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`]

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):

source/isaaclab/test/assets/test_articulation.py

@@ -40,6 +40,10 @@
 from isaaclab_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG, SHADOW_HAND_CFG  # isort:skip
 
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
+
 def generate_articulation_cfg(
     articulation_type: str,
     stiffness: float | None = 10.0,

source/isaaclab/test/assets/test_deformable_object.py

@@ -29,6 +29,9 @@
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
 from isaaclab.sim import build_simulation_context
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
 
 def generate_cubes_scene(
     num_cubes: int = 1,

source/isaaclab/test/assets/test_rigid_object.py

@@ -39,6 +39,9 @@
     random_orientation,
 )
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
 
 def generate_cubes_scene(
     num_cubes: int = 1,

source/isaaclab/test/assets/test_rigid_object_collection.py

@@ -37,6 +37,9 @@
     subtract_frame_transforms,
 )
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
 
 def generate_cubes_scene(
     num_envs: int = 1,

source/isaaclab/test/assets/test_surface_gripper.py

@@ -38,6 +38,10 @@
 # from isaacsim.robot.surface_gripper import GripperView
 
 
+# Add markers for Windows and ARM platform support
+pytestmark = [pytest.mark.windows, pytest.mark.arm]
+
+
 def generate_surface_gripper_cfgs(
     kinematic_enabled: bool = False,
     max_grip_distance: float = 0.1,

source/isaaclab/test/controllers/test_local_frame_task.py

@@ -8,6 +8,11 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -19,11 +24,13 @@
 import numpy as np
 from pathlib import Path
 
-import pinocchio as pin
 import pytest
 
-from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
-from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
+if sys.platform != "win32":
+    import pinocchio as pin
+
+    from isaaclab.controllers.pink_ik.local_frame_task import LocalFrameTask
+    from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
 
 # class TestLocalFrameTask:
 #     """Test suite for LocalFrameTask class."""

source/isaaclab/test/controllers/test_null_space_posture_task.py

@@ -7,12 +7,14 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
     import pinocchio as pin  # noqa: F401
-else:
-    import pinocchio  # noqa: F401
-    import pinocchio as pin  # noqa: F401
 
 from isaaclab.app import AppLauncher
 
@@ -24,11 +26,13 @@
 import numpy as np
 
 import pytest
-from pink.configuration import Configuration
-from pink.tasks import FrameTask
-from pinocchio.robot_wrapper import RobotWrapper
 
-from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
+if sys.platform != "win32":
+    from pink.configuration import Configuration
+    from pink.tasks import FrameTask
+    from pinocchio.robot_wrapper import RobotWrapper
+
+    from isaaclab.controllers.pink_ik.null_space_posture_task import NullSpacePostureTask
 
 
 class TestNullSpacePostureTaskSimplifiedRobot:

source/isaaclab/test/controllers/test_pink_ik.py

@@ -8,6 +8,11 @@
 # pinocchio is required by the Pink IK controller
 import sys
 
+import pytest
+
+# Skip all tests in this module on Windows - MUST be before any other imports
+pytestmark = pytest.mark.skipif(sys.platform == "win32", reason="Test not supported on Windows")
+
 if sys.platform != "win32":
     import pinocchio  # noqa: F401
 
@@ -28,16 +33,19 @@
 
 import omni.usd
 import pytest
-from pink.configuration import Configuration
-from pink.tasks import FrameTask
 
 from isaaclab.utils.math import axis_angle_from_quat, matrix_from_quat, quat_from_matrix, quat_inv
 
 import isaaclab_tasks  # noqa: F401
-import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
-import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
+if sys.platform != "win32":
+    from pink.configuration import Configuration
+    from pink.tasks import FrameTask
+
+    import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
+    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
+
 
 def load_test_config(env_name):
     """Load test configuration based on environment type."""