[CI] Cross-platform — Part 3: Windows workflow

.github/scripts/windows_ci_caches.ps1

@@ -0,0 +1,117 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# The Warp kernel and OVRTX shader caches of the Linux test jobs (.github/actions/warp-cache-key,
+# .github/actions/ovrtx-shader-cache), each in its own Windows collection. Those actions run bash,
+# which resolves to WSL on these runners.
+#
+# Usage: windows_ci_caches.ps1 keys|restored|growth
+#
+#   keys      resolves each cache's key and directory and exports the paths the tests read
+#   restored  reports each restore and checks the paths took effect; a save also fingerprints them
+#   growth    reports each cache's size; a save also reports whether the run changed it
+#
+# The directories survive on a reused runner, so a pull request keeps what earlier jobs compiled.
+# CACHE_MODE=save clears them before the restore, so a save publishes only the restored snapshot
+# and what that run compiled.
+
+param([Parameter(Mandatory)][ValidateSet('keys', 'restored', 'growth')][string]$Mode)
+
+$saving = $env:CACHE_MODE -eq 'save'
+# warp: Warp kernels. kit: driver shaders Kit's RTX renderer compiles into its default directory.
+# kitless: driver shaders the OVRTX renderer compiles, redirected by OVRTX_SHADER_CACHE_PATH.
+$caches = [ordered]@{
+    warp    = "$env:RUNNER_TOOL_CACHE\isaaclab-warp-cache"
+    kit     = "$env:UV_PROJECT_ENVIRONMENT\Lib\site-packages\isaacsim\kit\cache\nv_shadercache"
+    kitless = "$env:RUNNER_TOOL_CACHE\isaaclab-ovrtx-shader-cache"
+}
+
+function Write-StepOutput([string[]]$Lines) {
+    $Lines | Out-File -FilePath $env:GITHUB_OUTPUT -Encoding utf8 -Append
+}
+
+function Get-Fingerprint([string]$Dir) {
+    uv run --frozen --no-sync python .github/actions/run-package-tests/warp_cache_inventory.py $Dir --fingerprint
+}
+
+function Get-Megabytes([string]$Dir) {
+    [int]((Get-ChildItem -Recurse -File -Force $Dir | Measure-Object Length -Sum).Sum / 1MB)
+}
+
+function ConvertTo-KeyPart([string]$Value) {
+    $Value -replace '[^A-Za-z0-9._-]', '_'
+}
+
+switch ($Mode) {
+    'keys' {
+        $warpVersions = uv run --frozen --no-sync python .github/actions/warp-cache-key/collection_id.py
+        if ($LASTEXITCODE -ne 0) { exit 1 }
+        $driver = (nvidia-smi --query-gpu=driver_version --format=csv,noheader | Select-Object -First 1).Trim()
+        $arch = (nvidia-smi --query-gpu=compute_cap --format=csv,noheader | Select-Object -First 1).Trim().Replace('.', '')
+        # The installed versions stand in for the image tag and the ovrtx pin the Linux keys use.
+        $isaacsim, $ovrtx = (uv run --frozen --no-sync python -c "from importlib.metadata import version; print(version('isaacsim'), version('ovrtx'))") -split ' '
+        if (-not $driver -or -not $arch -or -not $ovrtx) {
+            "::error::Could not read the GPU driver, compute capability, or Isaac Sim and ovrtx versions"
+            exit 1
+        }
+        $gpu = "v1-$env:RUNNER_OS-$env:RUNNER_ARCH-sm$arch-drv$(ConvertTo-KeyPart $driver)"
