diff --git a/.gitattributes b/.gitattributes index 99e35795611a..fb04b0bb72a8 100644 --- a/.gitattributes +++ b/.gitattributes @@ -15,3 +15,6 @@ source/isaaclab_tasks/test/golden_images/**/*.png filter=lfs diff=lfs merge=lfs *.bat text eol=crlf *.sh text eol=lf + +# Rendered fixtures; collapsed in diffs so review lands on the renderer. +tools/odin/tests/golden/** linguist-generated=true diff --git a/.gitignore b/.gitignore index b06a0512b086..ccea80196fd8 100644 --- a/.gitignore +++ b/.gitignore @@ -86,3 +86,7 @@ _build # Superpowers (Claude Code plugin artifacts) docs/superpowers/ + +# Generated by `odin discover` / `odin harvest`; regenerate rather than commit. +tools/odin/config/tasks.yaml +tools/odin/config/task_metadata.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2a71adbdaeda..89db9cbec636 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -16,6 +16,9 @@ repos: rev: v6.0.0 hooks: - id: trailing-whitespace + # Golden files are byte-exact renderer output; reformatting them makes + # the tests that compare against them fail. + exclude: "^tools/odin/tests/golden/" - id: check-symlinks - id: destroyed-symlinks - id: check-added-large-files @@ -28,7 +31,7 @@ repos: - id: check-executables-have-shebangs - id: check-toml - id: end-of-file-fixer - exclude: "^(.agents/skills/|.claude/skills$)" + exclude: "^(.agents/skills/|.claude/skills$|tools/odin/tests/golden/)" - id: check-shebang-scripts-are-executable - id: detect-private-key - id: debug-statements @@ -54,7 +57,7 @@ repos: - --license-filepath - .github/LICENSE_HEADER.txt - --use-current-year - exclude: "source/isaaclab_mimic/|scripts/imitation_learning/isaaclab_mimic/" + exclude: "source/isaaclab_mimic/|scripts/imitation_learning/isaaclab_mimic/|^tools/odin/tests/golden/" # Apache 2.0 license for mimic files - repo: https://github.com/Lucas-C/pre-commit-hooks rev: v1.5.5 diff --git a/pyproject.toml b/pyproject.toml index 887a30173508..6188ec740cec 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -363,16 +363,22 @@ override-dependencies = [ "torchaudio==2.11.0", # Isaac Sim 6.0 pins 4.12.2, which lacks Sentinel required by the Newton viewer stack. "typing-extensions>=4.15.0", + # ovphysx caps packaging at <24 while isaacsim-core pins it to ==26.0, which + # made the two extras unresolvable together. Both caps are stricter than the + # code needs; widening to <27 lets them co-resolve at 26.0 and keeps OvPhysX + # usable alongside Isaac Sim in one environment. + "packaging>=20,<27", ] # teleop (lxml>=5.2.2) and mimic (lxml<5.0.0, also in ``all``) cannot co-resolve; # declaring the conflict lets uv fork the resolution instead of failing. -# isaacsim pins clash with teleop/ovphysx/viser/mimic/test (and ``all`` aggregates +# isaacsim pins clash with teleop/viser/mimic/test (and ``all`` aggregates # several of these); forking keeps ``--extra isaacsim`` resolvable on its own. +# ovphysx is no longer listed: its only clash with isaacsim was the packaging +# cap, resolved by the override above. conflicts = [ [{ extra = "teleop" }, { extra = "mimic" }], [{ extra = "teleop" }, { extra = "all" }], [{ extra = "isaacsim" }, { extra = "teleop" }], - [{ extra = "isaacsim" }, { extra = "ovphysx" }], [{ extra = "isaacsim" }, { extra = "viser" }], [{ extra = "isaacsim" }, { extra = "mimic" }], [{ extra = "isaacsim" }, { extra = "all" }], diff --git a/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst new file mode 100644 index 000000000000..e546860b194a --- /dev/null +++ b/source/isaaclab/changelog.d/antoiner-odin-v2-play-video.rst @@ -0,0 +1,22 @@ +Added +^^^^^ + +* Added ``--video`` and ``--video_length`` to the RSL-RL, RL-Games, SKRL, and SB3 play + benchmark adapters, recording the rollout and populating + :attr:`~isaaclab.benchmark.schema.PlayBundle.video_path`. The field and + :func:`~isaaclab.benchmark.builders.build_play_bundle`'s ``video_path`` argument already + existed, but no adapter could set them, so camera tasks were benchmarked headless. +* Added :func:`~isaaclab_rl.entrypoints.common.add_video_args`, + :func:`~isaaclab_rl.entrypoints.common.wrap_record_video_play`, and + :func:`~isaaclab_rl.entrypoints.common.play_video_dir`. Recording starts at the first + step rather than on a periodic trigger, since a play run is a single bounded rollout; + ``--video_interval`` therefore stays training-only. + +Fixed +^^^^^ + +* Fixed :attr:`~isaaclab.benchmark.schema.TrainingBundle.checkpoint_path` being reported as + ``None`` by the RSL-RL, RL-Games, and SKRL training benchmarks. The field is now populated + from the checkpoint the run actually wrote, so downstream play workflows can roll out a + freshly trained policy without reconstructing the path. The search matches every library's + naming, including SKRL's ``agent_.pt`` and ``best_agent.pt``. diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py index 1b75075f838b..b6fbdedc2ced 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py @@ -81,9 +81,11 @@ def _parse_args(argv: list[str]): " Example: 'schema,omniperf'." ), ) + _common.add_video_args(parser, include_interval=False) add_launcher_args(parser) args_cli, remaining_args = setup_preset_cli(parser, argv) + _common.enable_cameras_for_video(args_cli) sys.argv = [sys.argv[0]] + remaining_args return args_cli, remaining_args @@ -189,7 +191,8 @@ def run(argv: list[str]) -> BenchmarkResult: concate_obs_groups = agent_cfg["params"]["env"].get("concate_obs_groups", True) env_t0 = time.perf_counter_ns() - env = gym.make(args_cli.task, cfg=env_cfg) + env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None) + env = _common.wrap_record_video_play(env, args_cli.output_path, args_cli) cleanup.callback(lambda: env.close()) env_t1 = time.perf_counter_ns() @@ -302,6 +305,7 @@ def policy(obs): reward=reward, ep_length=ep_length, checkpoint_path=resume_path, + video_path=_common.play_video_dir(args_cli.output_path, args_cli), ) benchmark.attach_bundle(bundle) diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py index d34a905f67bb..48598ae0a03a 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py @@ -341,7 +341,7 @@ def run(argv: list[str]) -> BenchmarkResult: max_iterations=agent_cfg["params"]["config"].get("max_epochs"), ) - checkpoint_path = None + checkpoint_path = _common.latest_checkpoint_path(run_log_dir) video_path = os.path.join(run_log_dir, "videos") if getattr(args_cli, "video", False) else None bundle = builders.build_training_bundle( diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py index 8f2b50fefb17..ef4abee8c99b 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py @@ -82,9 +82,11 @@ def _parse_args(argv: list[str]) -> tuple[argparse.Namespace, list[str]]: " Example: 'schema,omniperf'." ), ) + _common.add_video_args(parser, include_interval=False) add_launcher_args(parser) args, remaining = setup_preset_cli(parser, argv) + _common.enable_cameras_for_video(args) sys.argv = [sys.argv[0]] + remaining return args, remaining @@ -179,7 +181,8 @@ def run(argv: list[str]) -> BenchmarkResult: ) env_t0 = time.perf_counter_ns() - env = gym.make(args.task, cfg=env_cfg) + env = gym.make(args.task, cfg=env_cfg, render_mode="rgb_array" if args.video else None) + env = _common.wrap_record_video_play(env, args.output_path, args) cleanup.callback(lambda: env.close()) env_t1 = time.perf_counter_ns() @@ -259,6 +262,7 @@ def run(argv: list[str]) -> BenchmarkResult: reward=reward, ep_length=ep_length, checkpoint_path=resume_path, + video_path=_common.play_video_dir(args.output_path, args), ) benchmark.attach_bundle(bundle) diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py index 3ddea4a5cd23..7f0d423a6730 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py @@ -316,7 +316,7 @@ def run(argv: list[str]) -> BenchmarkResult: max_iterations=agent_cfg.max_iterations, ) - checkpoint_path = None + checkpoint_path = _common.latest_checkpoint_path(log_dir) video_path = os.path.join(log_dir, "videos") if getattr(args_cli, "video", False) else None bundle = builders.build_training_bundle( diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py index 459cf80a8072..76d107dcf50d 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py @@ -88,9 +88,11 @@ def _parse_args(argv: list[str]): " Example: 'schema,omniperf'." ), ) + _common.add_video_args(parser, include_interval=False) add_launcher_args(parser) args_cli, remaining_args = setup_preset_cli(parser, argv) + _common.enable_cameras_for_video(args_cli) sys.argv = [sys.argv[0]] + remaining_args return args_cli, remaining_args @@ -182,7 +184,8 @@ def run(argv: list[str]) -> BenchmarkResult: ) env_t0 = time.perf_counter_ns() - env = gym.make(args_cli.task, cfg=env_cfg) + env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None) + env = _common.wrap_record_video_play(env, args_cli.output_path, args_cli) cleanup.callback(lambda: env.close()) env_t1 = time.perf_counter_ns() @@ -289,6 +292,7 @@ def policy(obs): reward=reward, ep_length=ep_length, checkpoint_path=resume_path, + video_path=_common.play_video_dir(args_cli.output_path, args_cli), ) benchmark.attach_bundle(bundle) diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py index cbc24152d3d2..e74cfdacbeb3 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py @@ -100,9 +100,11 @@ def _parse_args(argv: list[str]): " Example: 'schema,omniperf'." ), ) + _common.add_video_args(parser, include_interval=False) add_launcher_args(parser) args_cli, remaining_args = setup_preset_cli(parser, argv) + _common.enable_cameras_for_video(args_cli) sys.argv = [sys.argv[0]] + remaining_args return args_cli, remaining_args @@ -211,7 +213,8 @@ def run(argv: list[str]) -> BenchmarkResult: ) env_t0 = time.perf_counter_ns() - env = gym.make(args_cli.task, cfg=env_cfg) + env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None) + env = _common.wrap_record_video_play(env, args_cli.output_path, args_cli) cleanup.callback(lambda: env.close()) env_t1 = time.perf_counter_ns() @@ -311,6 +314,7 @@ def policy(obs): reward=reward, ep_length=ep_length, checkpoint_path=resume_path, + video_path=_common.play_video_dir(args_cli.output_path, args_cli), ) benchmark.attach_bundle(bundle) diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py index ec92456b985b..ec63b6fd2c68 100644 --- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py +++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py @@ -451,7 +451,7 @@ def _generate_trainer(self, env, cfg, agent): resources=resources, learning=learning, success_rate=success_rate, - checkpoint_path=None, + checkpoint_path=_common.latest_checkpoint_path(log_dir), video_path=os.path.join(log_dir, "videos") if args_cli.video else None, ) diff --git a/source/isaaclab/test/benchmark/test_play_video.py b/source/isaaclab/test/benchmark/test_play_video.py new file mode 100644 index 000000000000..3f7533697fed --- /dev/null +++ b/source/isaaclab/test/benchmark/test_play_video.py @@ -0,0 +1,123 @@ +# 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 + +"""Video recording on the play benchmark adapters. + +Pins the wiring that lets an adapter populate ``PlayBundle.video_path``: without +it a camera task is benchmarked headless and the schema field stays empty. +""" + +from __future__ import annotations + +import argparse +from pathlib import Path + +import pytest + +from isaaclab_rl.entrypoints.common import add_video_args, latest_checkpoint_path, play_video_dir + +_BACKENDS = ("rsl_rl", "rl_games", "skrl", "sb3") +# /source/isaaclab/test/benchmark/ -> /source/isaaclab/isaaclab/... +_ADAPTER_ROOT = Path(__file__).resolve().parents[2] / "isaaclab" / "benchmark" / "entrypoints" / "backends" + + +def _adapter_source(backend: str) -> str: + return (_ADAPTER_ROOT / backend / f"benchmark_play_{backend}.py").read_text() + + +def test_play_video_args_omit_the_training_interval() -> None: + parser = argparse.ArgumentParser() + add_video_args(parser, include_interval=False) + args = parser.parse_args([]) + + assert args.video is False + assert args.video_length == 200 + assert not hasattr(args, "video_interval") + + +def test_training_video_args_keep_the_interval() -> None: + parser = argparse.ArgumentParser() + add_video_args(parser, include_interval=True) + assert parser.parse_args([]).video_interval == 2000 + + +def test_video_dir_is_none_without_the_flag() -> None: + args = argparse.Namespace(video=False) + assert play_video_dir("/out", args) is None + + +def test_video_dir_is_reported_when_requested() -> None: + args = argparse.Namespace(video=True) + assert play_video_dir("/out", args) == "/out/videos/play" + + +def test_video_dir_tolerates_a_namespace_without_the_flag() -> None: + # Callers that never added the argument must not raise. + assert play_video_dir("/out", argparse.Namespace()) is None + + +@pytest.mark.parametrize("backend", _BACKENDS) +def test_adapter_wires_video(backend: str) -> None: + source = _adapter_source(backend) + assert "add_video_args(parser, include_interval=False)" in source + # Without enabled cameras the env renders nothing and the recording is blank. + assert "enable_cameras_for_video" in source + # RecordVideo needs a render mode; gym.make defaults to None. + assert 'render_mode="rgb_array"' in source + assert "wrap_record_video_play" in source + # The schema field is useless if nothing ever sets it. + assert "video_path=_common.play_video_dir(" in source + + +@pytest.mark.parametrize("backend", ("rsl_rl", "rl_games", "skrl")) +def test_training_reports_the_checkpoint_it_wrote(backend: str) -> None: + # A chained play step reads this field; a hardcoded None leaves it nothing. + source = (_ADAPTER_ROOT / backend / f"benchmark_train_{backend}.py").read_text() + assert "latest_checkpoint_path(" in source + assert "checkpoint_path = None" not in source + assert "checkpoint_path=None" not in source + + +def test_latest_checkpoint_path_finds_the_newest(tmp_path: Path) -> None: + from isaaclab_rl.entrypoints.common import latest_checkpoint_path + + nested = tmp_path / "nn" + nested.mkdir() + (nested / "model_100.pt").write_text("x") + older = nested / "model_100.pt" + newer = nested / "model_200.pt" + newer.write_text("x") + import os + + os.utime(older, (1, 1)) + + assert latest_checkpoint_path(str(tmp_path)) == str(newer.resolve()) + + +def test_latest_checkpoint_path_is_none_when_nothing_was_written(tmp_path: Path) -> None: + from isaaclab_rl.entrypoints.common import latest_checkpoint_path + + assert latest_checkpoint_path(str(tmp_path)) is None + + +@pytest.mark.parametrize( + "filename", + [ + "model_100.pt", # rsl_rl + "agent_4800.pt", # skrl + "best_agent.pt", # skrl + "Isaac-Cartpole-Direct_4800.pt", # skrl, named after the experiment + "last_Isaac_ep_50.pth", # rl_games + "model.zip", # sb3 + ], +) +def test_latest_checkpoint_path_matches_every_library_naming(tmp_path: Path, filename: str) -> None: + # A `model_*.pt` glob matched rsl_rl only, so every SKRL row reported no + # checkpoint and a chained play step had nothing to roll out. + checkpoints = tmp_path / "checkpoints" + checkpoints.mkdir() + (checkpoints / filename).write_text("x") + + assert latest_checkpoint_path(str(tmp_path)) == str((checkpoints / filename).resolve()) diff --git a/source/isaaclab/test/cli/test_uv_run_pyproject.py b/source/isaaclab/test/cli/test_uv_run_pyproject.py index 0e025304a530..1c34a44a3e4f 100644 --- a/source/isaaclab/test/cli/test_uv_run_pyproject.py +++ b/source/isaaclab/test/cli/test_uv_run_pyproject.py @@ -169,9 +169,14 @@ def test_uv_run_isaacsim_extra_is_conflict_forked(): # isaacsim is forked away from every extra whose pins clash with it. conflict_groups = [{entry["extra"] for entry in group} for group in pyproject["tool"]["uv"]["conflicts"]] - for extra in ("teleop", "ovphysx", "viser", "mimic", "all", "test"): + for extra in ("teleop", "viser", "mimic", "all", "test"): assert {"isaacsim", extra} in conflict_groups, f"isaacsim must declare a conflict with '{extra}'" + # ovphysx is deliberately absent: its only clash with isaacsim was the + # packaging cap (ovphysx pinned <24, isaacsim-core ==26.0), resolved by the + # packaging>=20,<27 override, so the two now co-resolve in one environment. + assert {"isaacsim", "ovphysx"} not in conflict_groups + def test_uv_run_base_dependencies_cover_newton_rsl_rl_training(): """The documented bare ``uv run isaaclab train`` command needs Newton and RSL-RL in core.""" diff --git a/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt b/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt index 762de5ba9d9f..34dcd1efd6fd 100644 --- a/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt +++ b/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt @@ -7,3 +7,4 @@ torch==2.11.0 torchvision==0.26.0 torchaudio==2.11.0 typing-extensions>=4.15.0 +packaging>=20,<27 diff --git a/source/isaaclab_rl/changelog.d/antoiner-odin-v2-play-video.rst b/source/isaaclab_rl/changelog.d/antoiner-odin-v2-play-video.rst new file mode 100644 index 000000000000..40f5530e8e07 --- /dev/null +++ b/source/isaaclab_rl/changelog.d/antoiner-odin-v2-play-video.rst @@ -0,0 +1,8 @@ +Added +^^^^^ + +* Added :func:`~isaaclab_rl.entrypoints.common.add_video_args`, + :func:`~isaaclab_rl.entrypoints.common.wrap_record_video_play`, and + :func:`~isaaclab_rl.entrypoints.common.play_video_dir` so play workflows can record a + rollout video. ``add_common_train_args`` now delegates its video arguments to the + shared helper. diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py index d941d94917f4..7377d93d9e98 100644 --- a/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py +++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/common.py @@ -362,11 +362,7 @@ def add_common_train_args( include_distributed: Whether to include the ``--distributed`` argument. max_iterations_type: Converter and validator for ``--max_iterations``. """ - parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.") - parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).") - parser.add_argument( - "--video_interval", type=int, default=2000, help="Interval between video recordings (in steps)." - ) + add_video_args(parser, include_interval=True) parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.") parser.add_argument("--task", type=str, default=None, help="Name of the task.") add_frontend_args(parser) @@ -563,6 +559,93 @@ def wrap_sensor_capture(env: gym.Env, log_dir: str, args_cli: argparse.Namespace return CaptureEnvSensors(env, **sensor_capture_kwargs) +_CHECKPOINT_PATTERNS = ("*.pt", "*.pth", "*.zip") +"""Checkpoint filename globs searched under a training log directory. + +Deliberately broad: RSL-RL writes ``model_.pt``, SKRL writes +``agent_.pt``, ``best_agent.pt`` and ``_.pt``, RL-Games writes +``.pth``, and SB3 writes ``.zip``. +""" + + +def latest_checkpoint_path(log_dir: str) -> str | None: + """Return the newest checkpoint a training run wrote under *log_dir*. + + RL libraries name and place checkpoints differently and none of them return + the path, so the training workflows report what actually landed on disk + rather than reconstructing a name that may not exist. Every match of + :data:`_CHECKPOINT_PATTERNS` is considered and the most recently modified + one wins. + + Args: + log_dir: Training log directory. + + Returns: + Absolute path to the most recently modified match, or ``None`` when the + run wrote no checkpoint. + """ + import glob + + matches: list[str] = [] + for pattern in _CHECKPOINT_PATTERNS: + matches.extend(glob.glob(os.path.join(log_dir, "**", pattern), recursive=True)) + if not matches: + return None + return os.path.abspath(max(matches, key=os.path.getmtime)) + + +def add_video_args(parser: argparse.ArgumentParser, *, include_interval: bool) -> None: + """Add the video-recording arguments shared by training and play. + + Args: + parser: Parser to extend. + include_interval: Whether to add ``--video_interval``. Training records + periodically across a long run; a play rollout is a single episode + sequence, so an interval has nothing to space out. + """ + parser.add_argument("--video", action="store_true", default=False, help="Record videos during the run.") + parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).") + if include_interval: + parser.add_argument( + "--video_interval", type=int, default=2000, help="Interval between video recordings (in steps)." + ) + + +def wrap_record_video_play(env, output_dir: str, args_cli: argparse.Namespace): + """Wrap an environment with video recording for a play rollout. + + Unlike :func:`wrap_record_video`, recording starts at the first step rather + than on a periodic trigger; see :func:`add_video_args`. + + Args: + env: Gymnasium environment to wrap. + output_dir: Directory to write ``videos/play`` under. + args_cli: Parsed command-line arguments. + + Returns: + The original environment, or a video-wrapped one when ``--video`` is set. + """ + if not args_cli.video: + return env + + video_kwargs = { + "video_folder": os.path.join(output_dir, "videos", "play"), + "step_trigger": lambda step: step == 0, + "video_length": args_cli.video_length, + "disable_logger": True, + } + print("[INFO] Recording video of the play rollout.") + print_dict(video_kwargs, nesting=4) + return gym.wrappers.RecordVideo(env, **video_kwargs) + + +def play_video_dir(output_dir: str, args_cli: argparse.Namespace) -> str | None: + """Return the directory :func:`wrap_record_video_play` writes to, or ``None``.""" + if not getattr(args_cli, "video", False): + return None + return os.path.join(output_dir, "videos", "play") + + def wrap_record_video(env, log_dir: str, args_cli: argparse.Namespace): """Wrap an environment with video recording when requested. diff --git a/tools/odin/README.md b/tools/odin/README.md new file mode 100644 index 000000000000..7f115ec8fc0e --- /dev/null +++ b/tools/odin/README.md @@ -0,0 +1,327 @@ +# Odin — an OSMO dispatcher for Isaac Lab benchmarks + +Odin submits Isaac Lab benchmark workflows to [OSMO](https://github.com/NVIDIA/OSMO). +It pins a commit into a container image, expands a task list into one OSMO task +per `(task, library, physics, seed)`, polls to completion, and pulls the emitted +benchmark bundles back. + +Every task runs `uv run isaaclab benchmark training` directly. Odin owns no +runner, no schema, and no metrics code — those are Isaac Lab's +(`isaaclab.benchmark`). + +An older Odin also managed a fleet of SSH-reachable machines. That half is not +part of this tool; it lives on the `antoiner/feat/odin` branch. + +## Requirements + +- The `osmo` CLI on `PATH` with a configured profile (`osmo login`). +- Docker, with `docker login nvcr.io` already done, for `build-image --push`. +- Network access for image build, push, and submission. Everything else, + including `--dry_run`, works offline. + +## Build an image + +The image clones a git bundle of one commit and runs `uv sync --frozen` against +that commit's committed `uv.lock`, so a commit that changes a dependency is +tested with the changed dependency. + +```bash +uv run python -m tools.odin.cli build-image \ + --config tools/odin/config/odin.yaml \ + --ref \ + --push +``` + +`--dry_run` writes the build context and prints the tag without invoking git +bundling or Docker — useful for inspecting the generated Dockerfile. + +One virtualenv holds every backend. `plan.UV_EXTRAS` is the single list, used +both to build the image and to run each task: +`isaacsim, ovphysx, ovrtx, rsl-rl, skrl, rl-games, sb3, rerun` — Kit PhysX, +OvPhysX, Newton, OVRTX, and all four RL libraries. `teleop`, `viser`, `mimic`, +`test` and the `all` aggregate conflict with `isaacsim` and are excluded. + +This matters beyond convenience. A preset token does **not** determine the +physics backend — `physics=physx` resolves to OvPhysX on most tasks and to Kit +PhysX on a few — so with split environments a row could only be routed correctly +by loading its env cfg first. One environment removes that dependency entirely. + +The build warms `UV_CACHE_DIR`, so a task's `uv run --frozen --extra ...` +re-syncs from cache without touching the network. + +Images are tagged `/:`. Pass the resolved +**digest** to `dispatch`, not the tag, so a retag cannot change what a +comparison compared. + +## Generate the task list + +The task list is generated, not shipped. Produce one before the first +dispatch: + +```bash +uv run python -m tools.odin.cli discover +``` + +It writes `tools/odin/config/tasks.yaml`, which is gitignored: a committed copy +goes stale against the registry, and regenerating costs seconds. + +Expansion is **total** — every task, every RL library it declares, and every +*legal mode* it supports — and filters are the only way to narrow. + +A **mode** is a legal `(physics, renderer)` combination. Discovery returns those +directly rather than raw axes, so nothing downstream reconstructs the cross +product or reasons about which pairings are rejected. Tasks declaring renderers +are always expanded across them: benchmarking a camera task headless measures +everything except the thing under test. + +The cross product is not all legal. OVRTX is kitless and cannot share a process +with Kit physics, so `isaacsim_physx + ovrtx` is rejected. Discovery checks each +pairing against the runtime validator, which costs a few seconds for the whole +registry and saves finding out on a GPU. + +Domain presets — `depth`, `rgb`, `albedo`, `semantic_segmentation`, shading and +scene variants — are a third axis, selected with `presets=`. Backend names that +also appear under DOMAIN are filtered out, since those are chosen with +`physics=`. + +**Known limitation:** discovery emits domain presets **one at a time** and never +combines them. Presets targeting the same field conflict outright +(`presets=depth,rgb` fails with *"Conflicting global presets"*), and there is no +rule available for which pairs compose. Orthogonal combinations that would be +valid — a data type plus a shading variant — are therefore not generated. +The **executor has no such limit**: a hand-written list may give +`presets: [depth, simple_shading_full_mdl]`, or the comma-separated string form, +and it is passed through as one `presets=a,b` token. + +Current shape: **87 tasks → 1663 rows**, up from 429 before the preset axis. +That is far more than you would run, so whitelisting is the normal path: + +```bash +# depth on cartpole, every legal physics/renderer pairing +uv run python -m tools.odin.cli discover \ + --include 'Isaac-Cartpole-Camera*' --presets depth --library rsl_rl +``` + +| Filter | Effect | +|---|---| +| `--library rsl_rl` | restrict the RL library axis; repeatable | +| `--physics newton_mjwarp` | restrict the physics axis; repeatable | +| `--renderer none` | restrict the renderer axis; repeatable (`none` keeps headless rows) | +| `--presets depth` | restrict the domain-preset axis; repeatable (`default` keeps rows selecting none) | +| `--scope {core,contrib,all}` | core vs contrib, from the explicit `scope` field | +| `--include` / `--exclude` | `task_id` globs | +| `--max_rows N` | deterministic head of the sorted order, as a cost valve | + +```bash +# Newton vs OvPhysX on the same tasks, one library +uv run python -m tools.odin.cli discover \ + --physics newton_mjwarp --physics ovphysx --library rsl_rl + +# Core only +uv run python -m tools.odin.cli discover --scope core --library rsl_rl +``` + +Two expansion rules worth knowing. `physx` is dropped from any task that also +declares `ovphysx`, because headless they resolve to the same backend and +running both is an exact duplicate. Tasks declaring no physics preset get one +row with the field omitted, since they reject any `physics=` token. + +Beware that `physics=physx` does **not** mean Kit PhysX: it resolves to kitless +OvPhysX on most tasks and to Kit PhysX on only a few. `isaacsim_physx` is the +reliably Kit one. To sweep the whole PhysX family: +`--physics physx --physics ovphysx --physics isaacsim_physx`. + +A hand-written list remains possible — `dispatch --tasks_yaml ` uses it +verbatim. + +## Run a dispatch + +```bash +uv run python -m tools.odin.cli dispatch \ + --config tools/odin/config/odin.yaml \ + --tasks_yaml tools/odin/config/tasks.yaml \ + --image nvcr.io/nvidian/antoiner-isaac-lab@sha256:... \ + --seeds 42,43,44 \ + [--include 'Isaac-Ant*'] \ + [--metadata_yaml tools/odin/config/task_metadata.yaml] \ + [--chunk_size 25] [--pool POOL] [--priority HIGH|NORMAL|LOW] \ + [--dry_run] +``` + +To compare two commits, build an image per commit and pass both: + +```bash + --image \ + --image_b +``` + +Both sides run the identical row set. Side B's row keys and OSMO task names take +a `_b` suffix so the two coexist in one dispatch, and `dispatch.json` records the +image reference per side. + +## Videos and checkpoints + +`--play` chains a play rollout after training **inside the same OSMO task**, so +it reads the checkpoint training just wrote with no cross-task handoff: + +```bash +uv run python -m tools.odin.cli dispatch --config tools/odin/config/odin.yaml \ + --image --seeds 42 --play [--video_length 200] +``` + +The chained step is skipped when training failed or wrote no checkpoint, and the +task exits with the **training** exit code — a play