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
       - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
       - EC2_INSTANCE_IP=$(aws ec2 describe-instances --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
       - mkdir -p ~/.ssh

tools/run_all_tests.py

@@ -307,9 +307,54 @@ def test_all(
     return num_failing + num_timing_out == 0
 
 
+def warm_start_app():
+    """Warm start the app to compile shaders before running the tests."""
+    print("[INFO] Warm starting the simulation app before running tests.")
+    before = time.time()
+    # headless experience
+    warm_start_output = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            (
+                "from omni.isaac.lab.app import AppLauncher; app_launcher = AppLauncher(headless=True);"
+                " app_launcher.app.close()"
+            ),
+        ],
+        capture_output=True,
+    )
+    if len(warm_start_output.stderr) > 0:
+        logging.error(f"Error warm starting the app: {str(warm_start_output.stderr)}")
+        exit(1)
+
+    # headless experience with rendering
+    warm_start_rendering_output = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            (
+                "from omni.isaac.lab.app import AppLauncher; app_launcher = AppLauncher(headless=True,"
+                " enable_cameras=True); app_launcher.app.close()"
+            ),
+        ],
+        capture_output=True,
+    )
+    if len(warm_start_rendering_output.stderr) > 0:
+        logging.error(f"Error warm starting the app with rendering: {str(warm_start_rendering_output.stderr)}")
+        exit(1)
+
+    after = time.time()
+    time_elapsed = after - before
+    print(f"[INFO] Warm start completed successfully in {time_elapsed:.2f} s")
+
+
 if __name__ == "__main__":
     # parse command line arguments
     args = parse_args()
+
+    # warm start the app
+    warm_start_app()
+
     # add tests to skip to the list of tests to skip
     tests_to_skip = TESTS_TO_SKIP
     tests_to_skip += args.skip_tests