+        $collections = @{
+            warp    = "warp-v2-$env:RUNNER_OS-$env:RUNNER_ARCH-$warpVersions"
+            kit     = "ovrtx-kit-$gpu-isaacsim$(ConvertTo-KeyPart $isaacsim)"
+            kitless = "ovrtx-kitless-$gpu-ovrtx$(ConvertTo-KeyPart $ovrtx)"
+        }
+        foreach ($name in $caches.Keys) {
+            $dir = $caches[$name]
+            if ($saving -and (Test-Path $dir)) { Remove-Item -Recurse -Force $dir }
+            New-Item -ItemType Directory -Force $dir | Out-Null
+            $collection = $collections[$name]
+            "${name}: $collection"
+            Write-StepOutput @(
+                "$name-collection=$collection"
+                "$name-key=$collection-$env:GITHUB_SHA-$env:GITHUB_RUN_ID-$env:GITHUB_RUN_ATTEMPT"
+                "$name-restore-keys=$collection-"
+                "$name-dir=$dir"
+            )
+        }
+        @(
+            "WARP_CACHE_PATH=$($caches.warp)"
+            "OVRTX_SHADER_CACHE_PATH=$($caches.kitless)"
+            "OVRTX_KIT_SHADER_CACHE_PATH=$($caches.kit)"
+        ) | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    }
+    'restored' {
+        foreach ($name in $caches.Keys) {
+            $hit = [Environment]::GetEnvironmentVariable("$($name.ToUpper())_HIT")
+            if ($hit) { "$name cache hit: $hit" } else { "::warning::$name cache miss" }
+            "$name cache: $(Get-Megabytes $caches[$name]) MB"
+        }
+        # tools/verify_warp_cache.py's path check, which fails on the \\?\ prefix Warp reports on
+        # Windows; its version check always passes on an environment synced from uv.lock.
+        $reported = uv run --frozen --no-sync python -c "import warp as wp; wp.config.log_level = wp.LOG_WARNING; wp.init(); print(wp.config.kernel_cache_dir)" | Select-Object -Last 1
+        if (-not "$reported".Replace('\\?\', '').StartsWith($caches.warp, [StringComparison]::OrdinalIgnoreCase)) {
+            "::error::Warp resolved its kernel cache to $reported, not $($caches.warp)"
+            exit 1
+        }
+        uv run --frozen --no-sync python tools/verify_ovrtx_shader_cache.py
+        if ($LASTEXITCODE -ne 0) { exit 1 }
+        if ($saving) {
+            foreach ($name in $caches.Keys) { Write-StepOutput "$name-fingerprint=$(Get-Fingerprint $caches[$name])" }
+        }
+    }
+    'growth' {
+        foreach ($name in $caches.Keys) {
+            $dir = $caches[$name]
+            # Every snapshot is a new immutable cache entry, so a save that only read back what it
+            # restored, or found nothing, publishes nothing.
+            $changed = 'false'
+            if ($saving -and (Get-ChildItem -Recurse -File $dir | Select-Object -First 1)) {
+                $before = [Environment]::GetEnvironmentVariable("$($name.ToUpper())_BEFORE")
+                if ((Get-Fingerprint $dir) -ne $before) { $changed = 'true' }
+            }
+            "$name cache: $(Get-Megabytes $dir) MB, changed=$changed"
+            Write-StepOutput "$name-changed=$changed"
+        }
+    }
+}