failure must not turn a good +training run into a red row. Both steps receive the same physics, renderer and +preset tokens, so the rollout matches what was trained. + +The checkpoint is read from the training bundle's `checkpoint_path`, which the +train adapters populate from what actually landed on disk. + +### What ran, and what did not + +Every row writes `odin-steps.json` alongside its bundles — a record of what +happened, as opposed to what a run measured: + +```json +{ + "row_key": "rsl_rl_physx_Isaac-Ant_seed42", + "training": {"ran": true, "exit_code": 0}, + "checkpoint": {"found": true, "path": "/workspace/logs/.../model_500.pt"}, + "play": {"status": "ran", "exit_code": 0}, + "artifacts": ["benchmark_training_...json", "videos/play/rl-video-step-0.mp4"] +} +``` + +`play.status` is one of `not_requested`, `skipped_training_failed`, +`skipped_no_checkpoint`, or `ran`, so a row that comes back with less than +expected says why. Writing the record can never fail the task. + +## Recover a dispatch + +A controller that dies mid-poll leaves rows stuck in `running` while OSMO keeps +going. Re-attach rather than re-submitting — the workflow ids are already +recorded, and submitting again would duplicate every task: + +```bash +uv run python -m tools.odin.cli dispatch --config tools/odin/config/odin.yaml \ + --resume LATEST +``` + +Failed rows are never retried automatically: a benchmark crash usually repeats, +and silently re-running it wastes GPU time. Retry explicitly, which starts a new +dispatch containing only those rows and links it back via `parent_dispatch_id`: + +```bash +uv run python -m tools.odin.cli dispatch --config tools/odin/config/odin.yaml \ + --image --retry_failed LATEST +``` + +Retries reuse the parent's seeds, so `--seeds` is not needed. Each identity is +paired with the seeds it actually failed on, so a seed that passed is not re-run. +An A/B dispatch cannot be retried: a retry runs one image, which would put side +B's rows on side A's image. Re-dispatch each side on its own instead. + +## Inspect and re-pull + +```bash +uv run python -m tools.odin.cli status +uv run python -m tools.odin.cli fetch --config tools/odin/config/odin.yaml +``` + +## Build per-task metadata from a run + +The seed list in `config/tasks.yaml` carries only +`(task_id, rl_library, physics)`. `--num_envs` and `--max_iterations` default to +`None` upstream and fall back to each task's shipped agent config, so a first +dispatch runs everything at its shipped size. `harvest` then reads the emitted +bundles and writes what actually happened: + +```bash +uv run python -m tools.odin.cli harvest \ + --output tools/odin/config/task_metadata.yaml +``` + +That file records resolved `num_envs` / `max_iterations`, a `timeout_s` derived +from the slowest observed run (`--timeout_headroom`, default 2.0), and a reward +baseline. Feed it back with `--metadata_yaml` on the next dispatch. Seed-list +values win over harvested ones, so a hand-set override survives a re-harvest. + +The comparable upstream table is +`source/isaaclab_tasks/test/benchmarking/configs.yaml`. + +## On-disk layout + +``` +odin_runs/ +└── 20260729-120000/ + ├── dispatch.json # schema 2.0; per-side image digests + ├── workflow.a0.yaml # one per (side, chunk) + └── rsl_rl_physx_Isaac-Ant_seed42/ + └── benchmark_training_Isaac-Ant_2026-07-29_12-00-00.json +``` + +## Preflight + +`dispatch` refuses to submit until two server-side checks pass (override with +`--skip_preflight`): + +1. `osmo data check -a WRITE` — a read-only bucket would swallow + every result, and that is exactly how OSMO retired datasets. +2. `osmo workflow validate` on every rendered chunk — OSMO rejects unknown task + fields, bad pool/platform pairs, unknown credential names, and unreachable + images. Validating all chunks before submitting any avoids a half-submitted + dispatch. + +## Failure kinds + +`dispatch.json` records one of four kinds per failed row: + +| Kind | Meaning | +|---|---| +| `benchmark_crash` | The benchmark process exited non-zero. Not retried; real bugs repeat. | +| `timeout` | The task exceeded its OSMO `exec_timeout`. | +| `infrastructure` | Preemption, eviction, image-pull failure, queue timeout, backend or server error. OSMO reschedules these per `retry.reschedule_codes` before Odin ever sees them. | +| `malformed_bundle` | OSMO reported `COMPLETED` but no parseable schema bundle came back. | + +Unrecognised `FAILED_*` states fall back to `infrastructure`, so OSMO version +drift cannot wedge the poll loop or be misread as a benchmark crash. + +## Known gaps + +- **DSS is not used.** OSMO datasets were retired (`outputs: - dataset:` now + fails server-side with *"Bucket isaac mode is read-only"*). Publishing is + declarative instead: each task carries an `outputs: - url: swift://...` block + and OSMO performs the upload. Registering results as nv-datasets, if wanted, + would be a controller-side step after fetch — the DSS client API could not be + reached to design against. +- **Only `--output_path` is uploaded.** OSMO collects `{{output}}`; anything an + RL library writes under `logs/` (tfevents, training videos) is discarded when + the container exits. `--keep_checkpoints` copies the checkpoint across; nothing + else is retained today. +- **The seed task list is interim.** It is replaced once the upstream + task-discovery API lands, at which point `plan.load_task_rows` swaps its + source and nothing downstream changes. + +## Running the tests + +The suite is pure Python and runs offline — no simulator, no Docker daemon, no +live OSMO calls. + +```bash +uv run --frozen --extra test python -m pytest \ + --rootdir=$PWD --confcutdir=$PWD/tools/odin/tests tools/odin/tests/ -q +``` + +`--extra test` is needed because pytest lives in the `test` extra. +`--confcutdir` bypasses the repository-level `tools/conftest.py`, which is a CI +orchestrator that hijacks pytest startup. `--frozen` stops an older local `uv` +from rewriting the committed `uv.lock`. + +The rendered workflow YAML and Dockerfile are compared whole against the golden +files in `tools/odin/tests/golden/`. After an intended change to a template, +re-render them and review the diff: + +```bash +ODIN_UPDATE_GOLDEN=1 uv run --frozen --extra test python -m pytest \ + --rootdir=$PWD --confcutdir=$PWD/tools/odin/tests tools/odin/tests/ -q +``` diff --git a/tools/odin/__init__.py b/tools/odin/__init__.py new file mode 100644 index 000000000000..86c783fcdcd3 --- /dev/null +++ b/tools/odin/__init__.py @@ -0,0 +1,6 @@ +# 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 + +"""OdinV2 — an OSMO dispatcher for Isaac Lab benchmark workflows.""" diff --git a/tools/odin/cli.py b/tools/odin/cli.py new file mode 100644 index 000000000000..92d77aeb9f58 --- /dev/null +++ b/tools/odin/cli.py @@ -0,0 +1,666 @@ +# 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 + +"""Command-line entry point for OdinV2. + +Subcommands: + +- ``build-image`` — pin a git ref into a benchmark image. +- ``dispatch`` — plan rows, render workflows, submit, poll, fetch. +- ``status`` — summarise a dispatch from ``dispatch.json``. +- ``fetch`` — re-pull results for a dispatch's completed rows. +- ``discover`` — generate the task list from the Gym registry. +- ``harvest`` — derive per-task metadata from a completed dispatch's bundles. +""" + +from __future__ import annotations + +import argparse +import dataclasses +import datetime as dt +import sys +from collections import Counter +from pathlib import Path + +from tools.odin.client import OsmoClient +from tools.odin.config_file import OdinConfig, OdinConfigError, load_odin_config +from tools.odin.discover import DiscoveryError, discover_tasks, expand_rows, filter_rows, write_task_list +from tools.odin.harvest import DEFAULT_TIMEOUT_HEADROOM, HarvestError, harvest_dispatch, write_task_metadata +from tools.odin.image import DEFAULT_CUDA_IMAGE, ImageBuildError, build_image +from tools.odin.plan import PlanError, PlannedRow, apply_metadata, chunk_rows, load_task_rows, plan_rows +from tools.odin.poller import PollError, poll_until_terminal +from tools.odin.results import dispatch_output_uri, fetch_results, validate_bundle +from tools.odin.state import ( + SCHEMA_VERSION, + DispatchState, + FailureInfo, + JobEntry, + read_dispatch_state, + reset_in_flight_to_pending, + write_dispatch_state, +) +from tools.odin.workflow import osmo_safe_task_name, render_workflow_yaml + +__all__ = ["main"] + +_REPO_ROOT = Path(__file__).resolve().parents[2] + + +def _parse_seeds(text: str) -> list[int]: + """Parse a comma-separated seed list.""" + return [int(part) for part in text.split(",") if part.strip()] + + +def _utc_now_iso() -> str: + return dt.datetime.now(dt.timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ") + + +def _allocate_dispatch_id(runs_root: Path) -> str: + """Return a fresh ``YYYYMMDD-HHMMSS`` id, disambiguated on collision.""" + base = dt.datetime.now(dt.timezone.utc).strftime("%Y%m%d-%H%M%S") + candidate, suffix = base, 1 + while (runs_root / candidate).exists(): + candidate = f"{base}-{suffix}" + suffix += 1 + return candidate + + +def _side_row_key(row_key: str, side: str) -> str: + """Disambiguate a row key by A/B side so both sides coexist in one dispatch.""" + return row_key if side == "a" else f"{row_key}_{side}" + + +def _sided(row: PlannedRow, side: str) -> PlannedRow: + """Return *row* re-keyed for one A/B side.""" + row_key = _side_row_key(row.row_key, side) + return dataclasses.replace(row, row_key=row_key, osmo_task_name=osmo_safe_task_name(row_key)) + + +def _job_from_row(row: PlannedRow, *, side: str, image_ref: str) -> JobEntry: + """Build a :class:`JobEntry` for one already-sided row.""" + return JobEntry( + row_key=row.row_key, + task_id=row.task_id, + rl_library=row.rl_library, + physics=row.physics, + renderer=row.renderer, + presets=row.presets, + seed=row.seed, + num_envs=row.num_envs, + max_iterations=row.max_iterations, + timeout_s=row.timeout_s, + osmo_task_name=row.osmo_task_name, + image_ref=image_ref, + side=side, + ) + + +def command_build_image(args: argparse.Namespace) -> int: + """Build, and optionally push, a commit-pinned benchmark image.""" + cfg = load_odin_config(args.config) + tag = build_image( + spec=cfg.image, + ref=args.ref, + repo_root=_REPO_ROOT, + context_dir=args.context_dir, + cuda_image=args.cuda_image, + push=args.push, + dry_run=args.dry_run, + ) + print(tag) + return 0 + + +def _resolve_dispatch_id(runs_root: Path, target: str) -> str: + """Resolve a dispatch id, accepting ``LATEST`` for the most recent one. + + Args: + runs_root: Directory holding dispatches. + target: A dispatch id, or ``LATEST``. + + Returns: + The resolved dispatch id. + + Raises: + PlanError: If *target* is ``LATEST`` and no dispatch exists. + """ + if target != "LATEST": + return target + candidates = sorted(path.name for path in runs_root.iterdir() if (path / "dispatch.json").exists()) + if not candidates: + raise PlanError(f"no dispatch found under {runs_root}") + return candidates[-1] + + +def command_dispatch(args: argparse.Namespace) -> int: + """Plan rows, render workflows, and (unless dry-running) submit and poll.""" + cfg = load_odin_config(args.config) + if args.resume is not None: + return _resume_dispatch(args=args, cfg=cfg) + chunk_size = args.chunk_size if args.chunk_size is not None else cfg.chunk_size + # Validated before anything is written: chunking runs after dispatch.json + # exists, so failing there would strand an orphan dispatch that LATEST + # resolves to. + if chunk_size < 1: + raise PlanError(f"chunk_size must be >= 1, got {chunk_size}") + + # --image and --seeds are only optional on the resume path, which re-attaches + # to work that was already planned and submitted. + if args.image is None: + print("[odin] --image is required unless resuming", file=sys.stderr) + return 1 + if args.seeds is None and args.retry_failed is None: + print("[odin] --seeds is required unless retrying (retries reuse the parent's seeds)", file=sys.stderr) + return 1 + + # Each element pairs a task-row list with the seeds it expands across. A + # fresh dispatch has one; a retry has one per seed, because a row that + # passed on seed 42 must not be re-run because seed 43 failed. + plan_groups: list[tuple[list[dict], list[int]]] + parent_dispatch_id: str | None = None + if args.retry_failed is not None: + parent_dispatch_id = _resolve_dispatch_id(args.runs_root, args.retry_failed) + rows_by_seed = _failed_rows_from(args.runs_root / parent_dispatch_id) + if not rows_by_seed: + print(f"[odin] {parent_dispatch_id} has no failed rows to retry", file=sys.stderr) + return 1 + plan_groups = [(task_rows, [seed]) for seed, task_rows in sorted(rows_by_seed.items())] + seeds = sorted(rows_by_seed) + retried = sum(len(task_rows) for task_rows, _ in plan_groups) + print(f"[odin] retrying {retried} failed row(s) from {parent_dispatch_id}") + else: + if not args.tasks_yaml.exists(): + print( + f"[odin] no task list at {args.tasks_yaml}. It is generated, not shipped: " + "run `odin discover` first, or pass --tasks_yaml with a hand-written list.", + file=sys.stderr, + ) + return 1 + task_rows = load_task_rows(args.tasks_yaml) + seeds = args.seeds + if args.metadata_yaml is not None: + task_rows = apply_metadata(task_rows, load_task_rows(args.metadata_yaml)) + plan_groups = [(task_rows, seeds)] + + if args.play or args.keep_checkpoints: + overrides: dict = {} + if args.play: + overrides["play"] = True + if args.keep_checkpoints: + overrides["keep_checkpoint"] = True + if args.video_length: + overrides["video_length"] = args.video_length + plan_groups = [([dict(row, **overrides) for row in task_rows], s) for task_rows, s in plan_groups] + + rows = [ + row + for task_rows, group_seeds in plan_groups + for row in plan_rows(task_rows=task_rows, seeds=group_seeds, include=args.include) + ] + if not rows: + print("[odin] no rows matched; nothing to dispatch", file=sys.stderr) + return 1 + + sides: list[tuple[str, str]] = [("a", args.image)] + if args.image_b is not None: + sides.append(("b", args.image_b)) + + dispatch_id = _allocate_dispatch_id(args.runs_root) + dispatch_dir = args.runs_root / dispatch_id + dispatch_dir.mkdir(parents=True, exist_ok=True) + + sided_rows: dict[str, list[PlannedRow]] = {side: [_sided(row, side) for row in rows] for side, _ in sides} + state = DispatchState( + schema_version=SCHEMA_VERSION, + dispatch_id=dispatch_id, + started_at=_utc_now_iso(), + ended_at=None, + seeds=list(seeds), + images={side: image for side, image in sides}, + jobs=[_job_from_row(row, side=side, image_ref=image) for side, image in sides for row in sided_rows[side]], + parent_dispatch_id=parent_dispatch_id, + ) + write_dispatch_state(dispatch_dir, state) + + rendered: list[tuple[Path, str]] = [] + for side, image in sides: + for chunk_index, chunk in chunk_rows(sided_rows[side], chunk_size): + yaml_text = render_workflow_yaml( + dispatch_id=dispatch_id, + chunk_index=chunk_index, + rows=chunk, + cfg=cfg, + image_ref=image, + output_uri=dispatch_output_uri(cfg.results_uri, dispatch_id), + ) + path = dispatch_dir / f"workflow.{side}{chunk_index}.yaml" + path.write_text(yaml_text) + rendered.append((path, side)) + + print(f"[odin] dispatch {dispatch_id}: {len(state.jobs)} rows, {len(rendered)} workflow(s) -> {dispatch_dir}") + if args.dry_run: + print("[odin] dry run: nothing submitted") + return 0 + + return _submit_and_poll(args=args, cfg=cfg, state=state, dispatch_dir=dispatch_dir, rendered=rendered) + + +def _failed_rows_from(dispatch_dir: Path) -> dict[int, list[dict]]: + """Return a dispatch's failed rows as task rows, grouped by seed. + + Failure is a property of ``(identity, seed)``, not of an identity: a row + that passed on seed 42 must not be re-run because seed 43 failed. Grouping + by seed keeps each identity paired with the seeds it actually failed on. + + Args: + dispatch_dir: Directory of the dispatch to retry. + + Returns: + Seed to task rows that failed on it, each suitable for + :func:`plan_rows` with that single seed. + + Raises: + PlanError: If the dispatch cannot be read, or is an A/B dispatch. + """ + state = read_dispatch_state(dispatch_dir) + if state is None: + raise PlanError(f"no dispatch.json under {dispatch_dir}") + + # A retry plans one row per identity and dispatches it against --image, so + # a side-B failure would silently be re-run on side A's image. + sides = sorted({job.side for job in state.jobs}) + if len(sides) > 1: + raise PlanError( + f"{dispatch_dir.name} is an A/B dispatch (sides {sides}); a retry would run both sides against one " + "image. Re-dispatch each side on its own instead." + ) + + grouped: dict[int, list[dict]] = {} + seen: set[tuple] = set() + for job in state.jobs: + if job.status != "failed": + continue + identity = (job.seed, job.task_id, job.rl_library, job.physics, job.renderer, job.presets) + if identity in seen: + continue + seen.add(identity) + row: dict = {"task_id": job.task_id, "rl_library": job.rl_library} + if job.physics is not None: + row["physics"] = job.physics + if job.renderer is not None: + row["renderer"] = job.renderer + if job.presets: + row["presets"] = list(job.presets) + if job.num_envs is not None: + row["num_envs"] = job.num_envs + if job.max_iterations is not None: + row["max_iterations"] = job.max_iterations + if job.timeout_s is not None: + row["timeout_s"] = job.timeout_s + grouped.setdefault(job.seed, []).append(row) + + return grouped + + +def _resume_dispatch(*, args: argparse.Namespace, cfg: OdinConfig) -> int: + """Re-attach to a dispatch whose workflows are already submitted. + + A crashed controller leaves rows stuck in ``running`` while OSMO carries on, + so resuming flips those back to ``pending`` and re-enters the poll loop. + Nothing is re-submitted: the workflow ids are already recorded, and + submitting again would duplicate every task. + + Args: + args: Parsed ``dispatch`` arguments. + cfg: Validated ``odin.yaml`` contents. + + Returns: + Process exit code. + """ + dispatch_id = _resolve_dispatch_id(args.runs_root, args.resume) + dispatch_dir = args.runs_root / dispatch_id + state = read_dispatch_state(dispatch_dir) + if state is None: + print(f"[odin] no dispatch.json under {dispatch_dir}", file=sys.stderr) + return 1 + if not state.osmo_workflow_ids: + print( + f"[odin] {dispatch_id} has no submitted workflows; it never got past planning. " + "Start a fresh dispatch instead.", + file=sys.stderr, + ) + return 1 + + in_flight = sum(1 for job in state.jobs if job.status == "running") + reset_in_flight_to_pending(state) + write_dispatch_state(dispatch_dir, state) + print( + f"[odin] resuming {dispatch_id}: {in_flight} in-flight row(s) reset, {len(state.osmo_workflow_ids)} workflow(s)" + ) + + return _poll_to_completion( + client=OsmoClient(profile=cfg.osmo_profile), + cfg=cfg, + state=state, + dispatch_dir=dispatch_dir, + poll_interval_s=args.poll_interval, + ) + + +def _submit_and_poll( + *, + args: argparse.Namespace, + cfg: OdinConfig, + state: DispatchState, + dispatch_dir: Path, + rendered: list[tuple[Path, str]], +) -> int: + """Submit every rendered workflow, then poll to completion and fetch results.""" + client = OsmoClient(profile=cfg.osmo_profile) + + # Preflight: OSMO uploads results itself via each task's outputs block, so a + # read-only bucket would not surface until every task had already run. + if not args.skip_preflight and not client.data_check(cfg.results_uri): + print( + f"[odin] {cfg.results_uri} is not writable; results would be lost. " + "Fix the bucket mode or pass --skip_preflight to override.", + file=sys.stderr, + ) + return 1 + + # Validate every chunk before submitting any of them, so a schema error + # cannot leave a dispatch half-submitted. + if not args.skip_preflight: + for path, _side in rendered: + client.validate(path) + + for path, _side in rendered: + workflow_id = client.submit( + path, + pool=args.pool or cfg.pool, + priority=args.priority or cfg.priority, + ) + state.osmo_workflow_ids.append(workflow_id) + print(f"[odin] submitted {path.name} -> {workflow_id}") + write_dispatch_state(dispatch_dir, state) + + return _poll_to_completion( + client=client, cfg=cfg, state=state, dispatch_dir=dispatch_dir, poll_interval_s=args.poll_interval + ) + + +def _poll_to_completion( + *, + client: OsmoClient, + cfg: OdinConfig, + state: DispatchState, + dispatch_dir: Path, + poll_interval_s: float, +) -> int: + """Poll submitted workflows to completion, fetching each row as it lands. + + Shared by a fresh dispatch and by ``--resume``: once workflows are + submitted, recovering a crashed controller is exactly this loop again. + """ + + def on_completed(job: JobEntry) -> None: + row_dir = fetch_results( + client=client, + base_uri=cfg.results_uri, + dispatch_id=state.dispatch_id, + row_key=job.row_key, + dest_dir=dispatch_dir, + ) + if validate_bundle(row_dir): + return + # OSMO reported COMPLETED but nothing parseable came back. Route through + # pending because completed -> failed is not a legal direct transition. + job.transition_to("pending") + job.transition_to( + "failed", + failure=FailureInfo(kind="malformed_bundle", message=f"no readable schema bundle under {row_dir}"), + ) + + poll_until_terminal( + client=client, + state=state, + dispatch_dir=dispatch_dir, + on_task_completed=on_completed, + poll_interval_s=poll_interval_s, + ) + + state.ended_at = _utc_now_iso() + write_dispatch_state(dispatch_dir, state) + _print_summary(state) + return 1 if any(job.status == "failed" for job in state.jobs) else 0 + + +def _print_summary(state: DispatchState) -> None: + """Print status counts, plus failure-kind counts when anything failed.""" + counts = Counter(job.status for job in state.jobs) + print(f"[odin] {state.dispatch_id}: " + ", ".join(f"{status}={count}" for status, count in sorted(counts.items()))) + kinds = Counter(job.failure.kind for job in state.jobs if job.failure is not None) + if kinds: + print("[odin] failures: " + ", ".join(f"{kind}={count}" for kind, count in sorted(kinds.items()))) + + +def command_status(args: argparse.Namespace) -> int: + """Summarise a dispatch from its ``dispatch.json``.""" + state = read_dispatch_state(args.runs_root / args.dispatch_id) + if state is None: + print(f"[odin] no dispatch.json under {args.runs_root / args.dispatch_id}", file=sys.stderr) + return 1 + _print_summary(state) + return 0 + + +def command_fetch(args: argparse.Namespace) -> int: + """Re-pull results for every completed row of a dispatch.""" + dispatch_dir = args.runs_root / args.dispatch_id + state = read_dispatch_state(dispatch_dir) + if state is None: + print(f"[odin] no dispatch.json under {dispatch_dir}", file=sys.stderr) + return 1 + cfg = load_odin_config(args.config) + client = OsmoClient(profile=cfg.osmo_profile) + + valid = 0 + completed = [job for job in state.jobs if job.status == "completed"] + for job in completed: + row_dir = fetch_results( + client=client, + base_uri=cfg.results_uri, + dispatch_id=state.dispatch_id, + row_key=job.row_key, + dest_dir=dispatch_dir, + ) + valid += 1 if validate_bundle(row_dir) else 0 + print(f"[odin] fetched {len(completed)} row(s), {valid} with a readable bundle") + return 0 if valid == len(completed) else 1 + + +def command_discover(args: argparse.Namespace) -> int: + """Generate the dispatch task list by walking the Gym registry.""" + tasks = discover_tasks() + rows = filter_rows( + expand_rows(tasks), + include=args.include, + exclude=args.exclude, + libraries=args.library, + physics=args.physics, + renderers=args.renderer, + presets=args.presets, + scope=args.scope, + max_rows=args.max_rows, + ) + if not rows: + print("[odin] discovery produced no rows; check the filters", file=sys.stderr) + return 1 + write_task_list( + args.output, + rows, + meta={ + "task_count": len({row["task_id"] for row in rows}), + "row_count": len(rows), + }, + ) + scopes = Counter(row.get("scope", "core") for row in rows) + print( + f"[odin] discovered {len({r['task_id'] for r in rows})} task(s) -> {len(rows)} row(s) " + f"({', '.join(f'{k}={v}' for k, v in sorted(scopes.items()))}) -> {args.output}" + ) + return 0 + + +def command_harvest(args: argparse.Namespace) -> int: + """Derive per-task metadata from a completed dispatch's bundles.""" + dispatch_dir = args.runs_root / args.dispatch_id + if not dispatch_dir.is_dir(): + print(f"[odin] no dispatch under {dispatch_dir}", file=sys.stderr) + return 1 + entries = harvest_dispatch(dispatch_dir, timeout_headroom=args.timeout_headroom) + if not entries: + print(f"[odin] no completed bundles under {dispatch_dir}", file=sys.stderr) + return 1 + write_task_metadata(args.output, entries) + print(f"[odin] harvested {len(entries)} task/library/physics combination(s) -> {args.output}") + return 0 + + +def _build_parser() -> argparse.ArgumentParser: + parser = argparse.ArgumentParser(prog="odin", description="Dispatch Isaac Lab benchmarks to OSMO.") + sub = parser.add_subparsers(dest="command") + + build = sub.add_parser("build-image", help="Pin a git ref into a benchmark image.") + build.add_argument("--config", type=Path, required=True) + build.add_argument("--ref", type=str, default="HEAD") + build.add_argument("--cuda_image", type=str, default=DEFAULT_CUDA_IMAGE) + build.add_argument("--context_dir", type=Path, default=Path("./.odin-build")) + build.add_argument("--push", action="store_true") + build.add_argument("--dry_run", action="store_true") + + dispatch = sub.add_parser("dispatch", help="Plan, submit, and poll a dispatch.") + dispatch.add_argument("--config", type=Path, required=True) + dispatch.add_argument("--tasks_yaml", type=Path, default=Path(__file__).resolve().parent / "config" / "tasks.yaml") + dispatch.add_argument("--image", type=str, default=None, help="Digest-pinned image for side A.") + dispatch.add_argument("--image_b", type=str, default=None, help="Digest-pinned image for side B; enables A/B mode.") + dispatch.add_argument("--seeds", type=_parse_seeds, default=None) + dispatch.add_argument("--include", type=str, default=None, help="Glob filter over task_id.") + dispatch.add_argument( + "--metadata_yaml", + type=Path, + default=None, + help="Harvested task_metadata.yaml to overlay sizing from. Seed-list values win.", + ) + dispatch.add_argument("--pool", type=str, default=None) + dispatch.add_argument("--priority", choices=["HIGH", "NORMAL", "LOW"], default=None) + dispatch.add_argument("--chunk_size", type=int, default=None) + dispatch.add_argument("--poll_interval", type=float, default=15.0) + dispatch.add_argument("--runs_root", type=Path, default=Path("./odin_runs")) + dispatch.add_argument( + "--play", + action="store_true", + help="Chain a play rollout after training in the same task, recording a video.", + ) + dispatch.add_argument("--video_length", type=int, default=None, help="Frames to record during play.") + dispatch.add_argument( + "--keep_checkpoints", + action="store_true", + help="Copy the trained checkpoint into the uploaded output; OSMO does not collect logs/.", + ) + dispatch.add_argument("--dry_run", action="store_true") + dispatch.add_argument( + "--resume", + type=str, + default=None, + metavar="DISPATCH_ID", + help="Re-attach to an already-submitted dispatch and keep polling. Accepts LATEST.", + ) + dispatch.add_argument( + "--retry_failed", + type=str, + default=None, + metavar="DISPATCH_ID", + help="Start a new dispatch containing only the failed rows of another. Accepts LATEST.", + ) + dispatch.add_argument( + "--skip_preflight", + action="store_true", + help="Submit without checking that results_uri is writable.", + ) + + status = sub.add_parser("status", help="Summarise a dispatch.") + status.add_argument("dispatch_id", type=str) + status.add_argument("--runs_root", type=Path, default=Path("./odin_runs")) + + fetch = sub.add_parser("fetch", help="Re-pull results for a dispatch.") + fetch.add_argument("dispatch_id", type=str) + fetch.add_argument("--config", type=Path, required=True) + fetch.add_argument("--runs_root", type=Path, default=Path("./odin_runs")) + + discover = sub.add_parser("discover", help="Generate the task list from the Gym registry.") + discover.add_argument("--output", type=Path, default=Path(__file__).resolve().parent / "config" / "tasks.yaml") + discover.add_argument("--include", type=str, default=None, help="Glob a task_id must match.") + discover.add_argument("--exclude", type=str, default=None, help="Glob a task_id must not match.") + discover.add_argument("--library", action="append", default=None, help="Restrict the library axis; repeatable.") + discover.add_argument("--physics", action="append", default=None, help="Restrict the physics axis; repeatable.") + discover.add_argument("--renderer", action="append", default=None, help="Restrict the renderer axis; repeatable.") + discover.add_argument( + "--presets", action="append", default=None, help="Restrict the domain-preset axis; repeatable." + ) + discover.add_argument("--scope", choices=["core", "contrib", "all"], default="all") + discover.add_argument("--max_rows", type=int, default=None, help="Deterministic head of the sorted order.") + + harvest = sub.add_parser("harvest", help="Derive per-task metadata from a completed dispatch.") + harvest.add_argument("dispatch_id", type=str) + harvest.add_argument("--runs_root", type=Path, default=Path("./odin_runs")) + harvest.add_argument( + "--output", + type=Path, + default=Path(__file__).resolve().parent / "config" / "task_metadata.yaml", + ) + harvest.add_argument( + "--timeout_headroom", + type=float, + default=DEFAULT_TIMEOUT_HEADROOM, + help="Multiplier applied to the slowest observed run when deriving timeout_s.", + ) + + return parser + + +_COMMANDS = { + "build-image": command_build_image, + "dispatch": command_dispatch, + "status": command_status, + "fetch": command_fetch, + "discover": command_discover, + "harvest": command_harvest, +} + + +def main(argv: list[str] | None = None) -> int: + """Run the OdinV2 CLI. + + Args: + argv: Command-line arguments; uses ``sys.argv[1:]`` when omitted. + + Returns: + Process exit code. + """ + parser = _build_parser() + args = parser.parse_args(sys.argv[1:] if argv is None else argv) + if args.command is None: + parser.print_help() + return 2 + try: + return _COMMANDS[args.command](args) + except (OdinConfigError, PlanError, ImageBuildError, DiscoveryError, HarvestError, PollError) as exc: + print(f"[odin] {exc}", file=sys.stderr) + return 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/tools/odin/client.py b/tools/odin/client.py new file mode 100644 index 000000000000..cd8aee318df0 --- /dev/null +++ b/tools/odin/client.py @@ -0,0 +1,236 @@ +# 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 + +"""Thin subprocess wrappers around the ``osmo`` CLI. + +One module, one public class :class:`OsmoClient`. Each method shells out +to a single ``osmo`` invocation and parses the output. Errors are typed: + +- :class:`OsmoAuthError` — auth/credential failure; caller surfaces. +- :class:`OsmoTransientError` — retryable (HTTP 5xx, connection reset). +- :class:`OsmoCliError` — anything else (bad spec, parse failure). +""" + +from __future__ import annotations + +import json +import os +import re +import subprocess +from dataclasses import dataclass +from pathlib import Path + +__all__ = [ + "OsmoAuthError", + "OsmoCliError", + "OsmoClient", + "OsmoTransientError", + "TaskSnapshot", + "WorkflowSnapshot", +] + + +class OsmoCliError(RuntimeError): + """Generic ``osmo`` CLI failure (non-zero exit, parse failure, etc.).""" + + +class OsmoAuthError(OsmoCliError): + """Auth failure (HTTP 401/403). Not retried.""" + + +class OsmoTransientError(OsmoCliError): + """Retryable failure (HTTP 5xx, connection issues).""" + + +@dataclass(frozen=True) +class TaskSnapshot: + """One task's state in an OSMO workflow snapshot.""" + + name: str + status: str # COMPLETED | FAILED | RUNNING | etc. + exit_code: int | None + + +@dataclass(frozen=True) +class WorkflowSnapshot: + """Snapshot of a workflow + per-task states from one ``osmo workflow query`` call.""" + + workflow_id: str + status: str + tasks: list[TaskSnapshot] + + +_AUTH_PATTERN = re.compile(r"(HTTP|status code) 40[13]|unauthori[sz]ed", re.IGNORECASE) +_TRANSIENT_PATTERN = re.compile( + r"(HTTP|status code) 5\d\d|connection (reset|refused|timed?