Upload v2d project (excluding data and .venv) (part 14)

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# 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

name: Python Dependency Licenses Check

on:
  pull_request:
    types: [opened, synchronize, reopened]

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  license-check:
    runs-on: ubuntu-24.04

    steps:
    - name: Checkout code
      uses: actions/checkout@v6
      with:
        filter: tree:0

    # - name: Install jq
    #   run: sudo apt-get update && sudo apt-get install -y jq

    - name: Clean up disk space
      run: |
        # Remove pre-installed tools
        rm -rf /opt/hostedtoolcache
        rm -rf /usr/share/dotnet
        rm -rf /opt/ghc
        sudo rm -rf /usr/local/lib/android
        rm -rf /usr/share/swift
        rm -rf /usr/local/share/boost
        sudo rm -rf /usr/local/.ghcup
        sudo rm -rf /usr/local/lib/node_modules
        sudo rm -rf /usr/local/share/chromium
        sudo rm -rf /usr/local/share/powershell
        # Clean apt cache
        sudo apt-get clean
        sudo rm -rf /var/lib/apt/lists/*
        # Docker cleanup
        docker container prune -f
        docker image prune -af
        docker volume prune -f
        docker system prune -af

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: '3.12'

    - name: Install dependencies using ./isaaclab.sh -i
      env:
        DEBUG: 1
        OMNI_KIT_ACCEPT_EULA: yes
        ACCEPT_EULA: Y
        ISAACSIM_ACCEPT_EULA: YES
      run: |
        # first install isaac sim
        pip install --upgrade pip
        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '6.0.1.0' }}' --extra-index-url https://pypi.nvidia.com
        chmod +x ./isaaclab.sh  # Make sure the script is executable
        # install all lab dependencies
        ./isaaclab.sh -i
    - name: Install pip-licenses
      run: |
        pip install --no-cache-dir pip-licenses
        pip install --no-cache-dir -r tools/template/requirements.txt
        pip install --no-cache-dir -r docs/requirements.txt
    # Optional: Print the license report for visibility
    - name: Print License Report
      run: pip-licenses --from=mixed --format=markdown

    # Print pipdeptree
    - name: Print pipdeptree
      run: |
        # clean up pip cache
        pip cache purge
        pip install pipdeptree
        pipdeptree
    - name: Check licenses against whitelist and exceptions
      run: |
        # Define the whitelist of allowed licenses
        ALLOWED_LICENSES="MIT Apache BSD ISC zlib"
        # Load the exceptions list from the exceptions.json file
        EXCEPTIONS_FILE=".github/workflows/license-exceptions.json"

        # Initialize counter for failed packages
        FAILED_PACKAGES=0

        # Get the list of installed packages and their licenses
        pip-licenses --from=mixed --format=json > licenses.json

        # Check the output of pip-licenses to ensure it is valid JSON
        if ! jq empty licenses.json; then
          echo "ERROR: Failed to parse pip-licenses output. Exiting..."
          exit 1
        fi

        # Split ALLOWED_LICENSES into individual words
        IFS=' ' read -r -a allowed_licenses <<< "$ALLOWED_LICENSES"
        # Loop through the installed packages and their licenses
        for pkg in $(jq -r '.[].Name' licenses.json); do
          # Skip packages starting with nvidia (case-insensitive)
          if [[ "${pkg,,}" == nvidia* ]]; then
            continue
          fi

          LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json)

          # Check if any of the allowed licenses are a substring of the package's license
          match_found=false
          for allowed_license in "${allowed_licenses[@]}"; do
            if [[ "$LICENSE" == *"$allowed_license"* ]]; then
              match_found=true
              break
            fi
          done

          if [ "$match_found" = false ]; then
            # Check if the package is in the exceptions list
            EXCEPTION=$(jq -r --arg pkg "$pkg" --arg license "$LICENSE" \
              '.[] | select(.package == $pkg)' "$EXCEPTIONS_FILE")

            # If the package is in the exceptions list
            if [ -n "$EXCEPTION" ]; then
              # If the license is provided in the exceptions list, check the license
              EXCEPTION_LICENSE=$(echo "$EXCEPTION" | jq -r '.license')

              # echo "Comparing licenses for $pkg:"
              # echo "  EXCEPTION_LICENSE='${EXCEPTION_LICENSE}' (len=${#EXCEPTION_LICENSE})"
              # echo "  LICENSE='${LICENSE}' (len=${#LICENSE})"

              # If the exceptions list has a license and doesn't match the current license
              if [ "$EXCEPTION_LICENSE" != "null" ] && [ "$EXCEPTION_LICENSE" != "$LICENSE" ]; then
                echo "ERROR: $pkg has license: $LICENSE"
                FAILED_PACKAGES=$((FAILED_PACKAGES + 1))  # Increment the counter
              fi
            else
              # If the package is not in the exceptions list
              echo "ERROR: $pkg has license: $LICENSE"
              FAILED_PACKAGES=$((FAILED_PACKAGES + 1))  # Increment the counter
            fi
          fi
        done

        # After all packages are processed, check if there were any errors
        if [ "$FAILED_PACKAGES" -gt 0 ]; then
          echo "ERROR: $FAILED_PACKAGES packages were flagged."
          exit 1  # Fail the build
        else
          echo "All packages were checked."
        fi

