[CI] Cross-platform — Part 1: pytest markers and shared scaffolding (base)

pyproject.toml

@@ -197,6 +197,8 @@ ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty"
 markers = [
     "isaacsim_ci: mark test to run in isaacsim ci",
     "device_split: re-invoke this file once per device (CPU and GPU) in CI due to process-global device locks (e.g., ovphysx<=0.3.7 gap G5)",
+    "windows_ci: mark test to run on Windows platforms in CI",
+    "arm_ci: mark test to run on ARM platforms in CI (e.g. NVIDIA DGX Spark)",
 ]
 
 # Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.

source/isaaclab/changelog.d/jichuanh-windows-spark-ci-min.skip

@@ -0,0 +1 @@
+Skip changelog: CI/test-infrastructure foundation (no user-facing API change). Registers the windows_ci and arm_ci pytest markers in pyproject.toml, teaches AppLauncher to recognize them in argv so they do not leak into Isaac Sim's argparse, and moves the AssetConverterBase USD scratch dir from hardcoded /tmp/IsaacLab to tempfile.gettempdir() for cross-platform compatibility. Test tagging and the cross-platform workflow files (arm-ci.yaml, windows-ci.yaml) ship in follow-up PRs.

source/isaaclab/isaaclab/app/app_launcher.py

@@ -1193,12 +1193,18 @@ def _create_app(self):
             sys.stdout = open(os.devnull, "w")  # noqa: SIM115
 
         # pytest may have left some things in sys.argv, this will check for some of those
-        # do a mark and sweep to remove any -m pytest and -m isaacsim_ci and -c **/pyproject.toml
+        # do a mark and sweep to remove any -m pytest, -m isaacsim_ci, -m windows_ci, -m arm_ci,
+        # and -c **/pyproject.toml
         indexes_to_remove = []
         for idx, arg in enumerate(sys.argv[:-1]):
             if arg == "-m":
                 value_for_dash_m = sys.argv[idx + 1]
-                if "pytest" in value_for_dash_m or "isaacsim_ci" in value_for_dash_m:
+                if (
+                    "pytest" in value_for_dash_m
+                    or "isaacsim_ci" in value_for_dash_m
+                    or "windows_ci" in value_for_dash_m
+                    or "arm_ci" in value_for_dash_m
+                ):
                     indexes_to_remove.append(idx)
                     indexes_to_remove.append(idx + 1)
             if arg.startswith("--config-file=") and "pyproject.toml" in arg:

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
@@ -34,9 +35,10 @@ class AssetConverterBase(abc.ABC):
     can be set to True.
 
     When no output directory is defined, lazy conversion is deactivated and the generated USD file is
-    stored in folder ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are generated
-    at runtime. The random identifiers help avoid a race condition where two simultaneously triggered conversions
-    try to use the same directory for reading/writing the generated files.
+    stored in folder ``<tempdir>/IsaacLab/usd_{date}_{time}_{random}``, where ``<tempdir>`` is the system
+    temporary directory (e.g. ``/tmp`` on POSIX, ``%TEMP%`` on Windows) and the parameters in braces are
+    generated at runtime. The random identifiers help avoid a race condition where two simultaneously
+    triggered conversions try to use the same directory for reading/writing the generated files.
 
     .. note::
         Changes to the parameters :obj:`AssetConverterBaseCfg.asset_path`, :obj:`AssetConverterBaseCfg.usd_dir`, and
@@ -64,9 +66,9 @@ 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 dir 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