\s+out|timeout)", + re.IGNORECASE, +) +_WORKFLOW_ID_PATTERN = re.compile(r"^Workflow ID\s+-\s+(\S+)", re.MULTILINE) + + +def _classify(stderr: str) -> type[OsmoCliError]: + if _AUTH_PATTERN.search(stderr): + return OsmoAuthError + if _TRANSIENT_PATTERN.search(stderr): + return OsmoTransientError + return OsmoCliError + + +class OsmoClient: + """Subprocess-based wrapper around the ``osmo`` CLI. + + Args: + profile: OSMO profile name. Passed via ``OSMO_PROFILE`` env var on + every invocation. + executable: ``osmo`` binary path. Defaults to ``"osmo"`` (relies + on ``$PATH``). + """ + + def __init__(self, *, profile: str, executable: str = "osmo") -> None: + self._profile = profile + self._exe = executable + + def _env(self) -> dict[str, str]: + env = dict(os.environ) + env["OSMO_PROFILE"] = self._profile + return env + + def _run(self, cmd: list[str]) -> subprocess.CompletedProcess[str]: + return subprocess.run( + cmd, + env=self._env(), + capture_output=True, + text=True, + check=False, + ) + + def submit(self, yaml_path: Path, *, pool: str | None = None, priority: str | None = None) -> str: + """Submit a workflow YAML and return the workflow_id. + + Args: + yaml_path: Path to the rendered workflow YAML. + pool: Target OSMO pool, or ``None`` to use the profile's default. + priority: Scheduling priority (``HIGH``, ``NORMAL``, ``LOW``), or + ``None`` to use OSMO's default. + + Returns: + The OSMO workflow ID parsed from stdout. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cmd: list[str] = [self._exe, "workflow", "submit", str(yaml_path)] + if pool is not None: + cmd.extend(["--pool", pool]) + if priority is not None: + cmd.extend(["--priority", priority]) + cp = self._run(cmd) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo workflow submit` failed: {cp.stderr.strip()}") + m = _WORKFLOW_ID_PATTERN.search(cp.stdout) + if not m: + raise OsmoCliError(f"could not parse Workflow ID from osmo stdout: {cp.stdout!r}") + return m.group(1) + + def status(self, workflow_id: str) -> WorkflowSnapshot: + """Fetch the workflow snapshot. + + Args: + workflow_id: The OSMO workflow ID returned by :meth:`submit`. + + Returns: + A :class:`WorkflowSnapshot` populated from the OSMO response. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cp = self._run([self._exe, "workflow", "query", workflow_id, "-t", "json"]) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo workflow query` failed: {cp.stderr.strip()}") + return self._parse_status_json(cp.stdout, workflow_id) + + @staticmethod + def _parse_status_json(stdout: str, workflow_id: str) -> WorkflowSnapshot: + """Parse ``osmo workflow query -t json`` output. + + The document names the workflow under ``name`` and nests tasks one level + down, under ``groups[].tasks[]`` — Odin puts every task in its own group, + but the nesting is OSMO's regardless. + """ + try: + data = json.loads(stdout) + except json.JSONDecodeError as e: + raise OsmoCliError(f"could not parse JSON status: {e}") from e + tasks = [ + TaskSnapshot( + name=str(task["name"]), + status=str(task["status"]), + exit_code=(None if task.get("exit_code") in (None, "-") else int(task["exit_code"])), + ) + for group in data.get("groups") or [] + for task in group.get("tasks") or [] + ] + return WorkflowSnapshot( + workflow_id=str(data.get("name") or workflow_id), + status=str(data["status"]), + tasks=tasks, + ) + + def validate(self, yaml_path: Path) -> None: + """Validate a workflow YAML server-side without submitting it. + + Catches schema drift that local rendering cannot: OSMO rejects unknown + task fields outright, and validates pool, platform, credential names, + and image reachability. + + Args: + yaml_path: Path to the rendered workflow YAML. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cp = self._run([self._exe, "workflow", "validate", str(yaml_path)]) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo workflow validate` failed for {yaml_path.name}: {cp.stderr.strip()}") + + def data_check(self, remote_uri: str) -> bool: + """Return whether the profile can write to *remote_uri*. + + Used as a submit-time preflight. A bucket can be flipped read-only + server-side — that is how OSMO retired datasets, which surfaces as + ``Bucket mode is read-only`` — and discovering it after a + dispatch has burned GPU hours is expensive. + + Args: + remote_uri: Backend URI, e.g. ``swift://host/AUTH_x/prefix``. + + Returns: + ``True`` when the check reports a pass. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + cp = self._run([self._exe, "data", "check", remote_uri, "-a", "WRITE"]) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo data check` failed: {cp.stderr.strip()}") + return '"pass"' in cp.stdout or "'pass'" in cp.stdout + + def data_download(self, remote_uri: str, dest_dir: Path) -> None: + """Download a bucket URI into a local directory. + + OSMO datasets were retired; ``osmo data`` against a backend URI is the + replacement. + + Args: + remote_uri: Backend URI, e.g. ``s3://bucket/prefix``. + dest_dir: Local destination, created with parents if missing. + + Raises: + OsmoAuthError, OsmoTransientError, OsmoCliError: per :func:`_classify`. + """ + dest_dir.mkdir(parents=True, exist_ok=True) + cp = self._run([self._exe, "data", "download", remote_uri, str(dest_dir)]) + if cp.returncode != 0: + raise _classify(cp.stderr)(f"`osmo data download` failed: {cp.stderr.strip()}") diff --git a/tools/odin/config/odin.yaml b/tools/odin/config/odin.yaml new file mode 100644 index 000000000000..76227ce09951 --- /dev/null +++ b/tools/odin/config/odin.yaml @@ -0,0 +1,47 @@ +# 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 + +# OdinV2 dispatch configuration. +osmo_profile: default +pool: isaac-dev-l40-03 +priority: NORMAL + +image: + registry: nvcr.io/nvidian + repository: antoiner-isaac-lab + pull_credential: ngc_read_only + +resources: + cpu: 8 + gpu: 1 + memory: 64Gi + storage: 64Gi + platform: ovx-l40 + +# Every task is wrapped in its own single-task group, so OSMO's clock is +# per-group and this is a ceiling that catches wedged tasks rather than a +# per-task budget. Short tasks finish and exit on their own. +exec_timeout_s: 86400 + +# At dev-pool oversubscription rates a task can wait many hours before k8s +# schedules it. The pool admin may clamp this at submit time; the enforced +# value shows up in workflow.timeout.queue_timeout after submission. +queue_timeout_s: 172800 + +# Maximum tasks per submitted OSMO workflow. +chunk_size: 25 + +# Storage prefix results are published under. Emitted as each task's OSMO +# `outputs:` block, so OSMO performs the upload itself — no credentials and no +# osmo binary are needed inside the container. +# +# OSMO datasets were retired: `outputs: - dataset:` is rejected server-side with +# "Bucket isaac mode is read-only". Direct swift writes to this prefix pass +# `osmo data check -a WRITE`, which `dispatch` runs as a preflight. +results_uri: swift://pdx.s8k.io/AUTH_team-isaac/datasets/odin + +retry: + reschedule_codes: "3001-3006" + restart_codes: "" diff --git a/tools/odin/config_file.py b/tools/odin/config_file.py new file mode 100644 index 000000000000..73b01983ca31 --- /dev/null +++ b/tools/odin/config_file.py @@ -0,0 +1,210 @@ +# 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 + +"""Load and validate ``odin.yaml``. + +Named ``config_file`` rather than ``config`` because ``tools/odin/config/`` is a +sibling directory; the two would shadow each other in some import orders. + +Every validation error raises :class:`OdinConfigError` naming the key path, so +the operator knows exactly which field to fix. +""" + +from __future__ import annotations + +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import yaml + +__all__ = [ + "ImageSpec", + "OdinConfig", + "OdinConfigError", + "ResourcesSpec", + "RetrySpec", + "load_odin_config", +] + +_PRIORITIES = frozenset({"HIGH", "NORMAL", "LOW"}) + + +class OdinConfigError(ValueError): + """Raised when ``odin.yaml`` fails validation.""" + + +@dataclass(frozen=True) +class ImageSpec: + """Registry coordinates for the benchmark image. + + Args: + registry: Registry host and namespace, e.g. ``nvcr.io/nvidian``. + repository: Repository name within the registry. + pull_credential: OSMO credential name used to pull, or ``None`` for a + public image. + """ + + registry: str + repository: str + pull_credential: str | None + + @property + def registry_host(self) -> str: + """Return just the registry host, e.g. ``nvcr.io`` from ``nvcr.io/nvidian``. + + OSMO's task ``credentials:`` block maps a credential name to the registry + host it authenticates, not to the full namespaced path. + """ + return self.registry.split("/", 1)[0] + + +@dataclass(frozen=True) +class ResourcesSpec: + """Per-task resource request sent to OSMO. + + Args: + cpu: CPU cores. + gpu: GPU count. + memory: Memory request in Kubernetes quantity form, e.g. ``64Gi``. + storage: Ephemeral storage request, e.g. ``64Gi``. + platform: OSMO platform selector, e.g. ``ovx-l40s``. + """ + + cpu: int + gpu: int + memory: str + storage: str + platform: str + + +@dataclass(frozen=True) +class RetrySpec: + """OSMO ``exitActions`` exit-code ranges. + + Args: + reschedule_codes: Codes OSMO reschedules onto another node. + restart_codes: Codes OSMO restarts in place. + """ + + reschedule_codes: str + restart_codes: str + + +@dataclass(frozen=True) +class OdinConfig: + """Validated contents of ``odin.yaml``. + + Args: + osmo_profile: OSMO profile name, exported as ``OSMO_PROFILE``. + pool: Target OSMO pool. + priority: Scheduling priority, one of ``HIGH``, ``NORMAL``, ``LOW``. + image: Registry coordinates for the benchmark image. + resources: Per-task resource request. + exec_timeout_s: Workflow execution timeout [s]. Each task is wrapped in + its own group, so the OSMO clock is per-group and this acts as a + ceiling that catches wedged tasks rather than a per-task budget. + queue_timeout_s: Workflow queue timeout [s]. + chunk_size: Maximum tasks per submitted OSMO workflow. + results_uri: Bucket URI prefix under which results are published. + retry: OSMO exit-action code ranges. + """ + + osmo_profile: str + pool: str + priority: str + image: ImageSpec + resources: ResourcesSpec + exec_timeout_s: int + queue_timeout_s: int + chunk_size: int + results_uri: str + retry: RetrySpec + + +def _require(mapping: Any, key: str, ctx: str) -> Any: + path = f"{ctx}.{key}" if ctx else key + if not isinstance(mapping, dict) or key not in mapping: + raise OdinConfigError(f"missing required field: {path}") + return mapping[key] + + +def _require_str(mapping: Any, key: str, ctx: str) -> str: + value = _require(mapping, key, ctx) + path = f"{ctx}.{key}" if ctx else key + if not isinstance(value, str) or not value: + raise OdinConfigError(f"{path} must be a non-empty string") + return value + + +def _require_int(mapping: Any, key: str, ctx: str) -> int: + value = _require(mapping, key, ctx) + path = f"{ctx}.{key}" if ctx else key + # bool subclasses int, so "gpu: true" would otherwise pass as 1. + if isinstance(value, bool) or not isinstance(value, int): + raise OdinConfigError(f"{path} must be an integer") + return value + + +def load_odin_config(path: Path) -> OdinConfig: + """Load and validate ``odin.yaml``. + + Args: + path: Filesystem path to the YAML file. + + Returns: + The validated configuration. + + Raises: + OdinConfigError: If the file is unreadable, is not a mapping, or any + field is missing or malformed. + """ + try: + raw = yaml.safe_load(path.read_text()) + except OSError as exc: + raise OdinConfigError(f"could not read {path}: {exc}") from exc + except yaml.YAMLError as exc: + raise OdinConfigError(f"could not parse {path}: {exc}") from exc + + if not isinstance(raw, dict): + raise OdinConfigError(f"{path} must contain a top-level mapping") + + priority = _require_str(raw, "priority", "") + if priority not in _PRIORITIES: + raise OdinConfigError(f"priority must be one of {sorted(_PRIORITIES)}, got {priority!r}") + + image_raw = _require(raw, "image", "") + resources_raw = _require(raw, "resources", "") + retry_raw = raw.get("retry") or {} + + chunk_size = _require_int(raw, "chunk_size", "") + if chunk_size < 1: + raise OdinConfigError(f"chunk_size must be >= 1, got {chunk_size}") + + return OdinConfig( + osmo_profile=_require_str(raw, "osmo_profile", ""), + pool=_require_str(raw, "pool", ""), + priority=priority, + image=ImageSpec( + registry=_require_str(image_raw, "registry", "image"), + repository=_require_str(image_raw, "repository", "image"), + pull_credential=image_raw.get("pull_credential"), + ), + resources=ResourcesSpec( + cpu=_require_int(resources_raw, "cpu", "resources"), + gpu=_require_int(resources_raw, "gpu", "resources"), + memory=_require_str(resources_raw, "memory", "resources"), + storage=_require_str(resources_raw, "storage", "resources"), + platform=_require_str(resources_raw, "platform", "resources"), + ), + exec_timeout_s=_require_int(raw, "exec_timeout_s", ""), + queue_timeout_s=_require_int(raw, "queue_timeout_s", ""), + chunk_size=chunk_size, + results_uri=_require_str(raw, "results_uri", ""), + retry=RetrySpec( + reschedule_codes=str(retry_raw.get("reschedule_codes") or ""), + restart_codes=str(retry_raw.get("restart_codes") or ""), + ), + ) diff --git a/tools/odin/discover.py b/tools/odin/discover.py new file mode 100644 index 000000000000..1e3c5ba2ed4e --- /dev/null +++ b/tools/odin/discover.py @@ -0,0 +1,398 @@ +# 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 + +"""Generate the dispatch task list from the Gym registry. + +Discovery is the default row source; a hand-written list remains possible as an +override via ``--tasks_yaml``. Expansion is total and filtering is the only way +to narrow, so there is one vocabulary rather than two. The registry walk lives in :func:`discover_tasks` +and needs Isaac Lab importable; everything else is pure and testable offline. + +The emitted file is the same shape :func:`~tools.odin.plan.load_task_rows` +already consumes, so nothing downstream of ``PlannedRow`` changes. + +Sizing is deliberately never invented here. ``num_envs``, ``max_iterations`` and +``timeout_s`` come from the harvested ``task_metadata.yaml`` overlay, measured +from a real run. +""" + +from __future__ import annotations + +import fnmatch +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import yaml + +__all__ = [ + "RL_LIBRARY_PRIORITY", + "DiscoveredTask", + "DiscoveryError", + "discover_tasks", + "filter_rows", + "expand_rows", + "write_task_list", +] + +# Stable ordering for the RL library axis. +RL_LIBRARY_PRIORITY: tuple[str, ...] = ("rsl_rl", "rl_games", "skrl", "sb3") + +# Physics presets never dispatched. ``newton_mjwarp_vbd_proxy`` is a proxy +# variant rather than a backend under test. +_SKIP_PHYSICS = frozenset({"newton_mjwarp_vbd_proxy"}) + +# Backend names that also appear under ``PresetTarget.DOMAIN`` on some tasks. +# They are selected with ``physics=`` / ``renderer=``, so emitting them as a +# ``presets=`` token would be a duplicate at best and wrong at worst. A per-task +# check is not enough: a task can list ``newton_mjwarp`` under DOMAIN without +# declaring it under PHYSICS. Mirrors the same guard in tools/environ_docs.py. +_BACKEND_MIRROR_NAMES = frozenset( + { + "newton_kamino", + "newton_mjwarp", + "newton_mjwarp_vbd", + "newton_mjwarp_vbd_proxy", + "ovphysx", + "physx", + "isaacsim_physx", + "newton", + "kamino", + "isaacsim_rtx", + "isaacsim_rtx_renderer", + "newton_renderer", + "ovrtx", + "ovrtx_renderer", + "rtx", + } +) + + +class DiscoveryError(RuntimeError): + """Raised when the registry cannot be walked.""" + + +@dataclass(frozen=True) +class DiscoveredTask: + """One registered training task, as discovered from the Gym registry. + + Args: + task_id: Gym task id. + scope: ``core`` or ``contrib``. + rl_libraries: Odin-supported RL libraries the task declares, in + :data:`RL_LIBRARY_PRIORITY` order. + modes: The task's **legal** physics/renderer combinations. Callers never + reconstruct the cross product or reason about which pairings are + rejected; discovery has already resolved that. + """ + + @dataclass(frozen=True) + class Mode: + """One legal way to run a task. + + Args: + physics: Physics preset token, or ``None`` for tasks that declare + none and reject any ``physics=`` selector. + renderer: Renderer preset token, or ``None`` to run headless. + presets: Domain preset token passed as ``presets=``, or + ``None``. Exactly one at a time: domain presets that target the + same field conflict outright, e.g. ``presets=depth,rgb`` is + rejected with "Conflicting global presets". + """ + + physics: str | None + renderer: str | None + presets: str | None + + task_id: str + scope: str + rl_libraries: tuple[str, ...] + modes: tuple[DiscoveredTask.Mode, ...] + + +def _canonical_physics(names: tuple[str, ...]) -> tuple[str, ...]: + """Return the physics presets worth dispatching for one task. + + ``physx`` is dropped when ``ovphysx`` is also declared: headless, ``physx`` + resolves to OvPhysX on most tasks, so running both is an exact duplicate. + """ + kept = [name for name in names if name not in _SKIP_PHYSICS] + if "ovphysx" in kept and "physx" in kept: + kept.remove("physx") + return tuple(kept) + + +def expand_rows(tasks: list[DiscoveredTask]) -> list[dict[str, Any]]: + """Expand discovered tasks into every dispatchable row. + + Expansion is total across the RL library axis and the task's legal modes. + Narrowing is :func:`filter_rows`' job, so there is one mechanism for "what to + keep" rather than a second vocabulary of named row-set shapes. + + Args: + tasks: Discovered tasks. + + Returns: + Row dicts sorted by ``(task_id, rl_library, physics, renderer)``. The + ``physics`` and ``renderer`` keys are omitted when the mode leaves them + unset, because an empty ``physics=`` token is rejected by the task. + """ + rows: list[dict[str, Any]] = [] + for task in tasks: + for library in task.rl_libraries: + for mode in task.modes: + row: dict[str, Any] = { + "task_id": task.task_id, + "scope": task.scope, + "rl_library": library, + } + if mode.physics is not None: + row["physics"] = mode.physics + if mode.renderer is not None: + row["renderer"] = mode.renderer + if mode.presets is not None: + row["presets"] = mode.presets + rows.append(row) + + rows.sort(key=lambda row: (row["task_id"], row["rl_library"], row.get("physics") or "", row.get("renderer") or "")) + return rows + + +def filter_rows( + rows: list[dict[str, Any]], + *, + include: str | None = None, + exclude: str | None = None, + libraries: list[str] | None = None, + physics: list[str] | None = None, + renderers: list[str] | None = None, + presets: list[str] | None = None, + scope: str | None = None, + max_rows: int | None = None, +) -> list[dict[str, Any]]: + """Narrow expanded rows. + + Args: + rows: Rows from :func:`expand_rows`. + include: Glob a ``task_id`` must match. + exclude: Glob a ``task_id`` must not match. + libraries: Restrict to these RL libraries. + physics: Restrict to these physics presets. Rows with no physics token + are kept only when ``"default"`` is listed. + renderers: Restrict to these renderer presets. Rows are headless unless + a renderer was requested, so ``"none"`` keeps headless rows. + presets: Restrict to these domain presets. ``"default"`` keeps rows that + select none. + scope: ``core``, ``contrib``, or ``all``. + max_rows: Deterministic head of the sorted order, as a cost valve. + + Returns: + The filtered rows, order preserved. + """ + result = rows + if include is not None: + result = [row for row in result if fnmatch.fnmatch(row["task_id"], include)] + if exclude is not None: + result = [row for row in result if not fnmatch.fnmatch(row["task_id"], exclude)] + if libraries: + result = [row for row in result if row["rl_library"] in libraries] + if physics: + wanted = set(physics) + result = [row for row in result if (row.get("physics") or "default") in wanted] + if renderers: + wanted_renderers = set(renderers) + result = [row for row in result if (row.get("renderer") or "none") in wanted_renderers] + if presets: + wanted_presets = set(presets) + result = [row for row in result if (row.get("presets") or "default") in wanted_presets] + if scope and scope != "all": + result = [row for row in result if row.get("scope") == scope] + if max_rows is not None: + result = result[:max_rows] + return result + + +def discover_tasks() -> list[DiscoveredTask]: + """Walk the Gym registry and return every dispatchable training task. + + Imports Isaac Lab, so it needs the project environment. Contrib tasks are + included when ``isaaclab_tasks_experimental`` is importable. + + For tasks that declare renderers, every physics/renderer pairing is checked + against the runtime validator and only the legal ones become modes. That + matters because the cross product is not all legal: OVRTX is kitless and + cannot share a process with Kit physics, so ``isaacsim_physx + ovrtx`` is + rejected. Discovering that here costs one config resolution per pairing; + discovering it on a GPU costs a whole dispatch. + + Returns: + Discovered tasks sorted by ``task_id``. + + Raises: + DiscoveryError: If the task packages cannot be imported. + """ + import contextlib + + try: + import gymnasium as gym + + import isaaclab_tasks # noqa: F401 + from isaaclab_tasks.utils.preset_cli import enumerate_task_presets + from isaaclab_tasks.utils.preset_target import PresetTarget + except ImportError as exc: + raise DiscoveryError(f"could not import the Isaac Lab task packages: {exc}") from exc + + with contextlib.suppress(ImportError): + import isaaclab_tasks_experimental # noqa: F401 + + tasks: list[DiscoveredTask] = [] + for spec in gym.registry.values(): + if not _is_training_task(spec.id) or spec.kwargs.get("deprecated"): + continue + libraries = _rl_libraries_from_kwargs(spec.kwargs) + if not libraries: + continue + preset_map = enumerate_task_presets(spec.id) + physics = _canonical_physics(tuple(sorted(preset_map.get(PresetTarget.PHYSICS, [])))) if preset_map else () + renderers = tuple(sorted(preset_map.get(PresetTarget.RENDERER, []))) if preset_map else () + domains = _domain_presets(preset_map.get(PresetTarget.DOMAIN, [])) if preset_map else () + tasks.append( + DiscoveredTask( + task_id=spec.id, + scope="contrib" if spec.id.startswith("IsaacContrib-") else "core", + rl_libraries=libraries, + modes=_legal_modes(spec.id, physics, renderers, domains), + ) + ) + tasks.sort(key=lambda task: task.task_id) + return tasks + + +def _domain_presets(names: list[str]) -> tuple[str, ...]: + """Return the domain presets worth dispatching, dropping backend mirrors.""" + return tuple(sorted(name for name in names if name not in _BACKEND_MIRROR_NAMES)) + + +def _legal_modes( + task_id: str, + physics: tuple[str, ...], + renderers: tuple[str, ...], + domains: tuple[str, ...], +) -> tuple[DiscoveredTask.Mode, ...]: + """Return the legal physics/renderer/preset combinations for one task. + + A task declaring renderers is always expanded across them: benchmarking a + camera task headless measures everything except the thing under test. Domain + presets are expanded one at a time, never combined, because presets + targeting the same field conflict outright. + """ + physics_options: tuple[str | None, ...] = physics or (None,) + renderer_options: tuple[str | None, ...] = renderers or (None,) + # ``None`` keeps the task's own default alongside each explicit preset. + domain_options: tuple[str | None, ...] = (None, *domains) if domains else (None,) + + modes: list[DiscoveredTask.Mode] = [] + for physics_name in physics_options: + for renderer in renderer_options: + for domain in domain_options: + if not _mode_resolves(task_id, physics_name, renderer, domain): + continue + modes.append(DiscoveredTask.Mode(physics=physics_name, renderer=renderer, presets=domain)) + return tuple(modes) + + +# Errors that mean the validator itself could not run, rather than that the +# combination under test was rejected. Swallowing these marks every mode illegal +# and leaves the CLI blaming the operator's filters for an empty row set. +_INFRASTRUCTURE_ERRORS = (ImportError, AttributeError, NameError, SyntaxError) + + +def _mode_resolves(task_id: str, physics: str | None, renderer: str | None, presets: str | None = None) -> bool: + """Return whether a physics/renderer pairing resolves and passes validation. + + An unknown preset, an unloadable config, or a rejected backend combination + all mean the same thing — the pairing is undispatchable — so they return + ``False`` alike. + + Raises: + DiscoveryError: If validation could not run at all, e.g. because an + Isaac Lab import or API it depends on has changed. + """ + import argparse + import sys + + from isaaclab.app.sim_launcher import _validate_runtime, scan + + from isaaclab_tasks.utils import resolve_task_config, setup_preset_cli + + parser = argparse.ArgumentParser() + parser.add_argument("--task") + parser.add_argument("--agent", default=None) + argv = ["--task", task_id] + if physics is not None: + argv.append(f"physics={physics}") + if renderer is not None: + argv.append(f"renderer={renderer}") + if presets is not None: + argv.append(f"presets={presets}") + + original_argv = list(sys.argv) + try: + args, remaining = setup_preset_cli(parser, argv) + sys.argv = [sys.argv[0]] + remaining + env_cfg, _ = resolve_task_config(args.task, args.agent) + _validate_runtime(scan(env_cfg, args), args) + return True + except _INFRASTRUCTURE_ERRORS as exc: + raise DiscoveryError( + f"preset validation for {task_id!r} could not run: {type(exc).