[pull] release/3.0.0-beta2 from isaac-sim:release/3.0.0-beta2

.github/workflows/publish-images.yaml

@@ -54,16 +54,33 @@ jobs:
         echo "Resolved branches: $arr"
 
   build-and-push-images:
-    name: Build and Push (${{ matrix.branch }})
+    name: Build and Push (${{ matrix.branch }} / ${{ matrix.image.key }})
     needs: resolve-branches
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
     strategy:
       fail-fast: false
       matrix:
         branch: ${{ fromJson(needs.resolve-branches.outputs.branches) }}
+        image:
+        - key: base
+          tag_suffix: ""
+          dockerfile: docker/Dockerfile.base
+          isaacsim_base: "true"
+          # Empty: follow whatever the Isaac Sim base image supports.
+          platforms: ""
+          build_args: --build-arg DOCKER_USER_HOME_ARG=/root
+        - key: kitless
+          # Same repository as the base image, distinguished by a tag suffix.
+          tag_suffix: "-kitless"
+          dockerfile: docker/Dockerfile.kitless
+          # Builds on ubuntu, so it takes none of the Isaac Sim build arguments.
+          isaacsim_base: "false"
+          # No arm64 GPU runner validates this build yet.
+          platforms: linux/amd64
+          build_args: --build-arg DOCKER_USER_HOME_ARG=/home/isaaclab
     concurrency:
-      group: publish-images-${{ matrix.branch }}
+      group: publish-images-${{ matrix.branch }}-${{ matrix.image.key }}
       cancel-in-progress: true
     environment:
       name: postmerge-production
@@ -133,6 +150,15 @@ jobs:
       run: |
         IMAGE_BASE_VERSION="${{ steps.config.outputs.isaacsim_image_tag }}"
         IMAGE="${{ steps.config.outputs.isaaclab_image_name }}"
+        DOCKERFILE="${{ matrix.image.dockerfile }}"
+        SUFFIX="${{ matrix.image.tag_suffix }}"
+
+        # Not every publishable branch carries every Dockerfile. A branch cut
+        # before an image was introduced skips it instead of failing the run.
+        if [ ! -f "$DOCKERFILE" ]; then
+          echo "🟠 $DOCKERFILE does not exist on '$BRANCH_NAME'; nothing to publish."
+          exit 0
+        fi
 
         # Use the SHA actually checked out for this branch (the matrix ref), not
         # github.sha — on a scheduled run github.sha is the default branch HEAD,
@@ -161,14 +187,14 @@ jobs:
 
         case "$BRANCH_NAME" in
           develop)
-            MOVING_TAG="$IMAGE:latest-develop"
-            IMMUTABLE_TAG="$IMAGE:latest-develop-$FULL_SHA"
+            MOVING_TAG="$IMAGE:latest-develop$SUFFIX"
+            IMMUTABLE_TAG="$IMAGE:latest-develop-$FULL_SHA$SUFFIX"
             ;;
           release/*)
             # Sanitize the part after release/ for use as a Docker tag suffix.
             RELEASE_SUFFIX=$(echo "${BRANCH_NAME#release/}" | sed 's/[^a-zA-Z0-9._-]/-/g')
-            MOVING_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX"
-            IMMUTABLE_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX-$FULL_SHA"
+            MOVING_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX$SUFFIX"
+            IMMUTABLE_TAG="$IMAGE:latest-release-$RELEASE_SUFFIX-$FULL_SHA$SUFFIX"
             ;;
           main)
             # main is intentionally not published here; see postmerge-ci.yml for main.
@@ -195,8 +221,14 @@ jobs:
         echo "🔵 Checking if base image supports multiarch..."
         BASE_IMAGE_FULL="${{ steps.config.outputs.isaacsim_image_name }}:${IMAGE_BASE_VERSION}"
         ARCHITECTURES=$(docker manifest inspect "$BASE_IMAGE_FULL" 2>/dev/null | grep -o '"architecture": "[^"]*"' | cut -d'"' -f4 | sort -u)
+        EXPLICIT_PLATFORMS="${{ matrix.image.platforms }}"
 
-        if [ -z "$ARCHITECTURES" ]; then
+        if [ -n "$EXPLICIT_PLATFORMS" ]; then
+          # An image that does not build on the Isaac Sim base pins its own
+          # platforms; the probe above does not describe it.
+          BUILD_PLATFORMS="$EXPLICIT_PLATFORMS"
+          echo "Using explicit platforms: $BUILD_PLATFORMS"
+        elif [ -z "$ARCHITECTURES" ]; then
           echo "🟠 Could not inspect base image manifest: $BASE_IMAGE_FULL - defaulting to linux/amd64 only"
           BUILD_PLATFORMS="linux/amd64"
         else
@@ -231,19 +263,29 @@ jobs:
           TAG_ARGS+=("-t" "$t")
         done
 
+        BUILD_ARG_FLAGS=(
+          --build-arg "ISAACLAB_PATH_ARG=/workspace/isaaclab"
+          ${{ matrix.image.build_args }}
+        )
+        # Only the Isaac Sim-based image declares these; passing them to an image
+        # that does not leaves unconsumed build arguments in the build log.
+        if [ "${{ matrix.image.isaacsim_base }}" = "true" ]; then
+          BUILD_ARG_FLAGS+=(
+            --build-arg "ISAACSIM_BASE_IMAGE_ARG=${{ steps.config.outputs.isaacsim_image_name }}"
+            --build-arg "ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION"
+            --build-arg "ISAACSIM_ROOT_PATH_ARG=/isaac-sim"
+          )
+        fi
+
         echo "🔵 Building and pushing image with tags listed above..."
         if ! docker buildx build \
           --platform "$BUILD_PLATFORMS" \
           --progress=plain \
           "${TAG_ARGS[@]}" \
-          --build-arg ISAACSIM_BASE_IMAGE_ARG=${{ steps.config.outputs.isaacsim_image_name }} \
-          --build-arg ISAACSIM_VERSION_ARG="$IMAGE_BASE_VERSION" \
-          --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
-          --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
-          --build-arg DOCKER_USER_HOME_ARG=/root \
-          --cache-from type=gha \
-          --cache-to type=gha,mode=max \
-          -f docker/Dockerfile.base \
+          "${BUILD_ARG_FLAGS[@]}" \
+          --cache-from type=gha,scope=publish-${{ matrix.image.key }} \
+          --cache-to type=gha,mode=max,scope=publish-${{ matrix.image.key }} \
+          -f "$DOCKERFILE" \
           --push .; then
           echo "🔴 docker buildx build/push failed for tags:"
           printf '  - %s\n' "${TAGS[@]}"