.github/workflows/arm-ci.yml

@@ -69,7 +69,8 @@ jobs:
       contents: read
       pull-requests: read
     outputs:
-      should_run: ${{ steps.detect.outputs.should_run }}
+      # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+      should_run: 'false'
     steps:
     - uses: actions/checkout@v6
       with:

.github/workflows/docs.yaml

@@ -55,8 +55,8 @@ jobs:
     name: Build Latest Docs
     runs-on: ubuntu-latest
     needs: [doc-build-type]
-    # run on non-deploy branches to build current version docs only
-    if: needs.doc-build-type.outputs.trigger-deploy != 'true'
+    # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+    if: false
 
     steps:
     - name: Checkout code

.github/workflows/install-ci.yml

@@ -127,7 +127,8 @@ jobs:
   install-tests-x86:
     name: Installation Tests (x86)
     needs: [changes]
-    if: needs.changes.outputs.run_install_tests == 'true'
+    # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+    if: false
     runs-on: [self-hosted, gpu]
     timeout-minutes: 90
     steps:
@@ -146,7 +147,8 @@ jobs:
   install-tests-arm:
     name: Installation Tests (ARM)
     needs: [changes]
-    if: needs.changes.outputs.run_install_tests == 'true'
+    # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+    if: false
     runs-on: [self-hosted, aarch64]
     timeout-minutes: 90
     steps:
@@ -172,3 +174,55 @@ jobs:
         continue-on-error: true
         run: |
           .github/scripts/runner_health.sh post-test
+
+  # Windows has no Docker, so the suite runs natively. The composite actions above are
+  # bash and pin setup-uv v6, which crashes on exit on these runners
+  # (astral-sh/setup-uv#686).
+  install-tests-windows:
+    name: Installation Tests (Windows)
+    needs: [changes]
+    # TEMP (revert before review): no signal for the Windows CI Warp cache change.
+    if: false
+    runs-on: [self-hosted, gpu-windows]
+    timeout-minutes: 90
+    defaults:
+      run:
+        shell: powershell
+    env:
+      PYTHONUTF8: "1"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6
+
+      - name: Set up uv
+        uses: astral-sh/setup-uv@c18668ad3cf93ea998bef934396af7bb5c839dc7  # v10.2.0
+        with:
+          version: "0.12.9"
+
+      # By name, Windows resolves bash to WSL's launcher in System32 ahead of PATH.
+      - name: Build wheel
+        run: |
+          & "C:\Program Files\Git\bin\bash.exe" tools/wheel_builder/build.sh
+          if ($LASTEXITCODE -ne 0) { exit $LASTEXITCODE }
+
+      - name: Run Tests
+        env:
+          TEST_FILTER: ${{ inputs.test_filter }}
+        run: |
+          $wheel = @(Get-ChildItem tools/wheel_builder/build/dist -Filter "isaaclab-*.whl")
+          if ($wheel.Count -ne 1) { throw "expected one wheel, found $($wheel.Count)" }
+          # pytest's default base sits under the NetworkService profile, deep enough that
+          # Kit's DLLs in a venv there pass the 260-character path limit.
+          $pytestArgs = @("--run-gpu", "--tb=short", "-sv", "--basetemp=$env:RUNNER_TEMP\i", "--junitxml=${{ github.workspace }}\results\results.xml")
+          if ($env:TEST_FILTER) { $pytestArgs += @("-k", $env:TEST_FILTER) }
+          uv run --no-project --python 3.12 --with pytest python tools/run_install_ci.py native --wheel $wheel[0].FullName -- @pytestArgs
+          exit $LASTEXITCODE
+
+      - name: Upload JUnit XML report
+        if: always()
+        uses: actions/upload-artifact@v7
+        with:
+          name: install-ci-junit-windows
+          path: ${{ github.workspace }}/results/results.xml
+          if-no-files-found: ignore
+          retention-days: 7

.github/workflows/license-check.yaml

@@ -15,6 +15,8 @@ concurrency:
 
 jobs:
   license-check:
+    # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+    if: false
     runs-on: ubuntu-24.04
 
     steps:
@@ -158,6 +160,8 @@ jobs:
         fi
   docker-license-check:
     name: Docker Dependency Licenses Check
+    # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+    if: false
     runs-on: [self-hosted, gpu]
     timeout-minutes: 90
 

.github/workflows/test-multi-gpu-pytest.yaml

@@ -40,8 +40,9 @@ jobs:
     name: Detect Changes
     runs-on: ubuntu-latest
     outputs:
-      unit: ${{ steps.unit.outputs.should_run }}
-      smoke: ${{ steps.smoke.outputs.should_run }}
+      # TEMP (revert before review): masked while iterating Windows CI on PR 5700.
+      unit: 'false'
+      smoke: 'false'
     steps:
       - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6
         with: