Adds ARM tests to run in parallel with the x86 GPU tests in pre-merge

.github/actions/docker-build/action.yml

@@ -55,9 +55,10 @@ runs:
           echo "Building Docker image: $image_tag"
           echo "Using Dockerfile: $dockerfile_path"
           echo "Build context: $context_path"
+          echo "Building for native platform (auto-detected by buildx)"
 
-          # Build Docker image
-          docker buildx build --progress=plain --platform linux/amd64 \
+          # Build Docker image for native platform
+          docker buildx build --progress=plain \
             -t isaac-lab-dev \
             -t $image_tag \
             --build-arg ISAACSIM_BASE_IMAGE_ARG="$isaacsim_base_image" \

.github/workflows/build.yml

@@ -150,8 +150,69 @@ jobs:
           exit 1
         fi
 
+  test-general-arm:
+    runs-on: [self-hosted, arm]
+    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 }}
+        dockerfile-path: docker/Dockerfile.arm
+
+    - name: Run General Tests on ARM
+      id: run-general-tests-arm
+      uses: ./.github/actions/run-tests
+      with:
+        test-path: "tools"
+        result-file: "general-tests-arm-report.xml"
+        container-name: "isaac-lab-general-test-arm-$$"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        pytest-options: ""
+        filter-pattern: "not isaaclab_tasks"
+
+    - name: Copy Test Results from General Tests ARM Container
+      run: |
+        CONTAINER_NAME="isaac-lab-general-test-arm-$$"
+        if docker ps -a | grep -q $CONTAINER_NAME; then
+          echo "Copying test results from General Tests ARM container..."
+          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-arm-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests ARM container"
+        fi
+
+    - name: Upload General Test Results ARM
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: general-test-arm-results
+        path: reports/general-tests-arm-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-arm-report.xml" ]; then
+          # Check if the test results contain any failures
+          if grep -q 'failures="[1-9]' reports/general-tests-arm-report.xml || grep -q 'errors="[1-9]' reports/general-tests-arm-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]
+    needs: [test-isaaclab-tasks, test-general, test-general-arm]
     runs-on: [self-hosted, gpu]
     if: always()
 
@@ -179,6 +240,13 @@ jobs:
         name: general-test-results
         path: reports/
 
+    - name: Download General Test Results ARM
+      uses: actions/download-artifact@v4
+      with:
+        name: general-test-arm-results
+        path: reports/
+      continue-on-error: true
+
     - name: Combine All Test Results
       uses: ./.github/actions/combine-results
       with:

.github/workflows/daily-compatibility.yml

@@ -9,7 +9,6 @@ on:
   schedule:
     # Run daily at 8 PM PST (4 AM UTC)
     - cron: '0 4 * * *'
-
   workflow_dispatch:
     inputs:
       isaacsim_version:

docker/Dockerfile.arm

@@ -0,0 +1,116 @@
+# 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
+
+# Nvidia Dockerfiles: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles
+# Please check above link for license information.
+
+# Base image
+ARG ISAACSIM_BASE_IMAGE_ARG
+ARG ISAACSIM_VERSION_ARG
+FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
+ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
+
+# Set default RUN shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Adds labels to the Dockerfile
+LABEL version="2.1.1"
+LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image on ARM64."
+
+# Arguments
+# Path to Isaac Sim root folder
+ARG ISAACSIM_ROOT_PATH_ARG
+ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG}
+# Path to the Isaac Lab directory
+ARG ISAACLAB_PATH_ARG
+ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
+# Home dir of docker user, typically '/root'
+ARG DOCKER_USER_HOME_ARG
+ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
+
+# Set environment variables
+ENV LANG=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+USER root
+
+# Install dependencies and remove cache
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    libglib2.0-0 \
+    ncurses-term \
+    wget && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Note: Skipping CUDA toolkit installation for ARM64 as it's typically not available/needed
+# ARM runners generally don't have NVIDIA GPUs
+
+# Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
+COPY ../ ${ISAACLAB_PATH}
+
+# Ensure isaaclab.sh has execute permissions
+RUN chmod +x ${ISAACLAB_PATH}/isaaclab.sh
+
+# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
+RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim
+
+# Install toml dependency
+RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install toml
+
+# Install apt dependencies for extensions that declare them in their extension.toml
+RUN --mount=type=cache,target=/var/cache/apt \
+    ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# for singularity usage, have to create the directories that will binded
+RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
+    mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
+    mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
+    mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
+    mkdir -p ${DOCKER_USER_HOME}/Documents
+
+# for singularity usage, create NVIDIA binary placeholders
+RUN touch /bin/nvidia-smi && \
+    touch /bin/nvidia-debugdump && \
+    touch /bin/nvidia-persistenced && \
+    touch /bin/nvidia-cuda-mps-control && \
+    touch /bin/nvidia-cuda-mps-server && \
+    touch /etc/localtime && \
+    mkdir -p /var/run/nvidia-persistenced && \
+    touch /var/run/nvidia-persistenced/socket
+
+# installing Isaac Lab dependencies
+# use pip caching to avoid reinstalling large packages
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/isaaclab.sh --install
+
+# Note: Skipping cuRobo installation on ARM as it requires CUDA
+
+# HACK: Remove install of quadprog dependency
+RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
+
+# aliasing isaaclab.sh and python for convenience
+RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
+    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
+    echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \
+    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc && \
+    echo "shopt -s histappend" >> /root/.bashrc && \
+    echo "PROMPT_COMMAND='history -a'" >> /root/.bashrc
+
+# make working directory as the Isaac Lab directory
+# this is the default directory when the container is run
+WORKDIR ${ISAACLAB_PATH}