	# 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

	name: Python Dependency Licenses Check

	on:
	pull_request:
	types: [opened, synchronize, reopened]

	concurrency:
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: true

	jobs:
	license-check:
	runs-on: ubuntu-24.04

	steps:
	- name: Checkout code
	uses: actions/checkout@v6
	with:
	filter: tree:0

	# - name: Install jq
	# run: sudo apt-get update && sudo apt-get install -y jq

	- name: Clean up disk space
	run: \|
	# Remove pre-installed tools
	rm -rf /opt/hostedtoolcache
	rm -rf /usr/share/dotnet
	rm -rf /opt/ghc
	sudo rm -rf /usr/local/lib/android
	rm -rf /usr/share/swift
	rm -rf /usr/local/share/boost
	sudo rm -rf /usr/local/.ghcup
	sudo rm -rf /usr/local/lib/node_modules
	sudo rm -rf /usr/local/share/chromium
	sudo rm -rf /usr/local/share/powershell
	# Clean apt cache
	sudo apt-get clean
	sudo rm -rf /var/lib/apt/lists/*
	# Docker cleanup
	docker container prune -f
	docker image prune -af
	docker volume prune -f
	docker system prune -af


	- name: Set up Python
	uses: actions/setup-python@v5
	with:
	python-version: '3.12'

	- name: Install dependencies using ./isaaclab.sh -i
	env:
	DEBUG: 1
	OMNI_KIT_ACCEPT_EULA: yes
	ACCEPT_EULA: Y
	ISAACSIM_ACCEPT_EULA: YES
	run: \|
	# first install isaac sim
	pip install --upgrade pip
	pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION \|\| '6.0.1.0' }}' --extra-index-url https://pypi.nvidia.com
	chmod +x ./isaaclab.sh # Make sure the script is executable
	# install all lab dependencies
	./isaaclab.sh -i

	- name: Install pip-licenses
	run: \|
	pip install --no-cache-dir pip-licenses
	pip install --no-cache-dir -r tools/template/requirements.txt
	pip install --no-cache-dir -r docs/requirements.txt

	# Optional: Print the license report for visibility
	- name: Print License Report
	run: pip-licenses --from=mixed --format=markdown

	# Print pipdeptree
	- name: Print pipdeptree
	run: \|
	# clean up pip cache
	pip cache purge
	pip install pipdeptree
	pipdeptree

	- name: Check licenses against whitelist and exceptions
	run: \|
	# Define the whitelist of allowed licenses
	ALLOWED_LICENSES="MIT Apache BSD ISC zlib"

	# Load the exceptions list from the exceptions.json file
	EXCEPTIONS_FILE=".github/workflows/license-exceptions.json"

	# Initialize counter for failed packages
	FAILED_PACKAGES=0

	# Get the list of installed packages and their licenses
	pip-licenses --from=mixed --format=json > licenses.json

	# Check the output of pip-licenses to ensure it is valid JSON
	if ! jq empty licenses.json; then
	echo "ERROR: Failed to parse pip-licenses output. Exiting..."
	exit 1
	fi

	# Split ALLOWED_LICENSES into individual words
	IFS=' ' read -r -a allowed_licenses <<< "$ALLOWED_LICENSES"

	# Loop through the installed packages and their licenses
	for pkg in $(jq -r '.[].Name' licenses.json); do
	# Skip packages starting with nvidia (case-insensitive)
	if [[ "${pkg,,}" == nvidia* ]]; then
	continue
	fi

	LICENSE=$(jq -r --arg pkg "$pkg" '.[] \| select(.Name == $pkg) \| .License' licenses.json)

	# Check if any of the allowed licenses are a substring of the package's license
	match_found=false
	for allowed_license in "${allowed_licenses[@]}"; do
	if [[ "$LICENSE" == "$allowed_license" ]]; then
	match_found=true
	break
	fi
	done

	if [ "$match_found" = false ]; then
	# Check if the package is in the exceptions list
	EXCEPTION=$(jq -r --arg pkg "$pkg" --arg license "$LICENSE" \
	'.[] \| select(.package == $pkg)' "$EXCEPTIONS_FILE")

	# If the package is in the exceptions list
	if [ -n "$EXCEPTION" ]; then
	# If the license is provided in the exceptions list, check the license
	EXCEPTION_LICENSE=$(echo "$EXCEPTION" \| jq -r '.license')

	# echo "Comparing licenses for $pkg:"
	# echo " EXCEPTION_LICENSE='${EXCEPTION_LICENSE}' (len=${#EXCEPTION_LICENSE})"
	# echo " LICENSE='${LICENSE}' (len=${#LICENSE})"

	# If the exceptions list has a license and doesn't match the current license
	if [ "$EXCEPTION_LICENSE" != "null" ] && [ "$EXCEPTION_LICENSE" != "$LICENSE" ]; then
	echo "ERROR: $pkg has license: $LICENSE"
	FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
	fi
	else
	# If the package is not in the exceptions list
	echo "ERROR: $pkg has license: $LICENSE"
	FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
	fi
	fi
	done

	# After all packages are processed, check if there were any errors
	if [ "$FAILED_PACKAGES" -gt 0 ]; then
	echo "ERROR: $FAILED_PACKAGES packages were flagged."
	exit 1 # Fail the build
	else
	echo "All packages were checked."
	fi