license-check.yaml

# 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: Check Python Dependency Licenses

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@v3

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

    - name: Clean up disk space
      run: |
        rm -rf /opt/hostedtoolcache
        rm -rf /usr/share/dotnet
        rm -rf /opt/ghc
        docker container prune -f
        docker image prune -af
        docker volume prune -f || true


    - name: Set up Python
      uses: actions/setup-python@v4
      with:
        python-version: '3.11'  # Adjust as needed

    - name: Install dependencies using ./isaaclab.sh -i
      run: |
        # first install isaac sim
        pip install --upgrade pip
        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --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 pip-licenses
        pip install -r tools/template/requirements.txt
        pip install -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: |
        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 $(jq -r '.[].Name' licenses.json); do
          LICENSE=$(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