Fix/windows ci tests

.github/ISSUE_TEMPLATE/question.md

@@ -18,4 +18,4 @@ Describe the versions that you are currently using:
 
 <!-- Please complete the following description. -->
 - Isaac Lab Version: [e.g. 2.3.0]
-- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- Isaac Sim Version: [e.g. 6.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]

.github/workflows/build.yml

@@ -150,8 +150,153 @@ 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
+        }
+
+        python -m 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..."
+        python -m pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+
+        # Accept Isaac Sim pip EULA
+        $env:ISAACSIM_ACCEPT_EULA = "YES"
+
+        # 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:ISAACSIM_ACCEPT_EULA = "YES"
+        $env:ISAAC_SIM_HEADLESS = "1"
+        $env:ISAAC_SIM_LOW_MEMORY = "1"
+        $env:PYTHONUNBUFFERED = "1"
+        $env:PYTHONIOENCODING = "utf-8"
+        $env:WINDOWS_PLATFORM = "true"
+
+        python -m pip show isaacsim
+
+        # Run tests using isaaclab.bat with pytest
+        # Run pytest directly with filter to exclude isaaclab_tasks
+        & python -m pytest tools `
+          --ignore=tools/conftest.py `
+          -m "windows" `
+          -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 +323,14 @@ 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

isaaclab.bat

@@ -364,7 +364,7 @@ if "%arg%"=="-i" (
     call :ensure_cuda_torch
 
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
-        set ext_folder="%%d"
+        set "ext_folder=%%d"
         call :install_isaaclab_extension
     )
     rem install the python packages for supported reinforcement learning frameworks
@@ -400,7 +400,7 @@ if "%arg%"=="-i" (
     call :ensure_cuda_torch
 
     for /d %%d in ("%ISAACLAB_PATH%\source\*") do (
-        set ext_folder="%%d"
+        set "ext_folder=%%d"
         call :install_isaaclab_extension
     )
     rem install the python packages for supported reinforcement learning frameworks

pytest.ini

@@ -1,3 +1,5 @@
 [pytest]
 markers =
     isaacsim_ci: mark test to run in isaacsim ci
+    windows: mark test to run on windows platforms
+    arm: mark test to run on ARM platforms

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 +35,31 @@ 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 +88,22 @@ 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):

scripts/tools/test/test_hdf5_to_mp4.py

@@ -19,6 +19,8 @@
 def temp_hdf5_file():
     """Create temporary HDF5 file with test data."""
     temp_file = tempfile.NamedTemporaryFile(suffix=".h5", delete=False)
+    temp_file.close()  # Close file handle before opening with h5py
+
     with h5py.File(temp_file.name, "w") as h5f:
         # Create test data structure
         for demo_id in range(2):  # Create 2 demos
@@ -42,7 +44,14 @@ def temp_hdf5_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

scripts/tools/test/test_mp4_to_hdf5.py

@@ -20,6 +20,8 @@
 def temp_hdf5_file():
     """Create temporary HDF5 file with test data."""
     temp_file = tempfile.NamedTemporaryFile(suffix=".h5", delete=False)
+    temp_file.close()  # Close file handle before opening with h5py
+
     with h5py.File(temp_file.name, "w") as h5f:
         # Create test data structure for 2 demos
         for demo_id in range(2):
@@ -49,7 +51,14 @@ def temp_hdf5_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(scope="class")
@@ -84,9 +93,17 @@ def temp_videos_dir():
 def temp_output_file():
     """Create temporary output file."""
     temp_file = tempfile.NamedTemporaryFile(suffix=".h5", 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 TestMP4ToHDF5:
@@ -159,7 +176,9 @@ def test_main_function(self, temp_hdf5_file, temp_videos_dir, temp_output_file):
             main()
 
             # Check if output file was created with correct data
-            with h5py.File(temp_output_file, "r") as f:
+            # Use explicit close() to ensure file is closed on Windows before cleanup
+            f = h5py.File(temp_output_file, "r")
+            try:
                 # Check if original demos were copied
                 assert "data/demo_0" in f
                 assert "data/demo_1" in f
@@ -176,6 +195,8 @@ def test_main_function(self, temp_hdf5_file, temp_videos_dir, temp_output_file):
                     assert f"data/demo_{demo_id}/obs/gripper_pos" in f
                     assert f"data/demo_{demo_id}/obs/table_cam" in f
                     assert f"data/demo_{demo_id}/obs/wrist_cam" in f
+            finally:
+                f.close()
         finally:
             # Restore original argv
             sys.argv = original_argv

source/isaaclab/isaaclab/sim/converters/asset_converter_base.py

@@ -9,6 +9,7 @@
 import os
 import pathlib
 import random
+import tempfile
 from datetime import datetime
 
 from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
@@ -64,9 +65,9 @@ def __init__(self, cfg: AssetConverterBaseCfg):
 
         # resolve USD directory name
         if cfg.usd_dir is None:
-            # a folder in "/tmp/IsaacLab" by the name: usd_{date}_{time}_{random}
+            # a folder in the system temp directory by the name: IsaacLab/usd_{date}_{time}_{random}
             time_tag = datetime.now().strftime("%Y%m%d_%H%M%S")
-            self._usd_dir = f"/tmp/IsaacLab/usd_{time_tag}_{random.randrange(10000)}"
+            self._usd_dir = os.path.join(tempfile.gettempdir(), "IsaacLab", f"usd_{time_tag}_{random.randrange(10000)}")
         else:
             self._usd_dir = cfg.usd_dir
 

source/isaaclab/test/app/test_non_headless_launch.py

@@ -25,6 +25,9 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.utils import configclass
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
 
 @configclass
 class SensorsSceneCfg(InteractiveSceneCfg):