Esekkin/bisect ci failures

[nvsekkin]

Description

bisect ci failures

Fixes # (issue)

bisect ci failures

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR bisects CI failures by reverting two previously merged commits — the Cassie Newton joint-drive fix (#5251) and the Python 3.12 version pin (#5213) — and applies a Docker CI fix to Dockerfile.base and Dockerfile.curobo. The net effect is that develop regresses on both features until a corrected version of each is re-submitted.

Confidence Score: 5/5

• Safe to merge as a bisect/diagnostic branch; all remaining findings are P2 style/policy items that do not block the CI-fix goal.
• No P0 or P1 issues found. The two reverts are clean and self-consistent (code, CHANGELOG versions, and extension.toml all agree). The Docker CI fix is scoped to Dockerfile changes. The open findings — missing changelog entries for source-directory reverts and a vague commit message — are both P2 and do not affect runtime correctness or security.
• source/isaaclab/docs/CHANGELOG.rst and source/isaaclab_assets/docs/CHANGELOG.rst are missing entries for the reverted source changes.

Important Files Changed

Filename	Overview
docker/Dockerfile.base	CI fix applied; copyright year shows 2022-2025 (not updated to 2026, which is acceptable for existing files per AGENTS.md).
docker/Dockerfile.curobo	CI fix applied; uses hardcoded python3.12 path in PYTHONPATH which references Isaac Sim's bundled interpreter — correct; copyright year 2022-2025 acceptable for existing file.
.github/workflows/license-check.yaml	Reverted to pre-Python-pin state; uses actions/checkout@v6 and setup-python@v5 as floating tags instead of SHA-pinned hashes — consistent with pre-commit.yaml pattern already in the repo.
source/isaaclab/setup.py	Reverted Python version pin; python_requires is back to >=3.10 with classifiers still listing 3.11 and 3.12 — consistent with other packages and template.
source/isaaclab_assets/isaaclab_assets/robots/cassie.py	Reverted to pre-Cassie-Newton-fix state; uses ImplicitActuatorCfg without force-create-drives option — intentional revert for CI bisect.
source/isaaclab/docs/CHANGELOG.rst	Reverted to 4.6.0 state; no new entry added for the revert of source changes (schemas.py, cassie.py). AGENTS.md requires a changelog entry for every change targeting the source directory.
source/isaaclab_assets/docs/CHANGELOG.rst	Reverted to 0.3.1 state; no new changelog entry for the revert of cassie.py changes, violating AGENTS.md changelog policy.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["develop @ caab0dec\n(Cassie Newton fix + Python 3.12 pin merged)"] --> B["8910efe0\nRevert Cassie Newton fix\n(schemas.py, cassie.py, extension.toml, CHANGELOG)"]
    B --> C["5ab304b8\nRevert Python 3.12 pin\n(all setup.py files, license-check.yaml,\nlicense-exceptions.json, haply docs)"]
    C --> D["15da8d51 HEAD\nApply CI fix\n(Dockerfile.base, Dockerfile.curobo only)"]
    D --> E["Net result on develop:\n- python_requires ≥3.10\n- Cassie has no Newton drive fix\n- Docker CI workarounds applied"]

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Comments Outside Diff (1)

1. docker/Dockerfile.base, line 1 (link)

   "Apply CI fix" commit message is not self-describing

   The commit that modifies Dockerfile.base and Dockerfile.curobo is titled "Apply CI fix" with no description of what was broken or what was changed. AGENTS.md asks for commit bodies that explain "what and why". Without that context, it will be difficult to bisect or revert this fix in the future if it causes regressions. Please add a brief body to the commit (or at minimum expand the PR description to link to the failing CI job/test and describe the root cause).

_{Reviews (1): Last reviewed commit: "Apply CI fix" | Re-trigger Greptile}

[greptile-apps]

Missing changelog entries for source-directory reverts

AGENTS.md requires a changelog entry for every change targeting the source/ directory. This PR reverts schemas.py, schemas_cfg.py, and cassie.py (all under source/) and removes the changelog entries that documented those additions, but adds no new entry to record the removal. If these reverts land in a release, the changelog will silently drop the feature with no user-visible notice or migration guidance.

A bump to e.g. 4.6.1 (and a corresponding entry in source/isaaclab_assets/docs/CHANGELOG.rst at e.g. 0.3.2) with a Removed section explaining why the Newton-drive fix for Cassie was reverted would keep the history accurate. The same applies to the Python-version-pin revert across all setup.py files.

[isaaclab-review-bot]

🤖 Isaac Lab Review Bot

Summary

This PR reverts two previously merged changes — PR #5251 (Cassie Newton joint drive fix with ensure_drives_exist) and PR #5213 (Python 3.12 pinning) — to bisect CI failures. It also includes a CI fix commit that downgrades the license-check workflow to Isaac Sim 5.1.0, updates Docker images to install nvidia-srl-usd-to-urdf explicitly (previously bundled), and adjusts license exception entries. The revert logic is clean, but there are a few inconsistencies worth addressing.

Design Assessment

Design is sound. Reverting suspected CI-breaking commits to bisect failures is the right approach. The additional CI fix (Docker + license-check changes) is a reasonable forward-fix for the older Isaac Sim version. The ensure_drives_exist feature and Python 3.12 pinning can be re-landed once CI stability is confirmed.

Findings

🟡 Warning: isaaclab_contrib classifiers diverge from all other packages — source/isaaclab_contrib/setup.py:59-62

All other packages in this PR use the classifier pattern Python :: 3.11, Python :: 3.12 with Isaac Sim :: 5.0.0, 5.1.0, 6.0.0. However, isaaclab_contrib uses Python :: 3.10, Python :: 3.11 with Isaac Sim :: 4.5.0, 5.0.0 — dropping both 3.12 and 6.0.0 support entirely. If isaaclab_contrib genuinely only supports older Isaac Sim versions, this is fine but should be documented. If this was a copy-paste divergence in the revert, it should be aligned with the other packages.

🟡 Warning: Docker symlink assumes nvidia-srl-usd-to-urdf installs into Kit python's nvidia/srl — docker/Dockerfile.base:116-118

The pip install --no-deps nvidia-srl-usd-to-urdf installs into the Kit python at ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/, but the symlink source still points to ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl. This works because isaaclab.sh -p -m pip uses the Kit python, but the comment says the package "was previously bundled in the Isaac Sim image but has been removed" — if the package layout of nvidia-srl-usd-to-urdf doesn't install to nvidia/srl, the symlink will silently fail to resolve. Consider adding a build-time check (e.g., ls ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl between the pip install and the symlink) to fail fast during the Docker build if the path doesn't exist.

🔵 Suggestion: Hardcoded Python 3.12 paths in Docker may conflict with Python version downgrade — docker/Dockerfile.base:109-110, 117

While this PR downgrades python_requires across all packages to >=3.10 (or >=3.11), the Dockerfiles still hardcode python3.12 in PYTHONPATH, LD_LIBRARY_PATH, and the symlink paths. This is fine as long as the Docker base image ships Python 3.12, but creates a subtle inconsistency — the setup.py files claim 3.10/3.11 support while the Docker build only works with 3.12. Worth a comment noting that Docker images remain 3.12-only even though the packages advertise broader compatibility.

🔵 Suggestion: License-check CI comment could be more specific — .github/workflows/license-check.yaml:55

The comment # Adjust as needed on the Python version line is vague. Since this is a deliberate downgrade from 3.12 to 3.11 for CI stability, consider something like # Python 3.11 for Isaac Sim 5.1.0 compatibility to document the intent.

Test Coverage

• Bug fix PR: No regression tests needed — this is a revert to bisect CI failures, not a new fix. The reverted features had their own tests.
• Coverage assessment: Adequate. The changes are to CI infrastructure, Docker, setup.py classifiers, and configuration reverts. No runtime behavioral changes require new tests.

CI Status

• ✅ pre-commit, labeler, link checker: passing
• ⏳ license-check, Docker builds, docs builds: pending
• The license-check and Docker builds are the ones most affected by this PR — their results will validate whether the CI fix is correct.

Verdict

Minor fixes needed

The revert approach is correct and the CI fix changes are well-targeted. The isaaclab_contrib classifier divergence is the main item to verify — confirm whether it's intentional or a revert artifact. The Docker symlink concern is low-risk but worth a defensive check. Overall a clean bisection PR that should unblock CI.

[isaaclab-review-bot]

🟡 Warning: The classifiers here diverge from every other package in this PR. All others use Python :: 3.11/3.12 + Isaac Sim :: 5.0.0/5.1.0/6.0.0, but contrib uses Python :: 3.10/3.11 + Isaac Sim :: 4.5.0/5.0.0 — dropping 3.12 and 6.0.0 entirely.

Is this intentional (contrib only supports older Isaac Sim versions) or a revert artifact? If intentional, a brief comment here would help future readers understand why contrib has different compatibility.

[isaaclab-review-bot]

🔵 Suggestion: Since nvidia-srl-usd-to-urdf was previously bundled and is now explicitly installed, the symlink on line 118 assumes the pip package installs its content at nvidia/srl within site-packages. Consider adding a quick sanity check between the install and symlink (e.g., && test -d ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl) to fail the Docker build early if the package layout changes in a future version.