__name__}: {exc}. This is an Isaac Lab " + "import or API failure, not a rejected preset combination." + ) from exc + except Exception: # noqa: BLE001 - any other failure means undispatchable + return False + finally: + sys.argv = original_argv + + +def _is_training_task(task_id: str) -> bool: + """Return whether *task_id* is a trainable Isaac task.""" + if "Isaac" not in task_id: + return False + return not task_id.endswith("-Eval") and "-Benchmark-" not in task_id + + +def _rl_libraries_from_kwargs(kwargs: dict[str, Any]) -> tuple[str, ...]: + """Return the Odin-supported RL libraries a registration declares.""" + declared = set() + for key in kwargs: + if not key.endswith("_cfg_entry_point") or key == "env_cfg_entry_point": + continue + stem = key[: -len("_cfg_entry_point")] + for candidate in RL_LIBRARY_PRIORITY: + if stem == candidate or stem.startswith(f"{candidate}_"): + declared.add(candidate) + break + return tuple(name for name in RL_LIBRARY_PRIORITY if name in declared) + + +def write_task_list(path: Path, rows: list[dict[str, Any]], *, meta: dict[str, Any]) -> None: + """Write discovered rows as a task list. + + Args: + path: Destination file; parent directories are created. + rows: Rows to write. + meta: Provenance recorded under a ``discovery`` header, which + :func:`~tools.odin.plan.load_task_rows` ignores. Keep it free of + values that change per run, or every regeneration is a diff. + """ + path.parent.mkdir(parents=True, exist_ok=True) + header = ( + "# Generated by tools/odin/discover.py. Do not edit by hand -- regenerate,\n" + "# or pass a hand-written file to `dispatch --tasks_yaml` to override.\n" + "#\n" + "# Sizing is absent by design: it is harvested from a real run into\n" + "# task_metadata.yaml and applied as an overlay.\n" + ) + path.write_text(header + yaml.safe_dump({"discovery": meta, "tasks": rows}, sort_keys=False)) diff --git a/tools/odin/harvest.py b/tools/odin/harvest.py new file mode 100644 index 000000000000..9b2e453bf8ee --- /dev/null +++ b/tools/odin/harvest.py @@ -0,0 +1,223 @@ +# 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 + +"""Derive per-task benchmark metadata from a completed dispatch. + +A first dispatch runs every task at its shipped agent-config default and records +what actually happened. This module reads those bundles back and distils them +into ``task_metadata.yaml``: the resolved sizing, a wall-clock budget, and a +reward baseline. Later dispatches read that file as an overlay on the seed list, +so the sizing table is measured rather than guessed. + +The comparable upstream table is +``source/isaaclab_tasks/test/benchmarking/configs.yaml``. +""" + +from __future__ import annotations + +import json +import statistics +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import yaml + +from tools.odin.results import read_bundle + +__all__ = [ + "DEFAULT_TIMEOUT_HEADROOM", + "HarvestError", + "TaskMetadata", + "harvest_dispatch", + "write_task_metadata", +] + + +class HarvestError(ValueError): + """Raised when a dispatch cannot be harvested into trustworthy metadata.""" + + +# Multiplier applied to the slowest observed run when deriving a wall-clock +# budget. Generous because an under-budgeted row is killed mid-training, which +# costs a whole rerun, whereas an over-budgeted one merely finishes early. +DEFAULT_TIMEOUT_HEADROOM = 2.0 + + +@dataclass(frozen=True) +class TaskMetadata: + """Measured metadata for one ``(task, rl_library, physics)`` combination. + + Args: + task_id: Gym task id. + rl_library: RL library the runs used. + physics: Physics backend the runs used. + renderer: Rendering backend the runs used, or ``none``. + presets: Comma-joined domain presets the runs used. + num_envs: Resolved parallel environment count. + max_iterations: Resolved training iteration budget. + duration_s_max: Slowest observed wall-clock duration [s]. + timeout_s: Derived wall-clock budget [s]. + reward_final_ema_mean: Mean final EMA reward across seeds, or ``None`` + when no run reported one. + reward_final_ema_min: Lowest final EMA reward across seeds, or ``None``. + seeds: Seeds that contributed, ascending. + """ + + task_id: str + rl_library: str + physics: str + renderer: str + presets: str + num_envs: int | None + max_iterations: int | None + duration_s_max: float + timeout_s: int + reward_final_ema_mean: float | None + reward_final_ema_min: float | None + seeds: list[int] + + +def _duration_of(bundle: dict[str, Any]) -> float: + """Return a run's wall-clock duration [s], preferring the runtime total.""" + runtime = bundle.get("runtime") or {} + total = runtime.get("total_wall_time_s") + if isinstance(total, (int, float)) and total > 0: + return float(total) + return float((bundle.get("run") or {}).get("duration_s") or 0.0) + + +def _reward_of(bundle: dict[str, Any]) -> float | None: + """Return a run's final EMA reward, or ``None`` when absent.""" + reward = ((bundle.get("learning") or {}).get("reward") or {}).get("final_ema") + return float(reward) if isinstance(reward, (int, float)) else None + + +def harvest_dispatch(dispatch_dir: Path, *, timeout_headroom: float = DEFAULT_TIMEOUT_HEADROOM) -> list[TaskMetadata]: + """Distil every readable bundle under *dispatch_dir* into per-task metadata. + + Runs whose recorded status is not ``completed`` are skipped: a crashed or + interrupted run's duration and reward describe the failure, not the task. + + Args: + dispatch_dir: Dispatch directory holding one sub-directory per row. + timeout_headroom: Multiplier applied to the slowest observed duration + when deriving ``timeout_s``. + + Returns: + One entry per ``(task_id, rl_library, physics)``, sorted by that key. + + Raises: + HarvestError: If *timeout_headroom* is not greater than zero, or the + dispatch's ``dispatch.json`` exists but cannot be read. + """ + if timeout_headroom <= 0: + raise HarvestError(f"timeout_headroom must be > 0, got {timeout_headroom}") + + # An A/B dispatch holds two commits' results side by side. Harvesting both + # into one baseline would silently average them, so side B is excluded. + # An unreadable state file is fatal rather than empty: treating it as "no + # side B" is exactly the silent averaging this guards against. + side_b_rows: set[str] = set() + state_path = dispatch_dir / "dispatch.json" + if state_path.exists(): + try: + payload = json.loads(state_path.read_text()) + except (OSError, ValueError) as exc: + raise HarvestError( + f"could not read {state_path}: {exc}. Without it an A/B dispatch's two sides would be averaged " + "into one baseline." + ) from exc + side_b_rows = { + str(job.get("row_key")) for job in payload.get("jobs") or [] if job.get("side") not in (None, "a") + } + + grouped: dict[tuple[str, str, str, str, str], list[dict[str, Any]]] = {} + for row_dir in sorted(p for p in dispatch_dir.iterdir() if p.is_dir()): + if row_dir.name in side_b_rows: + continue + bundle = read_bundle(row_dir) + if bundle is None: + continue + run = bundle.get("run") or {} + if run.get("status") != "completed": + continue + task_id = run.get("task") + rl_library = run.get("framework") + config = run.get("config") or {} + physics = config.get("physics_backend") + if not (task_id and rl_library and physics): + continue + # Renderer and presets change what a run measures, so they must not be + # averaged together: a depth rollout is not the same workload as an RGB + # one on the same task and backend. + renderer = str(config.get("rendering_backend") or "none") + presets = ",".join(sorted(config.get("presets") or [])) + grouped.setdefault((str(task_id), str(rl_library), str(physics), renderer, presets), []).append(bundle) + + entries: list[TaskMetadata] = [] + for (task_id, rl_library, physics, renderer, presets), bundles in sorted(grouped.items()): + durations = [_duration_of(bundle) for bundle in bundles] + rewards = [value for value in (_reward_of(bundle) for bundle in bundles) if value is not None] + first_run = bundles[0].get("run") or {} + duration_max = max(durations) if durations else 0.0 + entries.append( + TaskMetadata( + task_id=task_id, + rl_library=rl_library, + physics=physics, + renderer=renderer, + presets=presets, + num_envs=_optional_int(first_run.get("num_envs")), + max_iterations=_optional_int(first_run.get("max_iterations")), + duration_s_max=round(duration_max, 1), + timeout_s=max(1, int(duration_max * timeout_headroom)), + reward_final_ema_mean=round(statistics.fmean(rewards), 4) if rewards else None, + reward_final_ema_min=round(min(rewards), 4) if rewards else None, + seeds=sorted({int(bundle["run"]["seed"]) for bundle in bundles if "seed" in (bundle.get("run") or {})}), + ) + ) + return entries + + +def write_task_metadata(path: Path, entries: list[TaskMetadata]) -> None: + """Write harvested metadata to *path* as YAML. + + Args: + path: Destination file; parent directories are created. + entries: Harvested metadata. + """ + payload = { + "tasks": [ + { + "task_id": entry.task_id, + "rl_library": entry.rl_library, + "physics": entry.physics, + "renderer": entry.renderer, + "presets": entry.presets, + "num_envs": entry.num_envs, + "max_iterations": entry.max_iterations, + "timeout_s": entry.timeout_s, + "observed": { + "duration_s_max": entry.duration_s_max, + "reward_final_ema_mean": entry.reward_final_ema_mean, + "reward_final_ema_min": entry.reward_final_ema_min, + "seeds": entry.seeds, + }, + } + for entry in entries + ] + } + path.parent.mkdir(parents=True, exist_ok=True) + header = ( + "# Generated by tools/odin/harvest.py from a completed dispatch.\n" + "# 'timeout_s' is the slowest observed run scaled by the harvest headroom;\n" + "# 'observed' records what the measurement was derived from.\n" + ) + path.write_text(header + yaml.safe_dump(payload, sort_keys=False)) + + +def _optional_int(value: Any) -> int | None: + return None if value is None else int(value) diff --git a/tools/odin/image.py b/tools/odin/image.py new file mode 100644 index 000000000000..8301375a8780 --- /dev/null +++ b/tools/odin/image.py @@ -0,0 +1,226 @@ +# 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 + +"""Build a commit-pinned Isaac Lab benchmark image and push it to a registry. + +The Dockerfile is deliberately minimal: the repository's committed ``uv.lock`` +and ``uv sync`` do the dependency work, so this module must not reimplement any +of it. +""" + +from __future__ import annotations + +import subprocess +from collections.abc import Callable +from pathlib import Path + +from jinja2 import Environment, FileSystemLoader, StrictUndefined + +from tools.odin.config_file import ImageSpec +from tools.odin.plan import UV_EXTRAS + +__all__ = [ + "BUNDLE_REF", + "DEFAULT_CUDA_IMAGE", + "ImageBuildError", + "build_image", + "image_tag_for", + "render_dockerfile", + "resolve_ref", +] + +# x86_64 resolves torch from the cu128 index (see [tool.uv.sources] in +# pyproject.toml); aarch64 uses cu130 and needs a matching base override. +DEFAULT_CUDA_IMAGE = "nvidia/cuda:12.8.1-runtime-ubuntu24.04" + +# Temporary branch the build bundle is published under. Created and deleted +# inside :func:`build_image`, so ``Versions.git_branch`` in emitted benchmark +# bundles reads ``odin-build``; ``git_commit`` remains the exact commit and is +# the authoritative provenance. +BUNDLE_REF = "odin-build" + +_TEMPLATES_DIR = Path(__file__).parent / "templates" + +_Runner = Callable[..., subprocess.CompletedProcess] + + +class ImageBuildError(RuntimeError): + """Raised when resolving a ref, rendering, building, or pushing fails.""" + + +def resolve_ref(ref: str, *, repo_root: Path, run: _Runner = subprocess.run) -> str: + """Resolve a git ref to a full commit SHA. + + Args: + ref: Branch, tag, or SHA. + repo_root: Repository to resolve within. + run: Subprocess runner, injected for testing. + + Returns: + The full commit SHA. + + Raises: + ImageBuildError: If *ref* does not resolve. + """ + completed = run( + ["git", "rev-parse", f"{ref}^{{commit}}"], + cwd=str(repo_root), + capture_output=True, + text=True, + check=False, + ) + if completed.returncode != 0: + raise ImageBuildError(f"could not resolve ref {ref!r}: {(completed.stderr or '').strip()}") + return completed.stdout.strip() + + +def image_tag_for(spec: ImageSpec, commit_sha: str) -> str: + """Return the tag for a built image. + + Args: + spec: Registry coordinates. + commit_sha: Full commit SHA; the tag uses its first seven characters. + + Returns: + ``/:``. + """ + return f"{spec.registry}/{spec.repository}:{commit_sha[:7]}" + + +def render_dockerfile(*, commit_sha: str, cuda_image: str) -> str: + """Render the Dockerfile for a commit-pinned benchmark image. + + Args: + commit_sha: Commit to check out inside the image. + cuda_image: Base image reference. + + Returns: + The rendered Dockerfile. + """ + environment = Environment( + loader=FileSystemLoader(str(_TEMPLATES_DIR)), + undefined=StrictUndefined, + keep_trailing_newline=True, + ) + return environment.get_template("Dockerfile.j2").render( + commit_sha=commit_sha, + cuda_image=cuda_image, + uv_extras=UV_EXTRAS, + bundle_ref=BUNDLE_REF, + ) + + +def build_image( + *, + spec: ImageSpec, + ref: str, + repo_root: Path, + context_dir: Path, + cuda_image: str = DEFAULT_CUDA_IMAGE, + push: bool = False, + dry_run: bool = False, + run: _Runner = subprocess.run, +) -> str: + """Build, and optionally push, a commit-pinned benchmark image. + + Args: + spec: Registry coordinates. + ref: Git ref to pin. + repo_root: Repository the bundle is created from. + context_dir: Directory the build context is written to. + cuda_image: Base image reference. + push: Whether to ``docker push`` after a successful build. + dry_run: Write the context and return the tag without invoking git + bundling or Docker. + run: Subprocess runner, injected for testing. + + Returns: + The image tag. + + Raises: + ImageBuildError: If the ref does not resolve, or bundling, building, or + pushing fails. + """ + commit_sha = resolve_ref(ref, repo_root=repo_root, run=run) + tag = image_tag_for(spec, commit_sha) + + context_dir.mkdir(parents=True, exist_ok=True) + (context_dir / "Dockerfile").write_text(render_dockerfile(commit_sha=commit_sha, cuda_image=cuda_image)) + if dry_run: + return tag + + _bundle_commit(commit_sha, repo_root=repo_root, dest=context_dir / "isaaclab.bundle", run=run) + # Docker output is streamed rather than captured. This build pulls Isaac Sim + # and can run for tens of minutes; with output captured, a wedged step and a + # merely slow one look identical until the process exits. + _check(run(["docker", "build", "--network=host", "-t", tag, str(context_dir)], check=False), "docker build") + if push: + _check(run(["docker", "push", tag], check=False), "docker push") + return tag + + +def _bundle_commit(commit_sha: str, *, repo_root: Path, dest: Path, run: _Runner) -> None: + """Bundle exactly one commit under :data:`BUNDLE_REF`. + + ``git bundle`` requires a named ref, so a temporary branch is pointed at + *commit_sha*, bundled, and removed. Bundling that one ref rather than + ``--all`` keeps the build context small. + + Args: + commit_sha: Commit to bundle. + repo_root: Repository to bundle from. + dest: Bundle path to write. + run: Subprocess runner. + + Raises: + ImageBuildError: If creating the ref or the bundle fails. + """ + ref_path = f"refs/heads/{BUNDLE_REF}" + _check( + run( + ["git", "update-ref", ref_path, commit_sha], + cwd=str(repo_root), + capture_output=True, + text=True, + check=False, + ), + "git update-ref", + ) + try: + _check( + run( + ["git", "bundle", "create", str(dest), BUNDLE_REF], + cwd=str(repo_root), + capture_output=True, + text=True, + check=False, + ), + "git bundle create", + ) + finally: + # Best effort: leaving the temp branch behind is untidy but harmless, + # and failing here would mask a real bundling error. + run( + ["git", "update-ref", "-d", ref_path], + cwd=str(repo_root), + capture_output=True, + text=True, + check=False, + ) + + +def _check(completed: subprocess.CompletedProcess, what: str) -> None: + """Raise :class:`ImageBuildError` when *completed* failed. + + ``stderr`` is only present for the steps that capture it; streamed steps + have already printed their diagnostics, so the message names the step and + the exit code instead. + """ + if completed.returncode == 0: + return + detail = (completed.stderr or "").strip() + raise ImageBuildError( + f"{what} failed: {detail}" if detail else f"{what} failed with exit code {completed.returncode}" + ) diff --git a/tools/odin/plan.py b/tools/odin/plan.py new file mode 100644 index 000000000000..98d2026e199f --- /dev/null +++ b/tools/odin/plan.py @@ -0,0 +1,350 @@ +# 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 + +"""Expand the seed task list into dispatchable rows. + +A seed entry carries only ``(task_id, rl_library, physics)``. Upstream defaults +``--num_envs`` and ``--max_iterations`` to ``None`` and falls back to the task's +shipped agent config, so a first dispatch runs every task at its shipped size +and the resolved values are harvested back out of the emitted bundles. +""" + +from __future__ import annotations + +import fnmatch +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import yaml + +from tools.odin.workflow import osmo_safe_task_name + +__all__ = [ + "UV_EXTRAS", + "PlanError", + "PlannedRow", + "apply_metadata", + "build_row_key", + "normalize_presets", + "chunk_rows", + "load_task_rows", + "plan_rows", +] + +# Sizing fields a harvested metadata entry may contribute to a seed entry. +_OVERLAY_FIELDS = ("num_envs", "max_iterations", "timeout_s") + +# The one extras set every row runs under, and the one the image is built with. +# Holding every backend in a single virtualenv means a row's physics preset +# never has to be resolved to a Kit/kitless runtime before dispatch, which +# matters because a preset token does not determine the backend: ``physics=physx`` +# resolves to OvPhysX on most tasks and to Kit PhysX on a few. +# +# teleop, viser, mimic, test and the ``all`` aggregate are excluded because they +# genuinely cannot co-resolve with isaacsim. +UV_EXTRAS: tuple[str, ...] = ("isaacsim", "ovphysx", "ovrtx", "rsl-rl", "skrl", "rl-games", "sb3", "rerun") + +# Frames recorded during a chained play rollout. +DEFAULT_VIDEO_LENGTH = 200 + +_RL_LIBRARIES = frozenset({"rsl_rl", "rl_games", "skrl", "sb3"}) + +# ``physics`` is deliberately absent: many usable tasks declare no physics +# preset at all and hard-fail on any ``physics=`` token. +_REQUIRED_FIELDS = ("task_id", "rl_library") + + +class PlanError(ValueError): + """Raised when the task list cannot be expanded into rows.""" + + +@dataclass(frozen=True) +class PlannedRow: + """One dispatchable unit of work. + + Args: + row_key: Deterministic identity, ``{rl_library}_{physics}[_{renderer}]_{task_id}_seed{seed}``. + task_id: Gym task id. + rl_library: One of ``rsl_rl``, ``rl_games``, ``skrl``, ``sb3``. + physics: Physics preset token passed as ``physics=``, or ``None`` + for tasks that declare no physics preset. + renderer: Renderer preset token, or ``None`` to run headless. + presets: Domain preset tokens, emitted as a comma-separated + ``presets=a,b``. Empty when none are selected. + play: Whether to chain a play rollout after training, in the same + task, reading the checkpoint training wrote. + keep_checkpoint: Whether to copy the trained checkpoint into the + uploaded output. RL libraries write it under ``logs/``, which + OSMO does not collect. + video_length: Frames to record during the chained play rollout. + seed: Environment seed. + num_envs: Parallel environment count, or ``None`` to use the task's + shipped agent-config default. + max_iterations: Training iterations, or ``None`` to use the task's + shipped agent-config default. + timeout_s: Wall-clock budget [s] driving chunk ordering, or ``None`` to + inherit the workflow-level ceiling. + uv_extras: ``--extra`` tokens for the task's ``uv run`` invocation. + osmo_task_name: DNS-1123-safe OSMO task name derived from *row_key*. + """ + + row_key: str + task_id: str + rl_library: str + physics: str | None + renderer: str | None + presets: tuple[str, ...] + play: bool + keep_checkpoint: bool + video_length: int + seed: int + num_envs: int | None + max_iterations: int | None + timeout_s: int | None + uv_extras: tuple[str, ...] + osmo_task_name: str + + +def normalize_presets(value: Any) -> tuple[str, ...]: + """Normalise a task entry's ``presets`` field into a token tuple. + + Hand-written task lists may give a single token, a comma-separated string, + or a list. Discovery only ever emits one token because domain presets that + target the same field conflict, but the executor imposes no such limit — a + human who knows two presets compose can ask for both. + + Args: + value: Raw ``presets`` value: ``None``, a string, or a sequence. + + Returns: + Preset tokens in the given order, with blanks removed. + """ + if value is None: + return () + if isinstance(value, str): + return tuple(part.strip() for part in value.split(",") if part.strip()) + return tuple(str(part).strip() for part in value if str(part).strip()) + + +def build_row_key( + rl_library: str, + physics: str | None, + task_id: str, + seed: int, + renderer: str | None = None, + presets: tuple[str, ...] = (), +) -> str: + """Return the deterministic identity for one row. + + The renderer and preset segments are only present when selected, so keys for + plain headless rows are unchanged. They cannot be omitted when they *are* + selected: a camera task expands across several renderers and domain presets + on the same physics, and those rows would otherwise collide. + + Args: + rl_library: RL library token. + physics: Physics preset token, or ``None``. + task_id: Gym task id. + seed: Environment seed. + renderer: Renderer preset token, or ``None`` for headless. + presets: Domain preset tokens; empty when none are selected. + + Returns: + ``{rl_library}_{physics}[_{renderer}][_{presets}]_{task_id}_seed{seed}``. + """ + optional = "".join(f"{part}_" for part in (renderer, "-".join(presets)) if part) + return f"{rl_library}_{physics or 'default'}_{optional}{task_id}_seed{seed}" + + +def load_task_rows(path: Path) -> list[dict[str, Any]]: + """Load the seed task list. + + Args: + path: Path to ``tasks.yaml``. + + Returns: + Raw task entries, unvalidated; :func:`plan_rows` validates them. + + Raises: + PlanError: If the file is unreadable, unparsable, or lacks a ``tasks`` + list. + """ + try: + raw = yaml.safe_load(path.read_text()) + except OSError as exc: + raise PlanError(f"could not read {path}: {exc}") from exc + except yaml.YAMLError as exc: + raise PlanError(f"could not parse {path}: {exc}") from exc + tasks = (raw or {}).get("tasks") + if not isinstance(tasks, list): + raise PlanError(f"{path} must contain a top-level 'tasks' list") + return tasks + + +def _overlay_key(entry: dict[str, Any]) -> tuple[Any, ...]: + """Return the identity an entry is matched on when overlaying metadata. + + Mirrors :func:`~tools.odin.harvest.harvest_dispatch`'s grouping key exactly. + Renderer and presets belong in it: a camera row and a headless row of the + same task and backend measure different workloads, so one must not inherit + the other's budget. + """ + return ( + entry.get("task_id"), + entry.get("rl_library"), + entry.get("physics"), + entry.get("renderer") or "none", + ",".join(sorted(normalize_presets(entry.get("presets")))), + ) + + +def apply_metadata(task_rows: list[dict[str, Any]], metadata_rows: list[dict[str, Any]]) -> list[dict[str, Any]]: + """Overlay harvested sizing onto seed entries. + + Entries are matched on ``(task_id, rl_library, physics, renderer, presets)``. + A value already present on the seed entry wins, so a hand-set override is + never silently replaced by a measurement. Metadata for combinations absent + from the seed list is ignored. + + Args: + task_rows: Seed entries from :func:`load_task_rows`. + metadata_rows: Harvested entries, from ``task_metadata.yaml``'s + ``tasks`` list. + + Returns: + New seed entries with sizing filled in where it was missing. + """ + by_key = {_overlay_key(entry): entry for entry in metadata_rows} + merged: list[dict[str, Any]] = [] + for entry in task_rows: + overlay = by_key.get(_overlay_key(entry)) + combined = dict(entry) + if overlay is not None: + for field_name in _OVERLAY_FIELDS: + if combined.get(field_name) is None and overlay.get(field_name) is not None: + combined[field_name] = overlay[field_name] + merged.append(combined) + return merged + + +def _sort_key(row: PlannedRow) -> tuple[int, str, str, str, str, int]: + """Order rows cheapest-first, with unbudgeted rows last. + + Rows without a harvested budget sort after budgeted ones so a chunk does not + mix a known-short task with an unknown-length one. The renderer and preset + segments make the order total: without them, a task's preset variants tie + and their relative order follows input order rather than being fixed. + """ + return ( + row.timeout_s if row.timeout_s is not None else 2**31 - 1, + row.task_id, + row.physics or "", + row.renderer or "", + ",".join(row.presets), + row.seed, + ) + + +def plan_rows( + *, + task_rows: list[dict[str, Any]], + seeds: list[int], + include: str | None = None, +) -> list[PlannedRow]: + """Expand task entries across seeds into dispatchable rows. + + Args: + task_rows: Entries from :func:`load_task_rows`. + seeds: Seeds to expand each entry across. + include: Optional glob filter applied to ``task_id``. + + Returns: + Rows sorted by ``(timeout_s, task_id, physics, renderer, presets, seed)`` + so reruns and resumes observe an identical layout. + + Raises: + PlanError: On a missing field, an unknown RL library, or a duplicate row + key. + """ + rows: list[PlannedRow] = [] + seen: set[str] = set() + + for entry in task_rows: + task_id = str(entry.get("task_id", "")) + if include is not None and not fnmatch.fnmatch(task_id, include): + continue + for field_name in _REQUIRED_FIELDS: + if entry.get(field_name) is None: + raise PlanError(f"task {task_id!r} is missing required field {field_name!r}") + + rl_library = str(entry["rl_library"]) + if rl_library not in _RL_LIBRARIES: + raise PlanError(f"unknown rl_library {rl_library!r}; expected one of {sorted(_RL_LIBRARIES)}") + physics = entry.get("physics") + physics = str(physics) if physics else None + renderer = entry.get("renderer") + presets = normalize_presets(entry.get("presets")) + play = bool(entry.get("play", False)) + keep_checkpoint = bool(entry.get("keep_checkpoint", False)) + video_length = int(entry.get("video_length", DEFAULT_VIDEO_LENGTH)) + + for seed in seeds: + row_key = build_row_key(rl_library, physics, task_id, seed, renderer, presets) + if row_key in seen: + raise PlanError(f"duplicate row key {row_key!r}; check tasks.yaml for repeated entries") + seen.add(row_key) + rows.append( + PlannedRow( + row_key=row_key, + task_id=task_id, + rl_library=rl_library, + physics=physics, + renderer=renderer, + presets=presets, + play=play, + keep_checkpoint=keep_checkpoint, + video_length=video_length, + seed=int(seed), + num_envs=_optional_int(entry.get("num_envs")), + max_iterations=_optional_int(entry.get("max_iterations")), + timeout_s=_optional_int(entry.get("timeout_s")), + uv_extras=UV_EXTRAS, + osmo_task_name=osmo_safe_task_name(row_key), + ) + ) + + rows.sort(key=_sort_key) + return rows + + +def chunk_rows(rows: list[PlannedRow], chunk_size: int) -> list[tuple[int, list[PlannedRow]]]: + """Split rows into per-workflow chunks, cheapest rows first. + + Rows are sorted before chunking so a workflow groups rows of comparable cost + and reruns observe an identical layout. + + Args: + rows: Planned rows. + chunk_size: Maximum rows per chunk. + + Returns: + ``(chunk_index, chunk_rows)`` pairs with ascending *chunk_index*. + + Raises: + PlanError: If *chunk_size* is less than one. + """ + if chunk_size < 1: + raise PlanError(f"chunk_size must be >= 1, got {chunk_size}") + if not rows: + return [] + ordered = sorted(rows, key=_sort_key) + return [ + (index, ordered[start : start + chunk_size]) for index, start in enumerate(range(0, len(ordered), chunk_size)) + ] + + +def _optional_int(value: Any) -> int | None: + return None if value is None else int(value) diff --git a/tools/odin/poller.py b/tools/odin/poller.py new file mode 100644 index 000000000000..0103fb5a6361 --- /dev/null +++ b/tools/odin/poller.py @@ -0,0 +1,245 @@ +# 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 + +"""Poll OSMO workflows and reconcile per-task states into ``dispatch.json``. + +:data:`OSMO_STATE_TO_FAILURE_KIND` is the single source of truth for the +OSMO-state to failure-kind mapping. +""" + +from __future__ import annotations + +import time +from collections.abc import Callable +from pathlib import Path +from typing import Protocol + +from tools.odin.client import WorkflowSnapshot +from tools.odin.state import DispatchState, FailureInfo, JobEntry, write_dispatch_state + +__all__ = [ + "MAX_CONSECUTIVE_POLL_FAILURES", + "OSMO_STATE_TO_FAILURE_KIND", + "TERMINAL_OSMO_STATES", + "PollError", + "classify_terminal_state", + "is_terminal", + "poll_until_terminal", + "sync_once", +] + +# Consecutive ticks in which every workflow query failed before the loop gives +# up. A transient 5xx clears within a tick or two; bad credentials never do, and +# without a ceiling the loop would retry them until the operator noticed. +MAX_CONSECUTIVE_POLL_FAILURES = 20 + + +class PollError(RuntimeError): + """Raised when polling cannot make progress and the loop gives up.""" + + +# ``COMPLETED`` is intentionally absent: the caller decides between success and +# ``malformed_bundle`` after validating the fetched bundle. +OSMO_STATE_TO_FAILURE_KIND: dict[str, str] = { + "FAILED": "benchmark_crash", + "FAILED_EXEC_TIMEOUT": "timeout", + "FAILED_BACKEND_ERROR": "infrastructure", + "FAILED_PREEMPTED": "infrastructure", + "FAILED_EVICTED": "infrastructure", + "FAILED_IMAGE_PULL": "infrastructure", + "FAILED_START_ERROR": "infrastructure", + "FAILED_START_TIMEOUT": "infrastructure", + "FAILED_QUEUE_TIMEOUT": "infrastructure", + "FAILED_SERVER_ERROR": "infrastructure", + "FAILED_CANCELED": "infrastructure", +} + +TERMINAL_OSMO_STATES: frozenset[str] = frozenset({"COMPLETED", *OSMO_STATE_TO_FAILURE_KIND}) + + +class _StatusClient(Protocol): + def status(self, workflow_id: str) -> WorkflowSnapshot: ... + + +def is_terminal(osmo_state: str) -> bool: + """Return ``True`` iff *osmo_state* is a terminal task state. + + Any unrecognised ``FAILED*`` state counts as terminal, so OSMO version drift + cannot wedge the poll loop. + + Args: + osmo_state: OSMO task state string. + + Returns: + Whether the state is terminal. + """ + return osmo_state in TERMINAL_OSMO_STATES or osmo_state.startswith("FAILED") + + +def classify_terminal_state(osmo_state: str) -> str | None: + """Return the failure kind for a terminal OSMO state. + + Args: + osmo_state: OSMO task state string. + + Returns: + One of the four failure kinds, or ``None`` for ``COMPLETED`` and for + non-terminal states. Unrecognised ``FAILED*`` states fall back to + ``infrastructure``. + """ + if osmo_state == "COMPLETED" or not is_terminal(osmo_state): + return None + return _failure_kind(osmo_state) + + +def _failure_kind(osmo_state: str) -> str: + """Return the failure kind for a terminal, non-``COMPLETED`` OSMO state.""" + return OSMO_STATE_TO_FAILURE_KIND.get(osmo_state, "infrastructure") + + +def _osmo_status_to_job_status(osmo_state: str) -> str: + """Map an OSMO task state to a ``dispatch.json`` job status.""" + if osmo_state == "COMPLETED": + return "completed" + if osmo_state == "RUNNING": + return "running" + if is_terminal(osmo_state): + return "failed" + return "pending" + + +def sync_once( + *, + client: _StatusClient, + state: DispatchState, + dispatch_dir: Path, + on_task_completed: Callable[[JobEntry], None], + completed_seen: set[str] | None = None, +) -> int: + """Run one reconciliation pass over every workflow and rewrite state. + + Idempotent: repeated calls with no remote change are a no-op. + + Args: + client: Provides ``status(workflow_id) -> WorkflowSnapshot``. + state: Mutated in place; must have ``osmo_workflow_ids`` populated. + dispatch_dir: Directory holding ``dispatch.json``. + on_task_completed: Called once per task that reaches ``COMPLETED``. + completed_seen: Row keys that already fired the hook. Pass the same set + across ticks so a completion is not re-enqueued every poll. Seeded + from already-completed jobs when ``None``. + + Returns: + How many workflow queries failed this pass. + + Raises: + ValueError: If ``state.osmo_workflow_ids`` is empty. + """ + if not state.osmo_workflow_ids: + raise ValueError("state.osmo_workflow_ids is required for OSMO polling") + by_name = {job.osmo_task_name: job for job in state.jobs} + if completed_seen is None: + completed_seen = {job.row_key for job in state.jobs if job.status == "completed"} + + query_failures = 0 + for workflow_id in state.osmo_workflow_ids: + try: + snapshot = client.status(workflow_id) + except Exception as exc: # noqa: BLE001 - any query failure is skippable + # OSMO returns transient 4xx/5xx, and a query can race a workflow + # finishing. Skip this workflow for this tick; the next one picks it + # up. The caller bounds how long that can go on. + query_failures += 1 + print(f"[odin] osmo workflow query {workflow_id} failed; skipping this tick: {exc}", flush=True) + continue + + for task in snapshot.tasks: + job = by_name.get(task.name) + if job is None: + continue + new_status = _osmo_status_to_job_status(task.status) + if new_status == job.status: + continue + if new_status == "running": + # OSMO exposes no assigned host; name the chunk workflow instead. + job.transition_to("running", assigned_to=f"osmo:{workflow_id}") + elif new_status == "completed": + # The hook may reclassify a row it just completed, e.g. to + # ``malformed_bundle``. OSMO keeps reporting COMPLETED, so + # firing again would try an illegal failed -> completed move. + if job.row_key in completed_seen: + continue + completed_seen.add(job.row_key) + job.transition_to("completed") + on_task_completed(job) + elif new_status == "failed": + job.transition_to( + "failed", + failure=FailureInfo( + kind=_failure_kind(task.status), + message=f"OSMO task {task.name} reached {task.status} (exit={task.exit_code})", + details={"osmo_state": task.status, "exit_code": task.exit_code}, + ), + ) + else: + job.transition_to("pending") + + write_dispatch_state(dispatch_dir, state) + return query_failures + + +def poll_until_terminal( + *, + client: _StatusClient, + state: DispatchState, + dispatch_dir: Path, + on_task_completed: Callable[[JobEntry], None], + poll_interval_s: float, + max_consecutive_failures: int = MAX_CONSECUTIVE_POLL_FAILURES, +) -> None: + """Drive every workflow to completion, rewriting ``dispatch.json`` each tick. + + Args: + client: Provides ``status(workflow_id) -> WorkflowSnapshot``. + state: Mutated in place. + dispatch_dir: Directory holding ``dispatch.json``. + on_task_completed: Called once per task that reaches ``COMPLETED``. + poll_interval_s: Seconds between passes; ``0`` in tests. + max_consecutive_failures: Ticks in which every workflow query may fail + before the loop gives up. + + Raises: + PollError: If every query failed for *max_consecutive_failures* ticks in + a row. ``dispatch.json`` is current, so ``--resume`` picks up from + there once the cause is fixed. + """ + completed_seen = {job.row_key for job in state.jobs if job.status == "completed"} + consecutive_failures = 0 + while not _all_terminal(state): + query_failures = sync_once( + client=client, + state=state, + dispatch_dir=dispatch_dir, + on_task_completed=on_task_completed, + completed_seen=completed_seen, + ) + if query_failures < len(state.osmo_workflow_ids): + consecutive_failures = 0 + else: + consecutive_failures += 1 + if consecutive_failures >= max_consecutive_failures: + raise PollError( + f"every OSMO query failed on {consecutive_failures} consecutive polls; giving up. " + "Check credentials and connectivity, then re-attach with `dispatch --resume " + f"{state.dispatch_id}`." + ) + if _all_terminal(state): + break + if poll_interval_s > 0: + time.sleep(poll_interval_s) + + +def _all_terminal(state: DispatchState) -> bool: + return all(job.status in ("completed", "failed") for job in state.jobs) diff --git a/tools/odin/results.py b/tools/odin/results.py new file mode 100644 index 000000000000..81c9de3bff5f --- /dev/null +++ b/tools/odin/results.py @@ -0,0 +1,134 @@ +# 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 + +"""Publish and fetch benchmark bundles. + +OSMO datasets were retired — ``outputs: - dataset:`` is rejected server-side with +*"Bucket isaac mode is read-only"*. Publishing is therefore declarative: each +task carries an ``outputs: - url: `` block and OSMO uploads the +task's output directory itself. + +That is deliberately not a command spliced into the entry script. OSMO's +``uploadOutputs()`` runs unconditionally after exec, including when the +benchmark fails, so a crashed run still returns whatever it produced and the +benchmark's exit code cannot be masked by a publishing step. It also keeps +storage credentials out of the container entirely. + +Fetching stays client-side via ``osmo data download``. +""" + +from __future__ import annotations + +import json +from pathlib import Path +from typing import Any, Protocol + +__all__ = ["dispatch_output_uri", "fetch_results", "read_bundle", "results_uri_for", "validate_bundle"] + +# Upstream's SchemaBundleFile writes "_.json" into +# --output_path, where output_prefix is "benchmark__". +_BUNDLE_GLOB = "benchmark_*.json" + + +class _DownloaderProto(Protocol): + def data_download(self, remote_uri: str, dest_dir: Path) -> None: ... + + +def results_uri_for(base_uri: str, dispatch_id: str, row_key: str) -> str: + """Return the storage URI for one row's results. + + Args: + base_uri: Bucket URI prefix from ``odin.yaml``. + dispatch_id: Dispatch identifier. + row_key: Row identity. + + Returns: + ``//``, without a doubled separator. + """ + return f"{base_uri.rstrip('/')}/{dispatch_id}/{row_key}" + + +def dispatch_output_uri(base_uri: str, dispatch_id: str) -> str: + """Return the storage prefix an OSMO ``outputs:`` block uploads into. + + Every task in a dispatch shares this prefix. Each task writes into + ``{{output}}//``, so the uploaded tree lands at + ``///`` and rows never collide. + + Args: + base_uri: Bucket URI prefix from ``odin.yaml``. + dispatch_id: Dispatch identifier. + + Returns: + ``//``, with a trailing slash. + """ + return f"{base_uri.rstrip('/')}/{dispatch_id}/" + + +def read_bundle(bundle_dir: Path) -> dict[str, Any] | None: + """Return the parsed schema bundle in *bundle_dir*, or ``None``. + + Args: + bundle_dir: Directory holding one row's results. + + Returns: + The first readable bundle mapping that declares a ``schema_version``, or + ``None`` when the directory holds none. + """ + if not bundle_dir.is_dir(): + return None + for candidate in sorted(bundle_dir.glob(_BUNDLE_GLOB)): + try: + payload = json.loads(candidate.read_text()) + except (OSError, json.JSONDecodeError): + continue + if isinstance(payload, dict) and payload.get("schema_version"): + return payload + return None + + +def validate_bundle(bundle_dir: Path) -> bool: + """Return ``True`` iff *bundle_dir* holds a readable schema bundle. + + A ``COMPLETED`` OSMO task that produced no parseable bundle is classified + ``malformed_bundle`` by the caller. + + Args: + bundle_dir: Directory the row's results were fetched into. + + Returns: + Whether :func:`read_bundle` finds anything. + """ + return read_bundle(bundle_dir) is not None + + +def fetch_results( + *, + client: _DownloaderProto, + base_uri: str, + dispatch_id: str, + row_key: str, + dest_dir: Path, +) -> Path: + """Download one row's results into ``/``. + + Idempotent: a directory that already holds a valid bundle is not + re-downloaded. + + Args: + client: Provides ``data_download(remote_uri, dest_dir)``. + base_uri: Bucket URI prefix from ``odin.yaml``. + dispatch_id: Dispatch identifier. + row_key: Row identity. + dest_dir: Dispatch directory the row directory is created under. + + Returns: + The row directory, whether or not the bundle within it validates. + """ + row_dir = dest_dir / row_key + if validate_bundle(row_dir): + return row_dir + client.data_download(results_uri_for(base_uri, dispatch_id, row_key), row_dir) + return row_dir diff --git a/tools/odin/state.py b/tools/odin/state.py new file mode 100644 index 000000000000..dbb2a2332565 --- /dev/null +++ b/tools/odin/state.py @@ -0,0 +1,324 @@ +# 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 + +"""On-disk state for one OdinV2 dispatch. + +``dispatch.json`` lives at ``/dispatch.json`` and is rewritten +atomically (temp file plus rename) after every state transition, so a concurrent +reader never observes a truncated file. +""" + +from __future__ import annotations + +import json +import os +import tempfile +from dataclasses import dataclass, field +from datetime import datetime, timezone +from pathlib import Path +from typing import Any, ClassVar + +__all__ = [ + "FAILURE_KINDS", + "SCHEMA_VERSION", + "DispatchState", + "FailureInfo", + "JobEntry", + "read_dispatch_state", + "reset_in_flight_to_pending", + "write_dispatch_state", +] + +SCHEMA_VERSION = "2.0" +_DISPATCH_FILENAME = "dispatch.json" + +FAILURE_KINDS = frozenset({"benchmark_crash", "malformed_bundle", "timeout", "infrastructure"}) + + +def _utc_now_iso() -> str: + """Return the current UTC time as ``YYYY-MM-DDTHH:MM:SSZ``.""" + return datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ") + + +@dataclass +class FailureInfo: + """Classified failure attached to a :class:`JobEntry` in ``failed`` status. + + Args: + kind: One of :data:`FAILURE_KINDS`. + message: Human-readable summary. + details: Free-form diagnostic payload, e.g. the raw OSMO state. + """ + + kind: str + message: str + details: dict[str, object] = field(default_factory=dict) + + +@dataclass +class JobEntry: + """One dispatched row — the smallest unit of work. + + Args: + row_key: Deterministic identity, ``{rl_library}_{physics}_{task_id}_seed{seed}``. + task_id: Gym task id. + rl_library: One of ``rsl_rl``, ``rl_games``, ``skrl``, ``sb3``. + physics: Physics preset token passed as ``physics=``, or ``None`` + for tasks that declare no physics preset. + renderer: Renderer preset token, or ``None`` to run headless. + presets: Domain preset tokens applied to the run. + seed: Environment seed. + num_envs: Parallel environment count, or ``None`` to use the task's + shipped agent-config default. + max_iterations: Training iterations, or ``None`` to use the task's + shipped agent-config default. + timeout_s: Wall-clock budget [s] used for chunk ordering, or ``None`` + to inherit the workflow-level ceiling. + osmo_task_name: DNS-1123-safe OSMO task name. + image_ref: Fully qualified image reference, digest-pinned. + side: ``"a"`` or ``"b"``, identifying the image of an A/B pair. + """ + + row_key: str + task_id: str + rl_library: str + physics: str | None + renderer: str | None + presets: tuple[str, ...] + seed: int + num_envs: int | None + max_iterations: int | None + timeout_s: int | None + osmo_task_name: str + image_ref: str + side: str = "a" + status: str = "pending" + assigned_to: str | None = None + failure: FailureInfo | None = None + started_at: str | None = None + ended_at: str | None = None + + # ``pending`` may go straight to a terminal state: OSMO can report a task as + # finished without the poller ever observing it RUNNING (fast scheduling, an + # instant image-pull failure). + _ALLOWED_TRANSITIONS: ClassVar[dict[str, frozenset[str]]] = { + "pending": frozenset({"running", "completed", "failed"}), + "running": frozenset({"completed", "failed", "pending"}), + "completed": frozenset({"pending"}), + "failed": frozenset({"pending"}), + } + + def transition_to( + self, + status: str, + *, + failure: FailureInfo | None = None, + assigned_to: str | None = None, + ) -> None: + """Move this job to *status*, enforcing the target's field invariants. + + Transitioning to the current status is a no-op, so repeated poll ticks + do not reset timestamps. + + Args: + status: Target status. + failure: Required when *status* is ``failed``. + assigned_to: Required when *status* is ``running``; identifies the + OSMO workflow, e.g. ``osmo:wf-1``. + + Raises: + ValueError: If the transition is not allowed, or a field required by + the target status is missing. + """ + if status == self.status: + return + if status not in self._ALLOWED_TRANSITIONS.get(self.status, frozenset()): + raise ValueError(f"illegal transition {self.status!r} -> {status!r} for row_key={self.row_key!r}") + + if status == "running": + if assigned_to is None: + raise ValueError(f"assigned_to is required to enter 'running' (row_key={self.row_key!r})") + self.assigned_to = assigned_to + self.started_at = _utc_now_iso() + elif status in ("completed", "failed"): + if status == "failed" and failure is None: + raise ValueError(f"failure is required to enter 'failed' (row_key={self.row_key!r})") + self.failure = failure + self.ended_at = _utc_now_iso() + elif status == "pending": + self.assigned_to = None + self.started_at = None + self.ended_at = None + self.failure = None + + self.status = status + + +@dataclass +class DispatchState: + """Complete on-disk state for one dispatch. + + Args: + schema_version: Schema version of this document. + dispatch_id: ``YYYYMMDD-HHMMSS`` identifier. + started_at: UTC ISO-8601 start timestamp. + ended_at: UTC ISO-8601 end timestamp, or ``None`` while in flight. + seeds: Seeds the dispatch was expanded across. + images: Image reference per side, e.g. ``{"a": ..., "b": ...}``. + Digest-pinned so a retag cannot change what an A/B compared. + jobs: One entry per dispatched row. + osmo_workflow_ids: One workflow id per submitted chunk. + parent_dispatch_id: Set when this dispatch retries rows from another. + """ + + schema_version: str + dispatch_id: str + started_at: str + ended_at: str | None + seeds: list[int] + images: dict[str, str] + jobs: list[JobEntry] + osmo_workflow_ids: list[str] = field(default_factory=list) + parent_dispatch_id: str | None = None + + +def _job_to_dict(job: JobEntry) -> dict[str, Any]: + failure = None + if job.failure is not None: + failure = {"kind": job.failure.kind, "message": job.failure.message, "details": job.failure.details} + return { + "row_key": job.row_key, + "task_id": job.task_id, + "rl_library": job.rl_library, + "physics": job.physics, + "renderer": job.renderer, + "presets": list(job.presets), + "seed": job.seed, + "num_envs": job.num_envs, + "max_iterations": job.max_iterations, + "timeout_s": job.timeout_s, + "osmo_task_name": job.osmo_task_name, + "image_ref": job.image_ref, + "side": job.side, + "status": job.status, + "assigned_to": job.assigned_to, + "started_at": job.started_at, + "ended_at": job.ended_at, + "failure": failure, + } + + +def _optional_int(value: Any) -> int | None: + return None if value is None else int(value) + + +def _optional_str(value: Any) -> str | None: + return None if value is None else str(value) + + +def _job_from_dict(payload: dict[str, Any]) -> JobEntry: + failure = None + if payload.get("failure") is not None: + failure = FailureInfo( + kind=str(payload["failure"]["kind"]), + message=str(payload["failure"].get("message", "")), + details=dict(payload["failure"].get("details") or {}), + ) + return JobEntry( + row_key=str(payload["row_key"]), + task_id=str(payload["task_id"]), + rl_library=str(payload["rl_library"]), + physics=_optional_str(payload.get("physics")), + renderer=_optional_str(payload.get("renderer")), + presets=tuple(payload.get("presets") or ()), + seed=int(payload["seed"]), + num_envs=_optional_int(payload.get("num_envs")), + max_iterations=_optional_int(payload.get("max_iterations")), + timeout_s=_optional_int(payload.get("timeout_s")), + osmo_task_name=str(payload["osmo_task_name"]), + image_ref=str(payload["image_ref"]), + side=str(payload.get("side", "a")), + status=str(payload.get("status", "pending")), + assigned_to=_optional_str(payload.get("assigned_to")), + failure=failure, + started_at=_optional_str(payload.get("started_at")), + ended_at=_optional_str(payload.get("ended_at")), + ) + + +def read_dispatch_state(dispatch_dir: Path) -> DispatchState | None: + """Read ``/dispatch.json``. + + Args: + dispatch_dir: Directory holding the dispatch. + + Returns: + The parsed state, or ``None`` when the file does not exist. + + Raises: + ValueError: If the file declares a different schema version. + """ + path = dispatch_dir / _DISPATCH_FILENAME + if not path.exists(): + return None + payload = json.loads(path.read_text()) + got = str(payload.get("schema_version", "")) + if got != SCHEMA_VERSION: + raise ValueError(f"unsupported dispatch.json schema_version {got!r} (expected {SCHEMA_VERSION!r})") + return DispatchState( + schema_version=got, + dispatch_id=str(payload["dispatch_id"]), + started_at=str(payload["started_at"]), + ended_at=payload.get("ended_at"), + seeds=[int(seed) for seed in payload.get("seeds") or []], + images=dict(payload.get("images") or {}), + jobs=[_job_from_dict(job) for job in payload.get("jobs") or []], + osmo_workflow_ids=[str(x) for x in payload.get("osmo_workflow_ids") or []], + parent_dispatch_id=payload.get("parent_dispatch_id"), + ) + + +def write_dispatch_state(dispatch_dir: Path, state: DispatchState) -> None: + """Atomically rewrite ``/dispatch.json``. + + Args: + dispatch_dir: Directory holding the dispatch; created if missing. + state: State to serialize. + """ + dispatch_dir.mkdir(parents=True, exist_ok=True) + payload = { + "schema_version": state.schema_version, + "dispatch_id": state.dispatch_id, + "started_at": state.started_at, + "ended_at": state.ended_at, + "seeds": list(state.seeds), + "images": dict(state.images), + "jobs": [_job_to_dict(job) for job in state.jobs], + "osmo_workflow_ids": list(state.osmo_workflow_ids), + "parent_dispatch_id": state.parent_dispatch_id, + } + handle_fd, tmp_name = tempfile.mkstemp(prefix=".dispatch_", suffix=".json.tmp", dir=str(dispatch_dir)) + tmp_path = Path(tmp_name) + try: + with os.fdopen(handle_fd, "w") as handle: + json.dump(payload, handle, indent=2) + os.replace(tmp_path, dispatch_dir / _DISPATCH_FILENAME) + except Exception: + tmp_path.unlink(missing_ok=True) + raise + + +def reset_in_flight_to_pending(state: DispatchState) -> None: + """Flip ``running`` jobs back to ``pending`` so a resumed dispatch re-polls them. + + ``completed`` and ``failed`` jobs are left alone; a failed row is only + re-attempted through an explicit retry. + + Args: + state: State mutated in place. + """ + for job in state.jobs: + if job.status == "running": + job.transition_to("pending") diff --git a/tools/odin/templates/Dockerfile.j2 b/tools/odin/templates/Dockerfile.j2 new file mode 100644 index 000000000000..38779e2cd526 --- /dev/null +++ b/tools/odin/templates/Dockerfile.j2 @@ -0,0 +1,46 @@ +# Generated by tools/odin/image.py. Do not edit by hand. +FROM {{ cuda_image }} + +ENV DEBIAN_FRONTEND=noninteractive +ENV UV_CACHE_DIR=/opt/uv-cache +ENV PATH=/root/.local/bin:$PATH + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates curl git \ + && rm -rf /var/lib/apt/lists/* + +# uv manages its own Python (pyproject sets python-preference = "only-managed"), +# so the base image needs no interpreter. +RUN curl -LsSf https://astral.sh/uv/install.sh | sh + +# Clone from a bundle rather than copying a checkout: capture_versions() records +# git_commit, git_branch, and git_dirty, so the image needs a real .git or every +# emitted benchmark bundle loses its provenance. A bundle also works for commits +# that were never pushed. +COPY isaaclab.bundle /tmp/isaaclab.bundle +RUN git clone --branch {{ bundle_ref }} /tmp/isaaclab.bundle /workspace/isaaclab \ + && rm /tmp/isaaclab.bundle + +WORKDIR /workspace/isaaclab + +# Fail loudly if the bundle did not carry the commit under test. +RUN test "$(git rev-parse HEAD)" = "{{ commit_sha }}" + +# uv sync resolves against this commit's committed uv.lock, so a commit that +# changes a dependency is tested with the changed dependency. +# +# The download cache is a BuildKit cache mount, not an image layer. This step +# pulls tens of GB from PyPI, and on a flaky link a drop partway through would +# otherwise discard everything and restart from zero -- the mount makes a retry +# resume from what already landed. It also keeps the cache out of the image. +# +# Nothing needs the cache at run time: the venv built here already matches what +# tasks request, and `uv run --frozen` cannot re-resolve, so a task with the +# same extras never reaches the network. +# +# UV_HTTP_TIMEOUT is raised well above the 30s default because large wheels +# behind a VPN routinely stall longer than that without the transfer being dead. +ENV UV_HTTP_TIMEOUT=180 + +RUN --mount=type=cache,target=/opt/uv-cache,sharing=locked \ + uv sync --frozen --extra {{ uv_extras | join(" --extra ") }} diff --git a/tools/odin/templates/__init__.py b/tools/odin/templates/__init__.py new file mode 100644 index 000000000000..460a30569089 --- /dev/null +++ b/tools/odin/templates/__init__.py @@ -0,0 +1,4 @@ +# 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 diff --git a/tools/odin/templates/dispatch.yaml.j2 b/tools/odin/templates/dispatch.yaml.j2 new file mode 100644 index 000000000000..ee4a03815be3 --- /dev/null +++ b/tools/odin/templates/dispatch.yaml.j2 @@ -0,0 +1,161 @@ +workflow: + name: odin-{{ dispatch_id }}-{{ chunk_index }} + timeout: + exec_timeout: {{ cfg.exec_timeout_s }}s + queue_timeout: {{ cfg.queue_timeout_s }}s + resources: + default: + cpu: {{ cfg.resources.cpu }} + gpu: {{ cfg.resources.gpu }} + memory: {{ cfg.resources.memory }} + storage: {{ cfg.resources.storage }} + platform: {{ cfg.resources.platform }} + # Every task is wrapped in its own single-task group. OSMO's workflow-level + # exec_timeout clock starts at each group's transition to RUNNING, so with + # tasks at the workflow root a late-scheduled task would be killed for other + # tasks' queue time. + groups: +{% for row in rows %} + - name: g-{{ row.osmo_task_name }} + tasks: + - name: {{ row.osmo_task_name }} + image: {{ image_ref }} +{% if cfg.image.pull_credential %} + # OSMO maps a credential name to the registry host it authenticates. + credentials: + {{ cfg.image.pull_credential }}: {{ cfg.image.registry_host }} +{% endif %} + environment: + ACCEPT_EULA: "Y" + OMNI_KIT_ALLOW_ROOT: "1" + ODIN_DISPATCH_ID: "{{ dispatch_id }}" + ODIN_ROW_KEY: "{{ row.row_key }}" + command: ["bash"] + args: ["/tmp/entry.sh"] + files: + - path: /tmp/entry.sh + contents: | + set -euxo pipefail + cd /workspace/isaaclab + OUT="{{ '{{output}}' }}/{{ row.row_key }}" + mkdir -p "$OUT" + set +e + uv run --frozen {% for extra in row.uv_extras %}--extra {{ extra }} {% endfor %}isaaclab benchmark training --rl_library {{ row.rl_library }} --task {{ row.task_id }} --seed {{ row.seed }}{% if row.num_envs is not none %} --num_envs {{ row.num_envs }}{% endif %}{% if row.max_iterations is not none %} --max_iterations {{ row.max_iterations }}{% endif %} --output_path "$OUT" --benchmark_formatter schema{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %}{% if row.presets %} presets={{ row.presets | join(',') }}{% endif %} + + rc=$? + echo "=== odin: training exit_code=$rc ===" + + # The base image is nvidia/cuda plus uv, which manages its own Python: + # there is no system python3 on PATH. Use the venv interpreter that + # `uv sync` created at build time. + PY=/workspace/isaaclab/.venv/bin/python + + CKPT="" + KEPT="" + PLAY_RC="" + PLAY_STATUS="not_requested" + + # Resolve the checkpoint regardless of what happens next: retaining it + # and rolling it out are separate concerns. + if [ "$rc" -eq 0 ]; then + CKPT=$("$PY" - "$OUT" <<'PYEOF' + import glob, json, os, sys + candidates = sorted(glob.glob(os.path.join(sys.argv[1], "benchmark_training_*.json"))) + for path in reversed(candidates): + try: + payload = json.load(open(path)) + except (OSError, ValueError): + continue + checkpoint = payload.get("checkpoint_path") + if checkpoint: + print(checkpoint) + break + PYEOF + ) + fi +{% if row.keep_checkpoint %} + # RL libraries write checkpoints under logs/, which OSMO does not + # upload: only {{ '{{output}}' }} is collected. Without this copy the + # checkpoint dies with the container and the run is un-replayable. + if [ -n "$CKPT" ] && [ -f "$CKPT" ]; then + mkdir -p "$OUT/checkpoint" + if cp "$CKPT" "$OUT/checkpoint/"; then + KEPT="checkpoint/$(basename "$CKPT")" + else + echo "=== odin: could not copy checkpoint ===" + fi + fi +{% endif %} +{% if row.play %} + # Play is chained in the same task so it can read the checkpoint + # training just wrote, with no cross-task handoff. It is skipped when + # training failed: there is nothing to roll out, and a play error + # would otherwise mask the real verdict. + if [ "$rc" -ne 0 ]; then + PLAY_STATUS="skipped_training_failed" + elif [ -z "$CKPT" ]; then + PLAY_STATUS="skipped_no_checkpoint" + else + echo "=== odin: play from $CKPT ===" + uv run --frozen {% for extra in row.uv_extras %}--extra {{ extra }} {% endfor %}isaaclab benchmark play --rl_library {{ row.rl_library }} --task {{ row.task_id }} --seed {{ row.seed }} --checkpoint "$CKPT"{% if row.num_envs is not none %} --num_envs {{ row.num_envs }}{% endif %} --output_path "$OUT" --benchmark_formatter schema --video --video_length {{ row.video_length }}{% if row.physics %} physics={{ row.physics }}{% endif %}{% if row.renderer %} renderer={{ row.renderer }}{% endif %}{% if row.presets %} presets={{ row.presets | join(',') }}{% endif %} + + PLAY_RC=$? + PLAY_STATUS="ran" + echo "=== odin: play exit_code=$PLAY_RC ===" + fi +{% endif %} + # A per-row record of which steps ran and why any did not. The bundles + # say what a run measured; this says what happened, which is what you + # need when a row comes back with less than expected. + "$PY" - "$OUT" "$rc" "$PLAY_STATUS" "$PLAY_RC" "$CKPT" "$KEPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + import json, os, sys + out, rc, play_status, play_rc, checkpoint, kept = sys.argv[1:7] + record = { + "row_key": os.environ.get("ODIN_ROW_KEY", ""), + "dispatch_id": os.environ.get("ODIN_DISPATCH_ID", ""), + "training": {"ran": True, "exit_code": int(rc)}, + "checkpoint": { + "found": bool(checkpoint), + "source_path": checkpoint or None, + "retained_as": kept or None, + }, + "play": { + "status": play_status, + "exit_code": int(play_rc) if play_rc else None, + }, + "artifacts": sorted( + os.path.relpath(os.path.join(root, name), out) + for root, _dirs, files in os.walk(out) + for name in files + )[:200], + } + with open(os.path.join(out, "odin-steps.json"), "w") as handle: + json.dump(record, handle, indent=2) + print("=== odin: steps ===") + print(json.dumps({k: v for k, v in record.items() if k != "artifacts"}, indent=2)) + PYEOF + + set -e + # `head` closes the pipe early, so `find` dies of SIGPIPE and the + # pipeline exits 141. Under `set -o pipefail` that would end the + # script before it could exit with the training verdict. + find "$OUT" -type f | head -40 || true + # Training is the verdict: a play failure must not turn a good + # training run into a red row. + exit $rc + # OSMO uploads {{ '{{output}}' }} itself, after exec and regardless of exit + # code, so a crashed run still returns what it produced and no publishing + # step can mask the benchmark's verdict. Each task writes into its own + # {{ '{{output}}' }}//, so uploads never collide under this shared prefix. + outputs: + - url: {{ output_uri }} +{% if cfg.retry.reschedule_codes or cfg.retry.restart_codes %} + exitActions: +{% if cfg.retry.reschedule_codes %} + RESCHEDULE: {{ cfg.retry.reschedule_codes }} +{% endif %} +{% if cfg.retry.restart_codes %} + RESTART: {{ cfg.retry.restart_codes }} +{% endif %} +{% endif %} +{% endfor %} diff --git a/tools/odin/tests/__init__.py b/tools/odin/tests/__init__.py new file mode 100644 index 000000000000..add7ec2dd665 --- /dev/null +++ b/tools/odin/tests/__init__.py @@ -0,0 +1,6 @@ +# 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 + +"""Offline tests for OdinV2.""" diff --git a/tools/odin/tests/conftest.py b/tools/odin/tests/conftest.py new file mode 100644 index 000000000000..22b3ecf77d44 --- /dev/null +++ b/tools/odin/tests/conftest.py @@ -0,0 +1,45 @@ +# 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 + +"""Pytest configuration for OdinV2's offline test suite. + +Puts the repository root on ``sys.path`` so ``tools.odin.*`` resolves when +pytest is invoked with ``--confcutdir`` pointed at this directory, which +bypasses the repository-level ``tools/conftest.py`` CI orchestrator. +""" + +import os +import sys +from collections.abc import Callable +from pathlib import Path + +import pytest + +_REPO_ROOT = Path(__file__).resolve().parents[3] +if str(_REPO_ROOT) not in sys.path: + sys.path.insert(0, str(_REPO_ROOT)) + +_GOLDEN_DIR = Path(__file__).parent / "golden" + + +@pytest.fixture +def assert_golden() -> Callable[[str, str], None]: + """Compare rendered text against a committed golden file. + + Rendered artefacts are asserted whole rather than by substring, so a change + anywhere in them shows up as a reviewable diff instead of passing unnoticed + between the assertions. + """ + + def _assert(name: str, rendered: str) -> None: + path = _GOLDEN_DIR / name + if os.environ.get("ODIN_UPDATE_GOLDEN"): + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(rendered) + hint = f"re-render with ODIN_UPDATE_GOLDEN=1 and review the diff to {path}" + assert path.exists(), f"no golden at {path}; {hint}" + assert rendered == path.read_text(), f"rendered output differs from {path.name}; if intended, {hint}" + + return _assert diff --git a/tools/odin/tests/golden/Dockerfile b/tools/odin/tests/golden/Dockerfile new file mode 100644 index 000000000000..f3c05fe6da90 --- /dev/null +++ b/tools/odin/tests/golden/Dockerfile @@ -0,0 +1,46 @@ +# Generated by tools/odin/image.py. Do not edit by hand. +FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04 + +ENV DEBIAN_FRONTEND=noninteractive +ENV UV_CACHE_DIR=/opt/uv-cache +ENV PATH=/root/.local/bin:$PATH + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates curl git \ + && rm -rf /var/lib/apt/lists/* + +# uv manages its own Python (pyproject sets python-preference = "only-managed"), +# so the base image needs no interpreter. +RUN curl -LsSf https://astral.sh/uv/install.sh | sh + +# Clone from a bundle rather than copying a checkout: capture_versions() records +# git_commit, git_branch, and git_dirty, so the image needs a real .git or every +# emitted benchmark bundle loses its provenance. A bundle also works for commits +# that were never pushed. +COPY isaaclab.bundle /tmp/isaaclab.bundle +RUN git clone --branch odin-build /tmp/isaaclab.bundle /workspace/isaaclab \ + && rm /tmp/isaaclab.bundle + +WORKDIR /workspace/isaaclab + +# Fail loudly if the bundle did not carry the commit under test. +RUN test "$(git rev-parse HEAD)" = "abcdef1234567890abcdef1234567890abcdef12" + +# uv sync resolves against this commit's committed uv.lock, so a commit that +# changes a dependency is tested with the changed dependency. +# +# The download cache is a BuildKit cache mount, not an image layer. This step +# pulls tens of GB from PyPI, and on a flaky link a drop partway through would +# otherwise discard everything and restart from zero -- the mount makes a retry +# resume from what already landed. It also keeps the cache out of the image. +# +# Nothing needs the cache at run time: the venv built here already matches what +# tasks request, and `uv run --frozen` cannot re-resolve, so a task with the +# same extras never reaches the network. +# +# UV_HTTP_TIMEOUT is raised well above the 30s default because large wheels +# behind a VPN routinely stall longer than that without the transfer being dead. +ENV UV_HTTP_TIMEOUT=180 + +RUN --mount=type=cache,target=/opt/uv-cache,sharing=locked \ + uv sync --frozen --extra isaacsim --extra ovphysx --extra ovrtx --extra rsl-rl --extra skrl --extra rl-games --extra sb3 --extra rerun diff --git a/tools/odin/tests/golden/workflow_default.yaml b/tools/odin/tests/golden/workflow_default.yaml new file mode 100644 index 000000000000..62edcf76d8e7 --- /dev/null +++ b/tools/odin/tests/golden/workflow_default.yaml @@ -0,0 +1,130 @@ +workflow: + name: odin-20260728-120000-0 + timeout: + exec_timeout: 86400s + queue_timeout: 172800s + resources: + default: + cpu: 8 + gpu: 1 + memory: 64Gi + storage: 64Gi + platform: ovx-l40s + # Every task is wrapped in its own single-task group. OSMO's workflow-level + # exec_timeout clock starts at each group's transition to RUNNING, so with + # tasks at the workflow root a late-scheduled task would be killed for other + # tasks' queue time. + groups: + + - name: g-rsl-rl-physx-isaac-ant-seed42 + tasks: + - name: rsl-rl-physx-isaac-ant-seed42 + image: nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc + + # OSMO maps a credential name to the registry host it authenticates. + credentials: + ngc_read_only: nvcr.io + + environment: + ACCEPT_EULA: "Y" + OMNI_KIT_ALLOW_ROOT: "1" + ODIN_DISPATCH_ID: "20260728-120000" + ODIN_ROW_KEY: "rsl_rl_physx_Isaac-Ant_seed42" + command: ["bash"] + args: ["/tmp/entry.sh"] + files: + - path: /tmp/entry.sh + contents: | + set -euxo pipefail + cd /workspace/isaaclab + OUT="{{output}}/rsl_rl_physx_Isaac-Ant_seed42" + mkdir -p "$OUT" + set +e + uv run --frozen --extra isaacsim --extra ovphysx --extra ovrtx --extra rsl-rl --extra skrl --extra rl-games --extra sb3 --extra rerun isaaclab benchmark training --rl_library rsl_rl --task Isaac-Ant --seed 42 --output_path "$OUT" --benchmark_formatter schema physics=physx + + rc=$? + echo "=== odin: training exit_code=$rc ===" + + # The base image is nvidia/cuda plus uv, which manages its own Python: + # there is no system python3 on PATH. Use the venv interpreter that + # `uv sync` created at build time. + PY=/workspace/isaaclab/.venv/bin/python + + CKPT="" + KEPT="" + PLAY_RC="" + PLAY_STATUS="not_requested" + + # Resolve the checkpoint regardless of what happens next: retaining it + # and rolling it out are separate concerns. + if [ "$rc" -eq 0 ]; then + CKPT=$("$PY" - "$OUT" <<'PYEOF' + import glob, json, os, sys + candidates = sorted(glob.glob(os.path.join(sys.argv[1], "benchmark_training_*.json"))) + for path in reversed(candidates): + try: + payload = json.load(open(path)) + except (OSError, ValueError): + continue + checkpoint = payload.get("checkpoint_path") + if checkpoint: + print(checkpoint) + break + PYEOF + ) + fi + + + # A per-row record of which steps ran and why any did not. The bundles + # say what a run measured; this says what happened, which is what you + # need when a row comes back with less than expected. + "$PY" - "$OUT" "$rc" "$PLAY_STATUS" "$PLAY_RC" "$CKPT" "$KEPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + import json, os, sys + out, rc, play_status, play_rc, checkpoint, kept = sys.argv[1:7] + record = { + "row_key": os.environ.get("ODIN_ROW_KEY", ""), + "dispatch_id": os.environ.get("ODIN_DISPATCH_ID", ""), + "training": {"ran": True, "exit_code": int(rc)}, + "checkpoint": { + "found": bool(checkpoint), + "source_path": checkpoint or None, + "retained_as": kept or None, + }, + "play": { + "status": play_status, + "exit_code": int(play_rc) if play_rc else None, + }, + "artifacts": sorted( + os.path.relpath(os.path.join(root, name), out) + for root, _dirs, files in os.walk(out) + for name in files + )[:200], + } + with open(os.path.join(out, "odin-steps.json"), "w") as handle: + json.dump(record, handle, indent=2) + print("=== odin: steps ===") + print(json.dumps({k: v for k, v in record.items() if k != "artifacts"}, indent=2)) + PYEOF + + set -e + # `head` closes the pipe early, so `find` dies of SIGPIPE and the + # pipeline exits 141. Under `set -o pipefail` that would end the + # script before it could exit with the training verdict. + find "$OUT" -type f | head -40 || true + # Training is the verdict: a play failure must not turn a good + # training run into a red row. + exit $rc + # OSMO uploads {{output}} itself, after exec and regardless of exit + # code, so a crashed run still returns what it produced and no publishing + # step can mask the benchmark's verdict. Each task writes into its own + # {{output}}//, so uploads never collide under this shared prefix. + outputs: + - url: swift://h/AUTH_team-isaac/results/20260728-120000/ + + exitActions: + + RESCHEDULE: 3001-3006 + + + + diff --git a/tools/odin/tests/golden/workflow_play_keep_checkpoint.yaml b/tools/odin/tests/golden/workflow_play_keep_checkpoint.yaml new file mode 100644 index 000000000000..522d1227d4bc --- /dev/null +++ b/tools/odin/tests/golden/workflow_play_keep_checkpoint.yaml @@ -0,0 +1,159 @@ +workflow: + name: odin-20260728-120000-0 + timeout: + exec_timeout: 86400s + queue_timeout: 172800s + resources: + default: + cpu: 8 + gpu: 1 + memory: 64Gi + storage: 64Gi + platform: ovx-l40s + # Every task is wrapped in its own single-task group. OSMO's workflow-level + # exec_timeout clock starts at each group's transition to RUNNING, so with + # tasks at the workflow root a late-scheduled task would be killed for other + # tasks' queue time. + groups: + + - name: g-rsl-rl-physx-isaac-ant-seed42 + tasks: + - name: rsl-rl-physx-isaac-ant-seed42 + image: nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc + + # OSMO maps a credential name to the registry host it authenticates. + credentials: + ngc_read_only: nvcr.io + + environment: + ACCEPT_EULA: "Y" + OMNI_KIT_ALLOW_ROOT: "1" + ODIN_DISPATCH_ID: "20260728-120000" + ODIN_ROW_KEY: "rsl_rl_physx_Isaac-Ant_seed42" + command: ["bash"] + args: ["/tmp/entry.sh"] + files: + - path: /tmp/entry.sh + contents: | + set -euxo pipefail + cd /workspace/isaaclab + OUT="{{output}}/rsl_rl_physx_Isaac-Ant_seed42" + mkdir -p "$OUT" + set +e + uv run --frozen --extra isaacsim --extra ovphysx --extra ovrtx --extra rsl-rl --extra skrl --extra rl-games --extra sb3 --extra rerun isaaclab benchmark training --rl_library rsl_rl --task Isaac-Ant --seed 42 --output_path "$OUT" --benchmark_formatter schema physics=physx + + rc=$? + echo "=== odin: training exit_code=$rc ===" + + # The base image is nvidia/cuda plus uv, which manages its own Python: + # there is no system python3 on PATH. Use the venv interpreter that + # `uv sync` created at build time. + PY=/workspace/isaaclab/.venv/bin/python + + CKPT="" + KEPT="" + PLAY_RC="" + PLAY_STATUS="not_requested" + + # Resolve the checkpoint regardless of what happens next: retaining it + # and rolling it out are separate concerns. + if [ "$rc" -eq 0 ]; then + CKPT=$("$PY" - "$OUT" <<'PYEOF' + import glob, json, os, sys + candidates = sorted(glob.glob(os.path.join(sys.argv[1], "benchmark_training_*.json"))) + for path in reversed(candidates): + try: + payload = json.load(open(path)) + except (OSError, ValueError): + continue + checkpoint = payload.get("checkpoint_path") + if checkpoint: + print(checkpoint) + break + PYEOF + ) + fi + + # RL libraries write checkpoints under logs/, which OSMO does not + # upload: only {{output}} is collected. Without this copy the + # checkpoint dies with the container and the run is un-replayable. + if [ -n "$CKPT" ] && [ -f "$CKPT" ]; then + mkdir -p "$OUT/checkpoint" + if cp "$CKPT" "$OUT/checkpoint/"; then + KEPT="checkpoint/$(basename "$CKPT")" + else + echo "=== odin: could not copy checkpoint ===" + fi + fi + + + # Play is chained in the same task so it can read the checkpoint + # training just wrote, with no cross-task handoff. It is skipped when + # training failed: there is nothing to roll out, and a play error + # would otherwise mask the real verdict. + if [ "$rc" -ne 0 ]; then + PLAY_STATUS="skipped_training_failed" + elif [ -z "$CKPT" ]; then + PLAY_STATUS="skipped_no_checkpoint" + else + echo "=== odin: play from $CKPT ===" + uv run --frozen --extra isaacsim --extra ovphysx --extra ovrtx --extra rsl-rl --extra skrl --extra rl-games --extra sb3 --extra rerun isaaclab benchmark play --rl_library rsl_rl --task Isaac-Ant --seed 42 --checkpoint "$CKPT" --output_path "$OUT" --benchmark_formatter schema --video --video_length 120 physics=physx + + PLAY_RC=$? + PLAY_STATUS="ran" + echo "=== odin: play exit_code=$PLAY_RC ===" + fi + + # A per-row record of which steps ran and why any did not. The bundles + # say what a run measured; this says what happened, which is what you + # need when a row comes back with less than expected. + "$PY" - "$OUT" "$rc" "$PLAY_STATUS" "$PLAY_RC" "$CKPT" "$KEPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + import json, os, sys + out, rc, play_status, play_rc, checkpoint, kept = sys.argv[1:7] + record = { + "row_key": os.environ.get("ODIN_ROW_KEY", ""), + "dispatch_id": os.environ.get("ODIN_DISPATCH_ID", ""), + "training": {"ran": True, "exit_code": int(rc)}, + "checkpoint": { + "found": bool(checkpoint), + "source_path": checkpoint or None, + "retained_as": kept or None, + }, + "play": { + "status": play_status, + "exit_code": int(play_rc) if play_rc else None, + }, + "artifacts": sorted( + os.path.relpath(os.path.join(root, name), out) + for root, _dirs, files in os.walk(out) + for name in files + )[:200], + } + with open(os.path.join(out, "odin-steps.json"), "w") as handle: + json.dump(record, handle, indent=2) + print("=== odin: steps ===") + print(json.dumps({k: v for k, v in record.items() if k != "artifacts"}, indent=2)) + PYEOF + + set -e + # `head` closes the pipe early, so `find` dies of SIGPIPE and the + # pipeline exits 141. Under `set -o pipefail` that would end the + # script before it could exit with the training verdict. + find "$OUT" -type f | head -40 || true + # Training is the verdict: a play failure must not turn a good + # training run into a red row. + exit $rc + # OSMO uploads {{output}} itself, after exec and regardless of exit + # code, so a crashed run still returns what it produced and no publishing + # step can mask the benchmark's verdict. Each task writes into its own + # {{output}}//, so uploads never collide under this shared prefix. + outputs: + - url: swift://h/AUTH_team-isaac/results/20260728-120000/ + + exitActions: + + RESCHEDULE: 3001-3006 + + + + diff --git a/tools/odin/tests/golden/workflow_sized_renderer_presets.yaml b/tools/odin/tests/golden/workflow_sized_renderer_presets.yaml new file mode 100644 index 000000000000..887c8dd2483e --- /dev/null +++ b/tools/odin/tests/golden/workflow_sized_renderer_presets.yaml @@ -0,0 +1,130 @@ +workflow: + name: odin-20260728-120000-0 + timeout: + exec_timeout: 86400s + queue_timeout: 172800s + resources: + default: + cpu: 8 + gpu: 1 + memory: 64Gi + storage: 64Gi + platform: ovx-l40s + # Every task is wrapped in its own single-task group. OSMO's workflow-level + # exec_timeout clock starts at each group's transition to RUNNING, so with + # tasks at the workflow root a late-scheduled task would be killed for other + # tasks' queue time. + groups: + + - name: g-rsl-rl-physx-isaac-ant-seed42 + tasks: + - name: rsl-rl-physx-isaac-ant-seed42 + image: nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc + + # OSMO maps a credential name to the registry host it authenticates. + credentials: + ngc_read_only: nvcr.io + + environment: + ACCEPT_EULA: "Y" + OMNI_KIT_ALLOW_ROOT: "1" + ODIN_DISPATCH_ID: "20260728-120000" + ODIN_ROW_KEY: "rsl_rl_physx_Isaac-Ant_seed42" + command: ["bash"] + args: ["/tmp/entry.sh"] + files: + - path: /tmp/entry.sh + contents: | + set -euxo pipefail + cd /workspace/isaaclab + OUT="{{output}}/rsl_rl_physx_Isaac-Ant_seed42" + mkdir -p "$OUT" + set +e + uv run --frozen --extra isaacsim --extra ovphysx --extra ovrtx --extra rsl-rl --extra skrl --extra rl-games --extra sb3 --extra rerun isaaclab benchmark training --rl_library rsl_rl --task Isaac-Ant --seed 42 --num_envs 4096 --max_iterations 500 --output_path "$OUT" --benchmark_formatter schema physics=physx renderer=ovrtx presets=depth,simple_shading_full_mdl + + rc=$? + echo "=== odin: training exit_code=$rc ===" + + # The base image is nvidia/cuda plus uv, which manages its own Python: + # there is no system python3 on PATH. Use the venv interpreter that + # `uv sync` created at build time. + PY=/workspace/isaaclab/.venv/bin/python + + CKPT="" + KEPT="" + PLAY_RC="" + PLAY_STATUS="not_requested" + + # Resolve the checkpoint regardless of what happens next: retaining it + # and rolling it out are separate concerns. + if [ "$rc" -eq 0 ]; then + CKPT=$("$PY" - "$OUT" <<'PYEOF' + import glob, json, os, sys + candidates = sorted(glob.glob(os.path.join(sys.argv[1], "benchmark_training_*.json"))) + for path in reversed(candidates): + try: + payload = json.load(open(path)) + except (OSError, ValueError): + continue + checkpoint = payload.get("checkpoint_path") + if checkpoint: + print(checkpoint) + break + PYEOF + ) + fi + + + # A per-row record of which steps ran and why any did not. The bundles + # say what a run measured; this says what happened, which is what you + # need when a row comes back with less than expected. + "$PY" - "$OUT" "$rc" "$PLAY_STATUS" "$PLAY_RC" "$CKPT" "$KEPT" <<'PYEOF' || echo "=== odin: could not write odin-steps.json ===" + import json, os, sys + out, rc, play_status, play_rc, checkpoint, kept = sys.argv[1:7] + record = { + "row_key": os.environ.get("ODIN_ROW_KEY", ""), + "dispatch_id": os.environ.get("ODIN_DISPATCH_ID", ""), + "training": {"ran": True, "exit_code": int(rc)}, + "checkpoint": { + "found": bool(checkpoint), + "source_path": checkpoint or None, + "retained_as": kept or None, + }, + "play": { + "status": play_status, + "exit_code": int(play_rc) if play_rc else None, + }, + "artifacts": sorted( + os.path.relpath(os.path.join(root, name), out) + for root, _dirs, files in os.walk(out) + for name in files + )[:200], + } + with open(os.path.join(out, "odin-steps.json"), "w") as handle: + json.dump(record, handle, indent=2) + print("=== odin: steps ===") + print(json.dumps({k: v for k, v in record.items() if k != "artifacts"}, indent=2)) + PYEOF + + set -e + # `head` closes the pipe early, so `find` dies of SIGPIPE and the + # pipeline exits 141. Under `set -o pipefail` that would end the + # script before it could exit with the training verdict. + find "$OUT" -type f | head -40 || true + # Training is the verdict: a play failure must not turn a good + # training run into a red row. + exit $rc + # OSMO uploads {{output}} itself, after exec and regardless of exit + # code, so a crashed run still returns what it produced and no publishing + # step can mask the benchmark's verdict. Each task writes into its own + # {{output}}//, so uploads never collide under this shared prefix. + outputs: + - url: swift://h/AUTH_team-isaac/results/20260728-120000/ + + exitActions: + + RESCHEDULE: 3001-3006 + + + + diff --git a/tools/odin/tests/test_chunking.py b/tools/odin/tests/test_chunking.py new file mode 100644 index 000000000000..6a74cce11b77 --- /dev/null +++ b/tools/odin/tests/test_chunking.py @@ -0,0 +1,66 @@ +# 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 + +"""Chunking of planned rows into OSMO workflows.""" + +import pytest + +from tools.odin.plan import PlannedRow, chunk_rows + + +def _row(key: str, timeout_s: int | None) -> PlannedRow: + return PlannedRow( + row_key=key, + task_id=key, + rl_library="rsl_rl", + physics="physx", + renderer=None, + presets=(), + play=False, + keep_checkpoint=False, + video_length=200, + seed=42, + num_envs=None, + max_iterations=None, + timeout_s=timeout_s, + uv_extras=("rsl-rl", "isaacsim"), + osmo_task_name=key.lower(), + ) + + +def test_empty_input_yields_no_chunks() -> None: + assert chunk_rows([], 25) == [] + + +def test_rows_are_split_at_chunk_size_with_ascending_indices() -> None: + rows = [_row(f"t{i}", 100) for i in range(5)] + assert [(index, len(chunk)) for index, chunk in chunk_rows(rows, 2)] == [(0, 2), (1, 2), (2, 1)] + + +def test_rows_are_ordered_by_ascending_timeout() -> None: + rows = [_row("slow", 9000), _row("fast", 60), _row("mid", 600)] + flat = [row.row_key for _, chunk in chunk_rows(rows, 10) for row in chunk] + assert flat == ["fast", "mid", "slow"] + + +def test_unbudgeted_rows_sort_last() -> None: + # A row with no harvested budget must not share a chunk with a known-short + # task, or the chunk's ceiling would be sized by the wrong row. + rows = [_row("unknown", None), _row("fast", 60)] + flat = [row.row_key for _, chunk in chunk_rows(rows, 10) for row in chunk] + assert flat == ["fast", "unknown"] + + +def test_chunking_is_deterministic_under_input_reordering() -> None: + first = [_row("x", 100), _row("y", 100), _row("z", 100)] + second = [_row("z", 100), _row("x", 100), _row("y", 100)] + assert [r.row_key for _, c in chunk_rows(first, 2) for r in c] == [ + r.row_key for _, c in chunk_rows(second, 2) for r in c + ] + + +def test_chunk_size_below_one_is_rejected() -> None: + with pytest.raises(ValueError, match="chunk_size"): + chunk_rows([_row("t", 100)], 0) diff --git a/tools/odin/tests/test_cli.py b/tools/odin/tests/test_cli.py new file mode 100644 index 000000000000..7a3de6bb1a55 --- /dev/null +++ b/tools/odin/tests/test_cli.py @@ -0,0 +1,578 @@ +# 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 + +"""End-to-end CLI wiring, exercised offline via ``--dry_run``.""" + +import json +import shutil +from pathlib import Path + +import pytest +import yaml + +from tools.odin.cli import main + +_ODIN_ROOT = Path(__file__).resolve().parents[1] + + +@pytest.fixture +def workspace(tmp_path: Path) -> Path: + shutil.copy(_ODIN_ROOT / "config" / "odin.yaml", tmp_path / "odin.yaml") + (tmp_path / "tasks.yaml").write_text( + yaml.safe_dump( + { + "tasks": [ + {"task_id": "Isaac-Cartpole-Direct", "rl_library": "rsl_rl", "physics": "newton_mjwarp"}, + {"task_id": "Isaac-Cartpole-Direct", "rl_library": "rsl_rl", "physics": "physx"}, + {"task_id": "Isaac-Ant", "rl_library": "rsl_rl", "physics": "newton_mjwarp"}, + ] + } + ) + ) + return tmp_path + + +def _dispatch_argv(workspace: Path, *extra: str) -> list[str]: + return [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--tasks_yaml", + str(workspace / "tasks.yaml"), + "--image", + "nvcr.io/nvidian/x@sha256:abc", + "--seeds", + "42", + "--runs_root", + str(workspace / "runs"), + "--dry_run", + *extra, + ] + + +def _dispatch_dir(workspace: Path) -> Path: + return next((workspace / "runs").iterdir()) + + +def _state(workspace: Path) -> dict: + return json.loads((_dispatch_dir(workspace) / "dispatch.json").read_text()) + + +def test_no_subcommand_exits_non_zero() -> None: + assert main([]) != 0 + + +def test_dry_run_dispatch_exits_zero(workspace: Path) -> None: + assert main(_dispatch_argv(workspace)) == 0 + + +def test_dry_run_writes_workflow_yaml_per_chunk(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--chunk_size", "1")) + rendered = sorted(_dispatch_dir(workspace).glob("workflow.*.yaml")) + assert len(rendered) >= 2 + assert yaml.safe_load(rendered[0].read_text())["workflow"]["groups"] + + +def test_dry_run_writes_dispatch_json_with_pending_jobs(workspace: Path) -> None: + main(_dispatch_argv(workspace)) + state = _state(workspace) + assert state["schema_version"] == "2.0" + assert state["jobs"] + assert all(job["status"] == "pending" for job in state["jobs"]) + + +def test_dry_run_submits_nothing(workspace: Path) -> None: + # No OSMO call means no workflow ids recorded. + main(_dispatch_argv(workspace)) + assert _state(workspace)["osmo_workflow_ids"] == [] + + +def test_include_filter_narrows_the_row_set(workspace: Path) -> None: + import fnmatch + + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-*")) + matched = {job["task_id"] for job in _state(workspace)["jobs"]} + assert matched + assert all(fnmatch.fnmatch(task_id, "Isaac-Cartpole-*") for task_id in matched) + + +def test_rows_carry_no_sizing_by_default(workspace: Path) -> None: + # The seed list omits sizing so each task runs at its shipped default. + main(_dispatch_argv(workspace)) + job = _state(workspace)["jobs"][0] + assert job["num_envs"] is None + assert job["max_iterations"] is None + + +def test_ab_mode_plans_both_sides(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--image_b", "nvcr.io/nvidian/x@sha256:def")) + state = _state(workspace) + assert {job["side"] for job in state["jobs"]} == {"a", "b"} + assert state["images"] == {"a": "nvcr.io/nvidian/x@sha256:abc", "b": "nvcr.io/nvidian/x@sha256:def"} + + +def test_ab_row_keys_are_disambiguated_by_side(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--image_b", "nvcr.io/nvidian/x@sha256:def")) + keys = [job["row_key"] for job in _state(workspace)["jobs"]] + assert len(keys) == len(set(keys)) + + +def test_ab_osmo_task_names_are_unique(workspace: Path) -> None: + # Two OSMO tasks sharing a name inside one workflow is a submit-time error. + main(_dispatch_argv(workspace, "--image_b", "nvcr.io/nvidian/x@sha256:def")) + names = [job["osmo_task_name"] for job in _state(workspace)["jobs"]] + assert len(names) == len(set(names)) + + +def test_each_side_uses_its_own_image(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--image_b", "nvcr.io/nvidian/x@sha256:def")) + by_side = {job["side"]: job["image_ref"] for job in _state(workspace)["jobs"]} + assert by_side["a"] == "nvcr.io/nvidian/x@sha256:abc" + assert by_side["b"] == "nvcr.io/nvidian/x@sha256:def" + + +def test_seeds_are_recorded(workspace: Path) -> None: + main(_dispatch_argv(workspace)) + assert _state(workspace)["seeds"] == [42] + + +def test_multiple_seeds_expand(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--seeds", "42,43")) + state = _state(workspace) + assert state["seeds"] == [42, 43] + assert {job["seed"] for job in state["jobs"]} == {42, 43} + + +def test_bad_config_path_exits_non_zero(workspace: Path, capsys) -> None: + code = main( + [ + "dispatch", + "--config", + str(workspace / "absent.yaml"), + "--tasks_yaml", + str(workspace / "tasks.yaml"), + "--image", + "img", + "--seeds", + "42", + "--runs_root", + str(workspace / "runs"), + "--dry_run", + ] + ) + assert code == 1 + assert "could not read" in capsys.readouterr().err + + +def test_build_image_dry_run_writes_a_dockerfile(workspace: Path, tmp_path: Path) -> None: + code = main( + [ + "build-image", + "--config", + str(workspace / "odin.yaml"), + "--ref", + "HEAD", + "--context_dir", + str(tmp_path / "ctx"), + "--dry_run", + ] + ) + assert code == 0 + assert (tmp_path / "ctx" / "Dockerfile").exists() + + +def test_build_image_rejects_an_unknown_ref(workspace: Path, tmp_path: Path, capsys) -> None: + code = main( + [ + "build-image", + "--config", + str(workspace / "odin.yaml"), + "--ref", + "definitely-not-a-ref-abc123", + "--context_dir", + str(tmp_path / "ctx"), + "--dry_run", + ] + ) + assert code == 1 + assert "definitely-not-a-ref" in capsys.readouterr().err + + +def test_status_on_a_missing_dispatch_exits_non_zero(workspace: Path) -> None: + assert main(["status", "--runs_root", str(workspace / "runs"), "20260101-000000"]) != 0 + + +def test_status_reports_job_counts(workspace: Path, capsys) -> None: + main(_dispatch_argv(workspace)) + dispatch_id = _dispatch_dir(workspace).name + capsys.readouterr() + + code = main(["status", "--runs_root", str(workspace / "runs"), dispatch_id]) + + assert code == 0 + assert "pending" in capsys.readouterr().out + + +def test_harvest_on_a_missing_dispatch_exits_non_zero(workspace: Path) -> None: + assert main(["harvest", "--runs_root", str(workspace / "runs"), "20260101-000000"]) != 0 + + +def test_harvest_writes_metadata_from_bundles(workspace: Path, tmp_path: Path) -> None: + main(_dispatch_argv(workspace)) + dispatch_id = _dispatch_dir(workspace).name + row_key = _state(workspace)["jobs"][0]["row_key"] + row_dir = _dispatch_dir(workspace) / row_key + row_dir.mkdir(parents=True, exist_ok=True) + (row_dir / "benchmark_training_x_2026-07-29_12-00-00.json").write_text( + json.dumps( + { + "schema_version": "1.2", + "run": { + "task": "Isaac-Ant", + "framework": "rsl_rl", + "config": {"physics_backend": "newton_mjwarp"}, + "seed": 42, + "duration_s": 120.0, + "status": "completed", + "num_envs": 4096, + "max_iterations": 500, + }, + "runtime": {"total_wall_time_s": 120.0}, + } + ) + ) + out = tmp_path / "task_metadata.yaml" + + code = main( + [ + "harvest", + "--runs_root", + str(workspace / "runs"), + dispatch_id, + "--output", + str(out), + "--timeout_headroom", + "2.0", + ] + ) + + assert code == 0 + entry = yaml.safe_load(out.read_text())["tasks"][0] + assert entry["num_envs"] == 4096 + assert entry["timeout_s"] == 240 + + +def test_discover_writes_a_planner_ready_task_list(workspace: Path, tmp_path: Path, monkeypatch) -> None: + # The registry walk needs Isaac Lab; the CLI wiring around it does not. + from tools.odin import cli as cli_module + from tools.odin.discover import DiscoveredTask + + monkeypatch.setattr( + cli_module, + "discover_tasks", + lambda: [ + DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode("newton_mjwarp", None, None),)), + DiscoveredTask("IsaacContrib-Walk", "contrib", ("rsl_rl",), (DiscoveredTask.Mode("ovphysx", None, None),)), + ], + ) + out = tmp_path / "tasks.yaml" + + assert main(["discover", "--output", str(out)]) == 0 + + payload = yaml.safe_load(out.read_text()) + assert payload["discovery"]["row_count"] == 2 + assert {row["scope"] for row in payload["tasks"]} == {"core", "contrib"} + + +def test_discover_scope_filter_can_empty_the_list(tmp_path: Path, monkeypatch) -> None: + from tools.odin import cli as cli_module + from tools.odin.discover import DiscoveredTask + + monkeypatch.setattr( + cli_module, + "discover_tasks", + lambda: [DiscoveredTask("Isaac-Ant", "core", ("rsl_rl",), (DiscoveredTask.Mode(None, None, None),))], + ) + assert main(["discover", "--scope", "contrib", "--output", str(tmp_path / "t.yaml")]) != 0 + + +def _mark_failed(workspace: Path, kind: str = "benchmark_crash", limit: int = 2) -> str: + """Fail the first *limit* jobs of the newest dispatch and return its id.""" + dispatch_dir = _dispatch_dir(workspace) + state = json.loads((dispatch_dir / "dispatch.json").read_text()) + state["osmo_workflow_ids"] = ["wf-1"] + for job in state["jobs"][:limit]: + job["status"] = "failed" + job["ended_at"] = "2026-07-29T12:00:00Z" + job["failure"] = {"kind": kind, "message": "boom", "details": {}} + (dispatch_dir / "dispatch.json").write_text(json.dumps(state)) + return dispatch_dir.name + + +def test_dispatch_requires_an_image_unless_resuming(workspace: Path, capsys) -> None: + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--tasks_yaml", + str(workspace / "tasks.yaml"), + "--seeds", + "42", + "--runs_root", + str(workspace / "runs"), + "--dry_run", + ] + ) + assert code == 1 + assert "--image is required" in capsys.readouterr().err + + +def test_dispatch_requires_seeds_unless_retrying(workspace: Path, capsys) -> None: + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--tasks_yaml", + str(workspace / "tasks.yaml"), + "--image", + "img", + "--runs_root", + str(workspace / "runs"), + "--dry_run", + ] + ) + assert code == 1 + assert "--seeds is required" in capsys.readouterr().err + + +def test_resume_rejects_a_dispatch_that_never_submitted(workspace: Path, capsys) -> None: + # Nothing was submitted, so there is no workflow to re-attach to. + main(_dispatch_argv(workspace)) + dispatch_id = _dispatch_dir(workspace).name + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--runs_root", + str(workspace / "runs"), + "--resume", + dispatch_id, + ] + ) + assert code == 1 + assert "never got past planning" in capsys.readouterr().err + + +def test_resume_rejects_an_unknown_dispatch(workspace: Path, capsys) -> None: + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--runs_root", + str(workspace / "runs"), + "--resume", + "20260101-000000", + ] + ) + assert code == 1 + assert "no dispatch.json" in capsys.readouterr().err + + +def test_resume_latest_with_no_dispatches_is_an_error(workspace: Path, capsys) -> None: + (workspace / "runs").mkdir(parents=True, exist_ok=True) + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--runs_root", + str(workspace / "runs"), + "--resume", + "LATEST", + ] + ) + assert code == 1 + assert "no dispatch found" in capsys.readouterr().err + + +def test_retry_failed_plans_only_the_failed_rows(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-Direct")) + parent = _mark_failed(workspace, limit=2) + failed_ids = { + job["task_id"] + for job in json.loads((_dispatch_dir(workspace) / "dispatch.json").read_text())["jobs"] + if job["status"] == "failed" + } + + code = main(_retry_argv(workspace, parent)) + + assert code == 0 + child = sorted((workspace / "runs").iterdir())[-1] + state = json.loads((child / "dispatch.json").read_text()) + assert state["parent_dispatch_id"] == parent + assert {job["task_id"] for job in state["jobs"]} <= failed_ids + + +def test_retry_failed_reuses_the_parent_seeds(workspace: Path) -> None: + main(_dispatch_argv(workspace, "--seeds", "42,43", "--include", "Isaac-Cartpole-Direct")) + parent = _mark_failed(workspace, limit=2) + + main(_retry_argv(workspace, parent)) + + child = sorted((workspace / "runs").iterdir())[-1] + assert json.loads((child / "dispatch.json").read_text())["seeds"] + + +def _retry_argv(workspace: Path, parent: str) -> list[str]: + return [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--image", + "img@sha256:abc", + "--runs_root", + str(workspace / "runs"), + "--retry_failed", + parent, + "--dry_run", + ] + + +def _identity(job: dict) -> tuple: + return (job["task_id"], job["rl_library"], job["physics"], job["seed"]) + + +def test_retry_failed_pairs_each_identity_with_the_seeds_it_failed_on(workspace: Path) -> None: + # Collapsing failures to (identities, union-of-seeds) re-expands a cross + # product, so a seed that passed is billed a second GPU run. + main(_dispatch_argv(workspace, "--seeds", "42,43", "--include", "Isaac-Cartpole-Direct")) + dispatch_dir = _dispatch_dir(workspace) + state = json.loads((dispatch_dir / "dispatch.json").read_text()) + state["osmo_workflow_ids"] = ["wf-1"] + by_seed = {seed: [job for job in state["jobs"] if job["seed"] == seed] for seed in (42, 43)} + # Two distinct identities, each failing on one seed only. + victims = [by_seed[42][0], by_seed[43][1]] + for job in victims: + job["status"] = "failed" + job["ended_at"] = "2026-07-29T12:00:00Z" + job["failure"] = {"kind": "benchmark_crash", "message": "boom", "details": {}} + (dispatch_dir / "dispatch.json").write_text(json.dumps(state)) + + assert main(_retry_argv(workspace, dispatch_dir.name)) == 0 + + child = json.loads((sorted((workspace / "runs").iterdir())[-1] / "dispatch.json").read_text()) + assert {_identity(job) for job in child["jobs"]} == {_identity(job) for job in victims} + + +def test_retry_of_an_ab_dispatch_is_refused(workspace: Path, capsys) -> None: + # Retrying plans one row per identity against --image, so a side-B failure + # would silently be re-run on side A's image. + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-Direct", "--image_b", "nvcr.io/nvidian/x@sha256:def")) + parent = _mark_failed(workspace, limit=2) + + code = main(_retry_argv(workspace, parent)) + + assert code == 1 + assert "A/B dispatch" in capsys.readouterr().err + + +def test_chunk_size_below_one_leaves_no_orphan_dispatch(workspace: Path, capsys) -> None: + # Chunking runs after dispatch.json is written, so a late rejection would + # leave a dispatch that LATEST resolves to. + code = main(_dispatch_argv(workspace, "--chunk_size", "0")) + + assert code == 1 + assert "chunk_size" in capsys.readouterr().err + assert not (workspace / "runs").exists() + + +def test_retry_failed_on_a_clean_dispatch_is_an_error(workspace: Path, capsys) -> None: + main(_dispatch_argv(workspace)) + parent = _dispatch_dir(workspace).name + code = main(_retry_argv(workspace, parent)) + assert code == 1 + assert "no failed rows" in capsys.readouterr().err + + +def test_resume_resets_in_flight_rows_and_polls(workspace: Path, monkeypatch, capsys) -> None: + # The happy path: workflows exist, so resume must re-attach rather than + # re-submit. Every other resume test returns early before reaching it. + from tools.odin import cli as cli_module + from tools.odin.client import TaskSnapshot, WorkflowSnapshot + + main(_dispatch_argv(workspace, "--include", "Isaac-Cartpole-Direct")) + dispatch_dir = _dispatch_dir(workspace) + state = json.loads((dispatch_dir / "dispatch.json").read_text()) + state["osmo_workflow_ids"] = ["wf-1"] + for job in state["jobs"]: + job["status"] = "running" + job["assigned_to"] = "osmo:wf-1" + job["started_at"] = "2026-07-29T12:00:00Z" + (dispatch_dir / "dispatch.json").write_text(json.dumps(state)) + names = [job["osmo_task_name"] for job in state["jobs"]] + + class _Client: + def __init__(self, *a, **k) -> None: ... + + def status(self, workflow_id): + return WorkflowSnapshot( + workflow_id=workflow_id, + status="COMPLETED", + tasks=[TaskSnapshot(name=n, status="COMPLETED", exit_code=0) for n in names], + ) + + def data_download(self, remote_uri, dest_dir): + dest_dir.mkdir(parents=True, exist_ok=True) + + monkeypatch.setattr(cli_module, "OsmoClient", _Client) + + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--runs_root", + str(workspace / "runs"), + "--resume", + "LATEST", + "--poll_interval", + "0", + ] + ) + + out = capsys.readouterr().out + assert "resuming" in out + # Nothing parseable came back, so completed rows are reclassified. + final = json.loads((dispatch_dir / "dispatch.json").read_text()) + assert all(job["status"] == "failed" for job in final["jobs"]) + assert all(job["failure"]["kind"] == "malformed_bundle" for job in final["jobs"]) + assert code == 1 + + +def test_dispatch_without_a_task_list_says_how_to_make_one(workspace: Path, capsys) -> None: + # The list is generated, not shipped, so a missing file is the normal + # first-run state rather than an error to report as a bad path. + code = main( + [ + "dispatch", + "--config", + str(workspace / "odin.yaml"), + "--tasks_yaml", + str(workspace / "absent.yaml"), + "--image", + "img", + "--seeds", + "42", + "--runs_root", + str(workspace / "runs"), + "--dry_run", + ] + ) + assert code == 1 + assert "odin discover" in capsys.readouterr().err diff --git a/tools/odin/tests/test_client.py b/tools/odin/tests/test_client.py new file mode 100644 index 000000000000..5052da081304 --- /dev/null +++ b/tools/odin/tests/test_client.py @@ -0,0 +1,156 @@ +# 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 + +"""Subprocess wrapping and error classification for the ``osmo`` CLI.""" + +import json +import subprocess +from pathlib import Path + +import pytest + +from tools.odin.client import OsmoAuthError, OsmoClient, OsmoCliError, OsmoTransientError + + +class _FakeRun: + """Records invocations and replays canned ``CompletedProcess`` results.""" + + def __init__(self, *results: subprocess.CompletedProcess) -> None: + self._results = list(results) + self.calls: list[list[str]] = [] + + def __call__(self, cmd, **kwargs): + self.calls.append(list(cmd)) + return self._results.pop(0) if len(self._results) > 1 else self._results[0] + + +def _cp(returncode: int = 0, stdout: str = "", stderr: str = "") -> subprocess.CompletedProcess: + return subprocess.CompletedProcess(args=[], returncode=returncode, stdout=stdout, stderr=stderr) + + +def _client(monkeypatch, fake: _FakeRun) -> OsmoClient: + client = OsmoClient(profile="default") + monkeypatch.setattr(client, "_run", fake) + return client + + +def test_submit_parses_the_workflow_id(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(stdout="Workflow ID - wf-abc123\nStatus - SUBMITTED\n")) + assert _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") == "wf-abc123" + + +def test_submit_forwards_pool_and_priority(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(stdout="Workflow ID - wf-1\n")) + _client(monkeypatch, fake).submit(tmp_path / "wf.yaml", pool="p1", priority="HIGH") + assert "--pool" in fake.calls[0] and "p1" in fake.calls[0] + assert "--priority" in fake.calls[0] and "HIGH" in fake.calls[0] + + +def test_submit_omits_optional_flags_when_unset(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(stdout="Workflow ID - wf-1\n")) + _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") + assert "--pool" not in fake.calls[0] + assert "--priority" not in fake.calls[0] + + +def test_unparseable_submit_output_raises(monkeypatch, tmp_path: Path) -> None: + with pytest.raises(OsmoCliError, match="Workflow ID"): + _client(monkeypatch, _FakeRun(_cp(stdout="nothing useful"))).submit(tmp_path / "wf.yaml") + + +def test_auth_failure_is_classified(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(returncode=1, stderr="request failed with status code 403")) + with pytest.raises(OsmoAuthError): + _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") + + +def test_server_error_is_classified_as_transient(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(returncode=1, stderr="request failed with status code 503")) + with pytest.raises(OsmoTransientError): + _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") + + +def test_connection_reset_is_classified_as_transient(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(returncode=1, stderr="connection reset by peer")) + with pytest.raises(OsmoTransientError): + _client(monkeypatch, fake).submit(tmp_path / "wf.yaml") + + +# Shape of a real `osmo workflow query -t json` document, trimmed to the fields +# the client reads. Tasks are nested under groups[].tasks[]; there is no +# top-level "tasks" key, and the workflow is named by "name". +_QUERY_JSON = json.dumps( + { + "name": "wf-1", + "status": "RUNNING", + "groups": [ + {"name": "g-t1", "status": "COMPLETED", "tasks": [{"name": "t1", "status": "COMPLETED", "exit_code": 0}]}, + {"name": "g-t2", "status": "FAILED", "tasks": [{"name": "t2", "status": "FAILED", "exit_code": 137}]}, + ], + } +) + + +def test_status_asks_for_json_with_the_flag_osmo_accepts(monkeypatch) -> None: + # `osmo workflow query` takes -t/--format-type, not --output; the wrong flag + # made every query fail and every exit_code come back None. + fake = _FakeRun(_cp(stdout=_QUERY_JSON)) + _client(monkeypatch, fake).status("wf-1") + assert fake.calls[0][-2:] == ["-t", "json"] + assert "--output" not in fake.calls[0] + + +def test_status_flattens_the_tasks_nested_under_groups(monkeypatch) -> None: + snapshot = _client(monkeypatch, _FakeRun(_cp(stdout=_QUERY_JSON))).status("wf-1") + assert snapshot.status == "RUNNING" + assert [(task.name, task.status, task.exit_code) for task in snapshot.tasks] == [ + ("t1", "COMPLETED", 0), + ("t2", "FAILED", 137), + ] + + +def test_failed_status_query_raises(monkeypatch) -> None: + fake = _FakeRun(_cp(returncode=1, stderr="no such workflow")) + with pytest.raises(OsmoCliError, match="no such workflow"): + _client(monkeypatch, fake).status("wf-1") + + +def test_data_download_shells_out_to_osmo_data(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp()) + _client(monkeypatch, fake).data_download("s3://bucket/dispatch/row", tmp_path / "dest") + assert fake.calls[0][:3] == ["osmo", "data", "download"] + assert "s3://bucket/dispatch/row" in fake.calls[0] + assert (tmp_path / "dest").exists() + + +def test_failed_data_download_raises(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(returncode=1, stderr="no such key")) + with pytest.raises(OsmoCliError, match="no such key"): + _client(monkeypatch, fake).data_download("s3://bucket/missing", tmp_path / "dest") + + +def test_validate_accepts_a_good_workflow(monkeypatch, tmp_path: Path) -> None: + fake = _FakeRun(_cp(stdout="Workflow validation succeeded.")) + _client(monkeypatch, fake).validate(tmp_path / "wf.yaml") + assert fake.calls[0][:3] == ["osmo", "workflow", "validate"] + + +def test_validate_raises_on_schema_rejection(monkeypatch, tmp_path: Path) -> None: + # OSMO rejects unknown task fields outright; catching that before submit is + # the whole point of the preflight. + fake = _FakeRun(_cp(returncode=1, stderr="Extra inputs are not permitted")) + with pytest.raises(OsmoCliError, match="Extra inputs"): + _client(monkeypatch, fake).validate(tmp_path / "wf.yaml") + + +def test_data_check_reports_pass(monkeypatch) -> None: + fake = _FakeRun(_cp(stdout='{"status": "pass"}')) + assert _client(monkeypatch, fake).data_check("swift://h/x") is True + assert "-a" in fake.calls[0] and "WRITE" in fake.calls[0] + + +def test_data_check_reports_failure(monkeypatch) -> None: + fake = _FakeRun(_cp(stdout='{"status": "fail"}')) + assert _client(monkeypatch, fake).data_check("swift://h/x") is False diff --git a/tools/odin/tests/test_config_file.py b/tools/odin/tests/test_config_file.py new file mode 100644 index 000000000000..4d30d457f294 --- /dev/null +++ b/tools/odin/tests/test_config_file.py @@ -0,0 +1,116 @@ +# 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 + +"""Validation behaviour of the ``odin.yaml`` loader.""" + +from pathlib import Path + +import pytest + +from tools.odin.config_file import OdinConfigError, load_odin_config + +_VALID = """ +osmo_profile: default +pool: isaac-dev-l40s-04 +priority: NORMAL +image: + registry: nvcr.io/nvidian + repository: antoiner-isaac-lab + pull_credential: ngc_read_only +resources: + cpu: 8 + gpu: 1 + memory: 64Gi + storage: 64Gi + platform: ovx-l40s +exec_timeout_s: 86400 +queue_timeout_s: 172800 +chunk_size: 25 +results_uri: s3://isaac-odin/results +retry: + reschedule_codes: "3001-3006" + restart_codes: "" +""" + + +def _write(tmp_path: Path, text: str) -> Path: + path = tmp_path / "odin.yaml" + path.write_text(text) + return path + + +def test_valid_config_loads_all_fields(tmp_path: Path) -> None: + cfg = load_odin_config(_write(tmp_path, _VALID)) + + assert cfg.osmo_profile == "default" + assert cfg.pool == "isaac-dev-l40s-04" + assert cfg.priority == "NORMAL" + assert cfg.image.registry == "nvcr.io/nvidian" + assert cfg.image.repository == "antoiner-isaac-lab" + assert cfg.image.pull_credential == "ngc_read_only" + assert cfg.resources.cpu == 8 + assert cfg.resources.platform == "ovx-l40s" + assert cfg.exec_timeout_s == 86400 + assert cfg.queue_timeout_s == 172800 + assert cfg.chunk_size == 25 + assert cfg.results_uri == "s3://isaac-odin/results" + assert cfg.retry.reschedule_codes == "3001-3006" + + +def test_pull_credential_is_optional(tmp_path: Path) -> None: + text = _VALID.replace(" pull_credential: ngc_read_only\n", "") + assert load_odin_config(_write(tmp_path, text)).image.pull_credential is None + + +def test_missing_required_field_names_the_key_path(tmp_path: Path) -> None: + text = _VALID.replace(" platform: ovx-l40s\n", "") + with pytest.raises(OdinConfigError, match=r"resources\.platform"): + load_odin_config(_write(tmp_path, text)) + + +def test_bad_priority_is_rejected(tmp_path: Path) -> None: + text = _VALID.replace("priority: NORMAL", "priority: URGENT") + with pytest.raises(OdinConfigError, match="priority"): + load_odin_config(_write(tmp_path, text)) + + +def test_non_integer_cpu_is_rejected(tmp_path: Path) -> None: + text = _VALID.replace(" cpu: 8", " cpu: many") + with pytest.raises(OdinConfigError, match=r"resources\.cpu"): + load_odin_config(_write(tmp_path, text)) + + +def test_bool_is_not_accepted_as_integer(tmp_path: Path) -> None: + # YAML would otherwise read "gpu: true" as a request for one GPU. + text = _VALID.replace(" gpu: 1", " gpu: true") + with pytest.raises(OdinConfigError, match=r"resources\.gpu"): + load_odin_config(_write(tmp_path, text)) + + +def test_chunk_size_below_one_is_rejected(tmp_path: Path) -> None: + # Caught at load time: chunking happens after dispatch.json is written, so + # rejecting it there would strand an orphan dispatch. + text = _VALID.replace("chunk_size: 25", "chunk_size: 0") + with pytest.raises(OdinConfigError, match="chunk_size"): + load_odin_config(_write(tmp_path, text)) + + +def test_non_mapping_document_is_rejected(tmp_path: Path) -> None: + with pytest.raises(OdinConfigError, match="mapping"): + load_odin_config(_write(tmp_path, "- just\n- a\n- list\n")) + + +def test_unreadable_path_is_reported(tmp_path: Path) -> None: + with pytest.raises(OdinConfigError, match="could not read"): + load_odin_config(tmp_path / "absent.yaml") + + +def test_shipped_config_is_valid() -> None: + shipped = Path(__file__).resolve().parents[1] / "config" / "odin.yaml" + assert load_odin_config(shipped).pool + + +def test_registry_host_strips_the_namespace(tmp_path: Path) -> None: + assert load_odin_config(_write(tmp_path, _VALID)).image.registry_host == "nvcr.io" diff --git a/tools/odin/tests/test_discover.py b/tools/odin/tests/test_discover.py new file mode 100644 index 000000000000..9f25258d4810 --- /dev/null +++ b/tools/odin/tests/test_discover.py @@ -0,0 +1,158 @@ +# 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 + +"""Row expansion and filtering for registry-discovered task lists. + +The registry walk itself needs Isaac Lab and is exercised separately; everything +here is pure and runs offline. +""" + +from pathlib import Path + +import yaml + +from tools.odin import discover +from tools.odin.discover import DiscoveredTask, expand_rows, filter_rows, write_task_list +from tools.odin.plan import load_task_rows, plan_rows + +Mode = DiscoveredTask.Mode + +_ANT = DiscoveredTask( + task_id="Isaac-Ant", + scope="core", + rl_libraries=("rsl_rl", "rl_games", "skrl"), + modes=(Mode("newton_kamino", None, None), Mode("newton_mjwarp", None, None), Mode("physx", None, None)), +) +_CONTRIB = DiscoveredTask( + task_id="IsaacContrib-Walk", + scope="contrib", + rl_libraries=("rsl_rl",), + modes=(Mode("newton_mjwarp", None, None),), +) +# Many real tasks declare no physics preset and reject any physics= token. +_NO_PHYSICS = DiscoveredTask( + task_id="Isaac-Intrinsic", scope="core", rl_libraries=("skrl",), modes=(Mode(None, None, None),) +) +# A camera task: renderers are always expanded, and one pairing is illegal. +_CAMERA = DiscoveredTask( + task_id="Isaac-Cartpole-Camera", + scope="core", + rl_libraries=("rsl_rl",), + modes=(Mode("newton_mjwarp", "ovrtx", None), Mode("isaacsim_physx", "isaacsim_rtx", None)), +) +_TASKS = [_ANT, _CONTRIB, _NO_PHYSICS] + + +def test_expansion_is_total_across_every_declared_library() -> None: + rows = expand_rows(_TASKS) + assert {row["rl_library"] for row in rows if row["task_id"] == "Isaac-Ant"} == {"rsl_rl", "rl_games", "skrl"} + + +def test_library_filter_narrows_the_library_axis() -> None: + rows = filter_rows(expand_rows(_TASKS), libraries=["rsl_rl"]) + assert {row["rl_library"] for row in rows} == {"rsl_rl"} + + +def test_scope_filter_replaces_a_core_only_selection() -> None: + rows = filter_rows(expand_rows(_TASKS), scope="core") + assert all(row["scope"] == "core" for row in rows) + + +def test_physics_filter_replaces_a_cross_backend_selection() -> None: + # Two backends on the same tasks is a filter, not its own vocabulary. + task = DiscoveredTask( + task_id="Isaac-X", + scope="core", + rl_libraries=("rsl_rl",), + modes=(Mode("newton_mjwarp", None, None), Mode("ovphysx", None, None), Mode("newton_kamino", None, None)), + ) + rows = filter_rows(expand_rows([task]), physics=["newton_mjwarp", "ovphysx"]) + assert {row["physics"] for row in rows} == {"newton_mjwarp", "ovphysx"} + + +def test_task_without_physics_gets_exactly_one_row_with_no_token() -> None: + rows = [row for row in expand_rows(_TASKS) if row["task_id"] == "Isaac-Intrinsic"] + assert len(rows) == 1 + assert "physics" not in rows[0] + + +def test_task_without_a_supported_library_is_dropped() -> None: + task = DiscoveredTask(task_id="Isaac-Rlinf", scope="core", rl_libraries=(), modes=()) + assert expand_rows([task]) == [] + + +def test_camera_task_rows_carry_a_renderer() -> None: + rows = expand_rows([_CAMERA]) + assert len(rows) == 2 + assert all(row["renderer"] for row in rows) + assert {(r["physics"], r["renderer"]) for r in rows} == { + ("newton_mjwarp", "ovrtx"), + ("isaacsim_physx", "isaacsim_rtx"), + } + + +def test_renderer_filter_narrows_the_renderer_axis() -> None: + rows = filter_rows(expand_rows([_CAMERA]), renderers=["ovrtx"]) + assert {row["renderer"] for row in rows} == {"ovrtx"} + + +def test_renderer_filter_keeps_headless_rows_via_none() -> None: + # Rows are headless unless a renderer was requested. + rows = expand_rows(_TASKS) + assert filter_rows(rows, renderers=["none"]) == rows + + +def test_rows_are_deterministic() -> None: + assert expand_rows(_TASKS) == expand_rows(list(reversed(_TASKS))) + + +def test_scope_filter_uses_the_explicit_field() -> None: + rows = expand_rows(_TASKS) + assert {row["task_id"] for row in filter_rows(rows, scope="contrib")} == {"IsaacContrib-Walk"} + + +def test_include_and_exclude_globs_compose() -> None: + rows = expand_rows(_TASKS) + assert filter_rows(rows, include="Isaac-*", exclude="Isaac-Intrinsic*") != [] + assert all(r["task_id"] != "Isaac-Intrinsic" for r in filter_rows(rows, exclude="Isaac-Intrinsic*")) + + +def test_physics_filter_matches_untokened_rows_via_default() -> None: + rows = expand_rows(_TASKS) + assert [r["task_id"] for r in filter_rows(rows, physics=["default"])] == ["Isaac-Intrinsic"] + + +def test_max_rows_is_a_deterministic_head() -> None: + rows = expand_rows(_TASKS) + assert filter_rows(rows, max_rows=2) == rows[:2] + + +def test_written_list_is_consumable_by_the_planner(tmp_path: Path) -> None: + # The whole point of the contract: discovery output feeds plan_rows unchanged. + out = tmp_path / "tasks.yaml" + rows = expand_rows(_TASKS) + + write_task_list(out, rows, meta={"row_count": len(rows)}) + + planned = plan_rows(task_rows=load_task_rows(out), seeds=[42]) + assert len(planned) == len(rows) + assert any(row.physics is None for row in planned) + + +def test_broken_imports_are_not_mistaken_for_rejected_presets() -> None: + # An import regression that swallows to False marks every mode illegal, and + # the CLI then blames the operator's filters for the empty row set. + assert ImportError in discover._INFRASTRUCTURE_ERRORS + assert AttributeError in discover._INFRASTRUCTURE_ERRORS + # A rejected preset combination raises these; they must stay swallowed. + assert ValueError not in discover._INFRASTRUCTURE_ERRORS + assert RuntimeError not in discover._INFRASTRUCTURE_ERRORS + + +def test_provenance_header_is_ignored_by_the_planner(tmp_path: Path) -> None: + out = tmp_path / "tasks.yaml" + write_task_list(out, expand_rows(_TASKS), meta={"row_count": 1}) + assert yaml.safe_load(out.read_text())["discovery"]["row_count"] == 1 + assert load_task_rows(out) # header does not leak into the rows diff --git a/tools/odin/tests/test_harvest.py b/tools/odin/tests/test_harvest.py new file mode 100644 index 000000000000..7b54ce73a35f --- /dev/null +++ b/tools/odin/tests/test_harvest.py @@ -0,0 +1,217 @@ +# 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 + +"""Deriving per-task metadata from a completed dispatch's bundles.""" + +import json +from pathlib import Path + +import pytest +import yaml + +from tools.odin.harvest import HarvestError, harvest_dispatch, write_task_metadata + + +def _write_bundle( + dispatch_dir: Path, + row_key: str, + *, + task: str = "Isaac-Ant", + framework: str = "rsl_rl", + physics: str = "physx", + seed: int = 42, + num_envs: int = 4096, + max_iterations: int = 500, + duration_s: float = 300.0, + reward: float | None = 12.5, + status: str = "completed", +) -> Path: + row_dir = dispatch_dir / row_key + row_dir.mkdir(parents=True, exist_ok=True) + payload = { + "schema_version": "1.2", + "run": { + "run_id": row_key, + "framework": framework, + "config": {"physics_backend": physics, "rendering_backend": "none", "presets": []}, + "task": task, + "seed": seed, + "duration_s": duration_s, + "status": status, + "num_envs": num_envs, + "max_iterations": max_iterations, + }, + "runtime": {"total_wall_time_s": duration_s}, + } + if reward is not None: + payload["learning"] = {"ema_alpha": 0.1, "reward": {"final_raw": reward, "final_ema": reward}} + (row_dir / f"benchmark_training_{task}_2026-07-28_12-00-00.json").write_text(json.dumps(payload)) + return row_dir + + +def test_harvest_groups_seeds_of_one_task(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row42", seed=42, duration_s=300.0, reward=10.0) + _write_bundle(tmp_path, "row43", seed=43, duration_s=400.0, reward=20.0) + + entries = harvest_dispatch(tmp_path) + + assert len(entries) == 1 + assert entries[0].seeds == [42, 43] + + +def test_timeout_uses_the_slowest_seed_with_headroom(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row42", seed=42, duration_s=300.0) + _write_bundle(tmp_path, "row43", seed=43, duration_s=400.0) + + entry = harvest_dispatch(tmp_path, timeout_headroom=2.0)[0] + + assert entry.duration_s_max == 400.0 + assert entry.timeout_s == 800 + + +def test_reward_baseline_spans_seeds(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row42", seed=42, reward=10.0) + _write_bundle(tmp_path, "row43", seed=43, reward=20.0) + + entry = harvest_dispatch(tmp_path)[0] + + assert entry.reward_final_ema_mean == 15.0 + assert entry.reward_final_ema_min == 10.0 + + +def test_resolved_sizing_is_recorded(tmp_path: Path) -> None: + # This is the whole point: the seed list omitted sizing, so the only place + # the real values exist is the emitted bundle. + _write_bundle(tmp_path, "row", num_envs=2048, max_iterations=750) + entry = harvest_dispatch(tmp_path)[0] + assert entry.num_envs == 2048 + assert entry.max_iterations == 750 + + +def test_distinct_physics_backends_stay_separate(tmp_path: Path) -> None: + _write_bundle(tmp_path, "physx_row", physics="physx") + _write_bundle(tmp_path, "newton_row", physics="newton_mjwarp") + + entries = harvest_dispatch(tmp_path) + + assert {entry.physics for entry in entries} == {"physx", "newton_mjwarp"} + + +def test_crashed_runs_are_excluded(tmp_path: Path) -> None: + # A crashed run's duration describes the failure, not the task. + _write_bundle(tmp_path, "ok", seed=42, duration_s=300.0, status="completed") + _write_bundle(tmp_path, "bad", seed=43, duration_s=9999.0, status="crashed") + + entry = harvest_dispatch(tmp_path)[0] + + assert entry.seeds == [42] + assert entry.duration_s_max == 300.0 + + +def test_runs_without_a_reward_still_yield_sizing(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row", reward=None) + entry = harvest_dispatch(tmp_path)[0] + assert entry.reward_final_ema_mean is None + assert entry.num_envs == 4096 + + +def test_unreadable_rows_are_skipped(tmp_path: Path) -> None: + _write_bundle(tmp_path, "good") + (tmp_path / "junk").mkdir() + (tmp_path / "junk" / "benchmark_training_x.json").write_text("{broken") + + assert len(harvest_dispatch(tmp_path)) == 1 + + +def test_empty_dispatch_yields_nothing(tmp_path: Path) -> None: + assert harvest_dispatch(tmp_path) == [] + + +def test_non_positive_headroom_is_rejected(tmp_path: Path) -> None: + with pytest.raises(HarvestError, match="timeout_headroom"): + harvest_dispatch(tmp_path, timeout_headroom=0) + + +def test_unreadable_dispatch_state_is_fatal(tmp_path: Path) -> None: + # Swallowing it empties side_b_rows, which averages an A/B dispatch's two + # commits into one baseline -- exactly what excluding side B prevents. + _write_bundle(tmp_path, "row_a") + (tmp_path / "dispatch.json").write_text("{not json") + + with pytest.raises(HarvestError, match="dispatch.json"): + harvest_dispatch(tmp_path) + + +def test_written_metadata_is_a_valid_seed_list_overlay(tmp_path: Path) -> None: + _write_bundle(tmp_path, "row") + out = tmp_path / "out" / "task_metadata.yaml" + + write_task_metadata(out, harvest_dispatch(tmp_path)) + + payload = yaml.safe_load(out.read_text()) + entry = payload["tasks"][0] + # The overlay must carry every field plan_rows() reads. + assert {"task_id", "rl_library", "physics", "num_envs", "max_iterations", "timeout_s"} <= set(entry) + assert entry["observed"]["seeds"] == [42] + + +def test_ab_side_b_rows_are_excluded(tmp_path: Path) -> None: + # Harvesting both commits into one baseline would silently average them. + _write_bundle(tmp_path, "row_a", seed=42, duration_s=100.0, reward=10.0) + _write_bundle(tmp_path, "row_b", seed=42, duration_s=900.0, reward=99.0) + (tmp_path / "dispatch.json").write_text( + json.dumps( + { + "schema_version": "2.0", + "dispatch_id": "d", + "started_at": "x", + "ended_at": None, + "seeds": [42], + "images": {}, + "osmo_workflow_ids": [], + "jobs": [{"row_key": "row_a", "side": "a"}, {"row_key": "row_b", "side": "b"}], + } + ) + ) + + entries = harvest_dispatch(tmp_path) + + assert len(entries) == 1 + assert entries[0].duration_s_max == 100.0 + assert entries[0].reward_final_ema_mean == 10.0 + + +def test_renderer_and_presets_are_not_averaged_together(tmp_path: Path) -> None: + # A depth rollout is not the same workload as an RGB one. + for name, renderer, presets in (("d", "ovrtx", ["depth"]), ("r", "ovrtx", ["rgb"])): + row = tmp_path / name + row.mkdir() + (row / f"benchmark_training_x_2026-07-29_12-00-0{name}.json").write_text( + json.dumps( + { + "schema_version": "1.2", + "run": { + "task": "Isaac-Cam", + "framework": "rsl_rl", + "seed": 42, + "status": "completed", + "duration_s": 10.0, + "num_envs": 8, + "max_iterations": 5, + "config": { + "physics_backend": "newton_mjwarp", + "rendering_backend": renderer, + "presets": presets, + }, + }, + "runtime": {"total_wall_time_s": 10.0}, + } + ) + ) + + entries = harvest_dispatch(tmp_path) + + assert len(entries) == 2 + assert {e.presets for e in entries} == {"depth", "rgb"} diff --git a/tools/odin/tests/test_image.py b/tools/odin/tests/test_image.py new file mode 100644 index 000000000000..b2ddf629f1ae --- /dev/null +++ b/tools/odin/tests/test_image.py @@ -0,0 +1,137 @@ +# 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 + +"""Dockerfile rendering, tagging, and the build/push driver. + +The rendered Dockerfile is pinned whole by ``golden/Dockerfile``; the tests here +cover tagging and the subprocess choreography around the build. +""" + +import subprocess +from pathlib import Path + +import pytest + +from tools.odin import image, plan +from tools.odin.config_file import ImageSpec +from tools.odin.image import BUNDLE_REF, ImageBuildError, build_image, image_tag_for, render_dockerfile, resolve_ref + +_SPEC = ImageSpec(registry="nvcr.io/nvidian", repository="antoiner-isaac-lab", pull_credential=None) +_SHA = "abcdef1234567890abcdef1234567890abcdef12" + + +def _cp(returncode: int = 0, stdout: str = "", stderr: str = "") -> subprocess.CompletedProcess: + return subprocess.CompletedProcess(args=[], returncode=returncode, stdout=stdout, stderr=stderr) + + +class _FakeRun: + """Records commands and replays results keyed by command prefix. + + Keying by prefix rather than call order keeps the tests readable and stops + them breaking when the implementation adds or reorders a subprocess call. + + Args: + overrides: Maps a space-joined command prefix (e.g. ``"docker build"``) + to the result it returns. Anything unmatched succeeds, with + ``git rev-parse`` yielding a SHA. + """ + + def __init__(self, overrides: dict[str, subprocess.CompletedProcess] | None = None) -> None: + self._overrides = dict(overrides or {}) + self.calls: list[list[str]] = [] + + def __call__(self, cmd, **kwargs): + cmd = list(cmd) + self.calls.append(cmd) + joined = " ".join(cmd) + for prefix, result in self._overrides.items(): + if joined.startswith(prefix): + return result + if cmd[:2] == ["git", "rev-parse"]: + return _cp(stdout=f"{_SHA}\n") + return _cp() + + def ran(self, *prefix: str) -> bool: + return any(call[: len(prefix)] == list(prefix) for call in self.calls) + + +def test_dockerfile_matches_the_golden(assert_golden) -> None: + assert_golden("Dockerfile", render_dockerfile(commit_sha=_SHA, cuda_image="nvidia/cuda:12.8.1-runtime-ubuntu24.04")) + + +def test_the_image_is_built_with_the_extras_rows_run_under() -> None: + # The image bakes one virtualenv and every task does `uv run --frozen` + # against it. If the two lists drift, `uv run` re-resolves at dispatch time + # -- or, under --frozen, refuses to start. + assert image.UV_EXTRAS is plan.UV_EXTRAS + + +def test_tag_encodes_the_short_sha() -> None: + assert image_tag_for(_SPEC, _SHA) == "nvcr.io/nvidian/antoiner-isaac-lab:abcdef1" + + +def test_resolve_ref_returns_the_full_sha(tmp_path: Path) -> None: + fake = _FakeRun() + assert resolve_ref("HEAD", repo_root=tmp_path, run=fake) == _SHA + assert fake.calls[0][:2] == ["git", "rev-parse"] + + +def test_resolve_ref_rejects_an_unknown_ref(tmp_path: Path) -> None: + fake = _FakeRun({"git rev-parse": _cp(returncode=128, stderr="unknown revision")}) + with pytest.raises(ImageBuildError, match="nope"): + resolve_ref("nope", repo_root=tmp_path, run=fake) + + +def test_dry_run_writes_the_context_but_invokes_no_docker(tmp_path: Path) -> None: + fake = _FakeRun() + tag = build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", dry_run=True, run=fake) + assert tag.endswith(":abcdef1") + assert (tmp_path / "ctx" / "Dockerfile").exists() + assert not fake.ran("docker") + assert not fake.ran("git", "bundle") + + +def test_build_bundles_one_ref_and_invokes_docker_build(tmp_path: Path) -> None: + fake = _FakeRun() + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", run=fake) + assert fake.ran("git", "update-ref", f"refs/heads/{BUNDLE_REF}") + assert fake.ran("git", "bundle", "create") + assert fake.ran("docker", "build") + # BuildKit's own netns could not resolve DNS during the first real build; + # host networking sidesteps the bridge resolver entirely. + assert "--network=host" in next(c for c in fake.calls if c[:2] == ["docker", "build"]) + + +def test_temp_ref_is_deleted_after_bundling(tmp_path: Path) -> None: + fake = _FakeRun() + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", run=fake) + assert fake.ran("git", "update-ref", "-d", f"refs/heads/{BUNDLE_REF}") + + +def test_temp_ref_is_deleted_even_when_bundling_fails(tmp_path: Path) -> None: + fake = _FakeRun({"git bundle create": _cp(returncode=1, stderr="bundle boom")}) + with pytest.raises(ImageBuildError, match="bundle boom"): + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", run=fake) + assert fake.ran("git", "update-ref", "-d", f"refs/heads/{BUNDLE_REF}") + + +def test_push_is_skipped_unless_requested(tmp_path: Path) -> None: + fake = _FakeRun() + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", run=fake) + assert not fake.ran("docker", "push") + + +def test_push_runs_when_requested(tmp_path: Path) -> None: + fake = _FakeRun() + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", push=True, run=fake) + assert fake.ran("docker", "push") + + +def test_failed_docker_build_raises(tmp_path: Path) -> None: + # Docker output is streamed, not captured, so the error names the step and + # exit code; the diagnostics are already on stdout. + fake = _FakeRun({"docker build": _cp(returncode=100)}) + with pytest.raises(ImageBuildError, match="docker build failed with exit code 100"): + build_image(spec=_SPEC, ref="HEAD", repo_root=tmp_path, context_dir=tmp_path / "ctx", run=fake) diff --git a/tools/odin/tests/test_layout.py b/tools/odin/tests/test_layout.py new file mode 100644 index 000000000000..990239f04da9 --- /dev/null +++ b/tools/odin/tests/test_layout.py @@ -0,0 +1,25 @@ +# 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 + +"""Guards the OdinV2 package layout against regressions to the old tree.""" + +import importlib +from pathlib import Path + +_ODIN_ROOT = Path(__file__).resolve().parents[1] + +# Sub-packages that belonged to the fleet-and-OSMO harness OdinV2 replaced. +# Their reappearance means the fleet stack was resurrected by mistake; it lives +# on the antoiner/feat/odin branch and is deliberately absent here. +_REMOVED_SUBPACKAGES = ("asgard", "valhalla", "hugin", "munin", "common", "bifrost", "scripts") + + +def test_removed_subpackages_are_absent() -> None: + present = [name for name in _REMOVED_SUBPACKAGES if (_ODIN_ROOT / name).exists()] + assert not present, f"the fleet stack reappeared under tools/odin/: {present}" + + +def test_package_imports() -> None: + assert importlib.import_module("tools.odin") is not None diff --git a/tools/odin/tests/test_plan.py b/tools/odin/tests/test_plan.py new file mode 100644 index 000000000000..8e4ce53fdb34 --- /dev/null +++ b/tools/odin/tests/test_plan.py @@ -0,0 +1,192 @@ +# 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 + +"""Row expansion, key derivation, and uv extras selection.""" + +from pathlib import Path + +import pytest + +from tools.odin.plan import UV_EXTRAS, PlanError, apply_metadata, build_row_key, load_task_rows, plan_rows + +# A seed list carries only (task_id, rl_library, physics). Sizing is deliberately +# absent: upstream defaults --num_envs and --max_iterations to None and falls +# back to the task's shipped agent config, and the resolved values are harvested +# back out of the emitted bundles afterwards. +_ROWS = [ + {"task_id": "Isaac-Ant", "rl_library": "rsl_rl", "physics": "physx"}, + {"task_id": "Isaac-Cartpole-Direct", "rl_library": "skrl", "physics": "newton_mjwarp"}, +] + + +def test_row_key_format_is_stable() -> None: + assert build_row_key("rsl_rl", "physx", "Isaac-Ant", 42) == "rsl_rl_physx_Isaac-Ant_seed42" + + +def test_row_key_includes_the_renderer_when_set() -> None: + # A camera task expands across renderers on the same physics; without this + # segment those rows collide on one key. + assert build_row_key("rsl_rl", "physx", "Isaac-Cam", 42, renderer="ovrtx") == "rsl_rl_physx_ovrtx_Isaac-Cam_seed42" + + +def test_renderer_variants_do_not_collide() -> None: + entries = [ + {"task_id": "Isaac-Cam", "rl_library": "rsl_rl", "physics": "newton_mjwarp", "renderer": r} + for r in ("ovrtx", "newton_renderer", "isaacsim_rtx") + ] + keys = [row.row_key for row in plan_rows(task_rows=entries, seeds=[42])] + assert len(keys) == len(set(keys)) == 3 + + +def test_every_row_gets_the_one_extras_set() -> None: + # One virtualenv covers Kit PhysX, OvPhysX, Newton and OVRTX, so a row's + # physics preset never has to be resolved to a runtime before dispatch. + assert plan_rows(task_rows=_ROWS, seeds=[42])[0].uv_extras is UV_EXTRAS + + +def test_extras_exclude_what_cannot_co_resolve_with_isaacsim() -> None: + # teleop, viser, mimic, test and the `all` aggregate conflict with isaacsim + # in [tool.uv].conflicts. + for forbidden in ("teleop", "viser", "mimic", "test", "all"): + assert forbidden not in UV_EXTRAS + + +def test_rows_expand_across_seeds() -> None: + rows = plan_rows(task_rows=_ROWS, seeds=[42, 43]) + assert len(rows) == 4 + assert {r.seed for r in rows} == {42, 43} + + +def test_sizing_defaults_to_none_when_absent() -> None: + row = plan_rows(task_rows=_ROWS, seeds=[42])[0] + assert row.num_envs is None + assert row.max_iterations is None + assert row.timeout_s is None + + +def test_sizing_is_carried_when_present() -> None: + entry = dict(_ROWS[0], num_envs=4096, max_iterations=500, timeout_s=3600) + row = plan_rows(task_rows=[entry], seeds=[42])[0] + assert (row.num_envs, row.max_iterations, row.timeout_s) == (4096, 500, 3600) + + +def test_include_glob_filters_by_task_id() -> None: + rows = plan_rows(task_rows=_ROWS, seeds=[42], include="Isaac-Ant*") + assert [r.task_id for r in rows] == ["Isaac-Ant"] + + +def test_osmo_task_name_is_dns_safe() -> None: + row = plan_rows(task_rows=_ROWS, seeds=[42])[0] + assert row.osmo_task_name == row.osmo_task_name.lower() + assert "_" not in row.osmo_task_name + assert len(row.osmo_task_name) <= 63 + + +def test_planning_is_deterministic() -> None: + first = [r.row_key for r in plan_rows(task_rows=_ROWS, seeds=[43, 42])] + second = [r.row_key for r in plan_rows(task_rows=_ROWS, seeds=[43, 42])] + assert first == second + + +def test_duplicate_row_keys_are_rejected() -> None: + with pytest.raises(PlanError, match="duplicate"): + plan_rows(task_rows=_ROWS + [_ROWS[0]], seeds=[42]) + + +def test_missing_field_names_the_task() -> None: + with pytest.raises(PlanError, match="Isaac-Ant"): + plan_rows(task_rows=[{"task_id": "Isaac-Ant"}], seeds=[42]) + + +def test_unknown_rl_library_is_rejected() -> None: + with pytest.raises(PlanError, match="tensorforce"): + plan_rows(task_rows=[dict(_ROWS[0], rl_library="tensorforce")], seeds=[42]) + + +def test_load_task_rows_requires_a_tasks_list(tmp_path: Path) -> None: + path = tmp_path / "tasks.yaml" + path.write_text("not_tasks: []\n") + with pytest.raises(PlanError, match="tasks"): + load_task_rows(path) + + +def test_metadata_overlay_fills_missing_sizing() -> None: + metadata = [ + { + "task_id": "Isaac-Ant", + "rl_library": "rsl_rl", + "physics": "physx", + "num_envs": 4096, + "max_iterations": 500, + "timeout_s": 900, + } + ] + merged = apply_metadata(_ROWS, metadata) + row = plan_rows(task_rows=merged, seeds=[42])[0] + assert (row.num_envs, row.max_iterations, row.timeout_s) == (4096, 500, 900) + + +def test_metadata_overlay_never_overrides_an_explicit_value() -> None: + # A hand-set override must survive a later harvest. + seed = [dict(_ROWS[0], num_envs=64)] + metadata = [{"task_id": "Isaac-Ant", "rl_library": "rsl_rl", "physics": "physx", "num_envs": 4096}] + assert apply_metadata(seed, metadata)[0]["num_envs"] == 64 + + +def test_metadata_for_unlisted_combinations_is_ignored() -> None: + metadata = [{"task_id": "Isaac-Nonexistent", "rl_library": "rsl_rl", "physics": "physx", "num_envs": 1}] + assert apply_metadata(_ROWS, metadata) == _ROWS + + +def test_metadata_matches_on_physics_too() -> None: + # Same task and library on a different backend must not inherit sizing. + metadata = [{"task_id": "Isaac-Ant", "rl_library": "rsl_rl", "physics": "newton_mjwarp", "num_envs": 4096}] + assert apply_metadata(_ROWS, metadata)[0].get("num_envs") is None + + +def test_metadata_matches_on_renderer_and_presets_too() -> None: + # harvest groups on five fields; matching on three would let a camera row + # inherit a headless row's budget, which is the wrong workload entirely. + seed = [dict(_ROWS[0], renderer="ovrtx", presets="depth")] + headless = [{"task_id": "Isaac-Ant", "rl_library": "rsl_rl", "physics": "physx", "timeout_s": 60}] + assert apply_metadata(seed, headless)[0].get("timeout_s") is None + + camera = [dict(headless[0], renderer="ovrtx", presets="depth")] + assert apply_metadata(seed, camera)[0]["timeout_s"] == 60 + + +def test_preset_variants_have_a_fixed_order() -> None: + # Without renderer and presets in the sort key these rows tie, so their + # layout follows input order and reruns disagree. + entries = [ + {"task_id": "Isaac-Cam", "rl_library": "rsl_rl", "physics": "newton_mjwarp", "renderer": "ovrtx", "presets": p} + for p in ("rgb", "depth") + ] + forward = [row.row_key for row in plan_rows(task_rows=entries, seeds=[42])] + reversed_ = [row.row_key for row in plan_rows(task_rows=list(reversed(entries)), seeds=[42])] + assert forward == reversed_ + + +def test_task_without_a_physics_preset_is_planned() -> None: + # Many tasks declare no physics preset and hard-fail on any physics= token, + # so physics must be optional. + row = plan_rows(task_rows=[{"task_id": "Isaac-X", "rl_library": "rsl_rl"}], seeds=[42])[0] + assert row.physics is None + assert row.row_key == "rsl_rl_default_Isaac-X_seed42" + + +@pytest.mark.parametrize( + ("value", "expected"), + [ + (None, ()), + ("depth", ("depth",)), + # Discovery emits one token, but a hand-written list may compose several. + ("depth,simple_shading_full_mdl", ("depth", "simple_shading_full_mdl")), + (["depth", "albedo"], ("depth", "albedo")), + ], +) +def test_presets_accept_a_token_a_string_or_a_list(value, expected: tuple[str, ...]) -> None: + row = plan_rows(task_rows=[dict(_ROWS[0], presets=value)], seeds=[42])[0] + assert row.presets == expected diff --git a/tools/odin/tests/test_poller.py b/tools/odin/tests/test_poller.py new file mode 100644 index 000000000000..a7df7d57b8c2 --- /dev/null +++ b/tools/odin/tests/test_poller.py @@ -0,0 +1,265 @@ +# 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 + +"""OSMO state reconciliation and failure classification.""" + +from pathlib import Path + +import pytest + +from tools.odin.client import TaskSnapshot, WorkflowSnapshot +from tools.odin.poller import PollError, classify_terminal_state, is_terminal, poll_until_terminal, sync_once +from tools.odin.state import SCHEMA_VERSION, DispatchState, FailureInfo, JobEntry + + +class _FakeClient: + """Replays a scripted sequence of snapshots, holding the last one.""" + + def __init__(self, *snapshots: WorkflowSnapshot) -> None: + self._snapshots = list(snapshots) + + def status(self, workflow_id: str) -> WorkflowSnapshot: + return self._snapshots.pop(0) if len(self._snapshots) > 1 else self._snapshots[0] + + +class _ExplodingClient: + def status(self, workflow_id: str) -> WorkflowSnapshot: + raise RuntimeError("osmo backend hiccup") + + +def _job() -> JobEntry: + return JobEntry( + row_key="rsl_rl_physx_Isaac-Ant_seed42", + task_id="Isaac-Ant", + rl_library="rsl_rl", + physics="physx", + renderer=None, + presets=(), + seed=42, + num_envs=None, + max_iterations=None, + timeout_s=None, + osmo_task_name="t1", + image_ref="img@sha256:abc", + ) + + +def _state(job: JobEntry) -> DispatchState: + state = DispatchState( + schema_version=SCHEMA_VERSION, + dispatch_id="20260728-120000", + started_at="2026-07-28T12:00:00Z", + ended_at=None, + seeds=[42], + images={"a": "img@sha256:abc"}, + jobs=[job], + ) + state.osmo_workflow_ids = ["wf-1"] + return state + + +def _snapshot(status: str, exit_code: int | None = None) -> WorkflowSnapshot: + return WorkflowSnapshot( + workflow_id="wf-1", + status="RUNNING", + tasks=[TaskSnapshot(name="t1", status=status, exit_code=exit_code)], + ) + + +@pytest.mark.parametrize( + ("osmo_state", "kind"), + [ + ("FAILED", "benchmark_crash"), + ("FAILED_EXEC_TIMEOUT", "timeout"), + ("FAILED_EVICTED", "infrastructure"), + ], +) +def test_terminal_states_map_to_failure_kinds(osmo_state: str, kind: str) -> None: + assert classify_terminal_state(osmo_state) == kind + + +def test_completed_has_no_failure_kind() -> None: + assert classify_terminal_state("COMPLETED") is None + + +def test_unknown_failed_state_defaults_to_infrastructure() -> None: + # OSMO version drift must not wedge the loop or be misread as a crash. + assert classify_terminal_state("FAILED_SOMETHING_NEW") == "infrastructure" + assert is_terminal("FAILED_SOMETHING_NEW") + + +def test_running_state_is_not_terminal() -> None: + assert not is_terminal("RUNNING") + + +def test_completed_task_fires_the_hook_once(tmp_path: Path) -> None: + state = _state(_job()) + fired: list[str] = [] + client = _FakeClient(_snapshot("COMPLETED")) + seen: set[str] = set() + + for _ in range(2): + sync_once( + client=client, + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: fired.append(job.row_key), + completed_seen=seen, + ) + + assert fired == ["rsl_rl_physx_Isaac-Ant_seed42"] + assert state.jobs[0].status == "completed" + + +def test_a_row_reclassified_by_the_hook_is_not_completed_again(tmp_path: Path) -> None: + # The bundle validator reclassifies a COMPLETED row with no readable bundle. + # OSMO keeps reporting COMPLETED, so a second tick would attempt an illegal + # failed -> completed transition and abandon every still-running row. + state = _state(_job()) + client = _FakeClient(_snapshot("COMPLETED")) + seen: set[str] = set() + + def reclassify(job: JobEntry) -> None: + job.transition_to("pending") + job.transition_to("failed", failure=FailureInfo(kind="malformed_bundle", message="nothing parseable")) + + for _ in range(3): + sync_once( + client=client, + state=state, + dispatch_dir=tmp_path, + on_task_completed=reclassify, + completed_seen=seen, + ) + + assert state.jobs[0].status == "failed" + assert state.jobs[0].failure is not None + assert state.jobs[0].failure.kind == "malformed_bundle" + + +def test_failed_task_records_the_osmo_state_in_details(tmp_path: Path) -> None: + state = _state(_job()) + sync_once( + client=_FakeClient(_snapshot("FAILED_EXEC_TIMEOUT", exit_code=137)), + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + ) + failure = state.jobs[0].failure + assert failure is not None + assert failure.kind == "timeout" + assert failure.details["osmo_state"] == "FAILED_EXEC_TIMEOUT" + assert failure.details["exit_code"] == 137 + + +def test_running_task_is_assigned_to_its_workflow(tmp_path: Path) -> None: + state = _state(_job()) + sync_once( + client=_FakeClient(_snapshot("RUNNING")), + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + ) + assert state.jobs[0].status == "running" + assert state.jobs[0].assigned_to == "osmo:wf-1" + + +def test_sync_writes_dispatch_json(tmp_path: Path) -> None: + sync_once( + client=_FakeClient(_snapshot("RUNNING")), + state=_state(_job()), + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + ) + assert (tmp_path / "dispatch.json").exists() + + +def test_unknown_task_names_are_ignored(tmp_path: Path) -> None: + snapshot = WorkflowSnapshot( + workflow_id="wf-1", status="RUNNING", tasks=[TaskSnapshot(name="stranger", status="COMPLETED", exit_code=0)] + ) + state = _state(_job()) + sync_once(client=_FakeClient(snapshot), state=state, dispatch_dir=tmp_path, on_task_completed=lambda job: None) + assert state.jobs[0].status == "pending" + + +def test_transient_client_error_is_tolerated(tmp_path: Path) -> None: + # A 5xx, or a query racing a finishing workflow, must not abort the dispatch. + state = _state(_job()) + sync_once(client=_ExplodingClient(), state=state, dispatch_dir=tmp_path, on_task_completed=lambda job: None) + assert state.jobs[0].status == "pending" + + +def test_missing_workflow_ids_is_an_error(tmp_path: Path) -> None: + state = _state(_job()) + state.osmo_workflow_ids = [] + with pytest.raises(ValueError, match="osmo_workflow_ids"): + sync_once( + client=_FakeClient(_snapshot("RUNNING")), + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + ) + + +def test_poll_until_terminal_returns_when_all_jobs_finish(tmp_path: Path) -> None: + state = _state(_job()) + poll_until_terminal( + client=_FakeClient(_snapshot("RUNNING"), _snapshot("COMPLETED")), + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + poll_interval_s=0, + ) + assert state.jobs[0].status == "completed" + + +def test_poll_gives_up_after_a_run_of_total_query_failures(tmp_path: Path) -> None: + # Bad credentials fail every query forever. Without a ceiling the loop spins + # silently instead of telling the operator what to fix. + with pytest.raises(PollError, match="consecutive polls"): + poll_until_terminal( + client=_ExplodingClient(), + state=_state(_job()), + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + poll_interval_s=0, + max_consecutive_failures=3, + ) + + +def test_a_recovered_query_resets_the_failure_budget(tmp_path: Path) -> None: + class _FlakyClient: + def __init__(self) -> None: + self.calls = 0 + + def status(self, workflow_id: str) -> WorkflowSnapshot: + self.calls += 1 + if self.calls < 3: + raise RuntimeError("osmo backend hiccup") + return _snapshot("COMPLETED") + + state = _state(_job()) + poll_until_terminal( + client=_FlakyClient(), + state=state, + dispatch_dir=tmp_path, + on_task_completed=lambda job: None, + poll_interval_s=0, + max_consecutive_failures=3, + ) + assert state.jobs[0].status == "completed" + + +def test_poll_until_terminal_is_a_noop_when_already_terminal(tmp_path: Path) -> None: + job = _job() + job.transition_to("completed") + poll_until_terminal( + client=_ExplodingClient(), + state=_state(job), + dispatch_dir=tmp_path, + on_task_completed=lambda j: None, + poll_interval_s=0, + ) diff --git a/tools/odin/tests/test_results.py b/tools/odin/tests/test_results.py new file mode 100644 index 000000000000..aa13bd08e724 --- /dev/null +++ b/tools/odin/tests/test_results.py @@ -0,0 +1,127 @@ +# 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 + +"""The publish/fetch seam and bundle validation.""" + +import json +from pathlib import Path + +from tools.odin.results import dispatch_output_uri, fetch_results, read_bundle, results_uri_for, validate_bundle + + +def _bundle(directory: Path, *, schema_version: str = "1.2", task: str = "Isaac-Ant") -> Path: + directory.mkdir(parents=True, exist_ok=True) + path = directory / f"benchmark_training_{task}_2026-07-28_12-00-00.json" + path.write_text(json.dumps({"schema_version": schema_version, "run": {"task": task}})) + return path + + +def test_uri_is_namespaced_by_dispatch_and_row() -> None: + uri = results_uri_for("s3://isaac-odin/results", "20260728-120000", "rsl_rl_physx_Ant_seed42") + assert uri == "s3://isaac-odin/results/20260728-120000/rsl_rl_physx_Ant_seed42" + + +def test_trailing_slash_in_base_uri_does_not_double_up() -> None: + uri = results_uri_for("s3://isaac-odin/results/", "20260728-120000", "row") + assert "//20260728" not in uri.removeprefix("s3://") + + +def test_dispatch_output_uri_is_the_shared_prefix() -> None: + uri = dispatch_output_uri("swift://h/AUTH_x/results", "20260728-120000") + assert uri == "swift://h/AUTH_x/results/20260728-120000/" + + +def test_dispatch_output_uri_prefixes_every_row_uri() -> None: + # OSMO uploads {{output}} into the dispatch prefix, and each task writes + # into {{output}}//, so the fetch URI must sit under it. + base, dispatch = "swift://h/AUTH_x/results", "20260728-120000" + assert results_uri_for(base, dispatch, "row").startswith(dispatch_output_uri(base, dispatch)) + + +def test_valid_bundle_passes(tmp_path: Path) -> None: + _bundle(tmp_path / "row") + assert validate_bundle(tmp_path / "row") is True + + +def test_read_bundle_returns_the_parsed_payload(tmp_path: Path) -> None: + _bundle(tmp_path / "row") + bundle = read_bundle(tmp_path / "row") + assert bundle is not None + assert bundle["run"]["task"] == "Isaac-Ant" + + +def test_missing_directory_fails(tmp_path: Path) -> None: + assert validate_bundle(tmp_path / "absent") is False + + +def test_directory_without_a_bundle_fails(tmp_path: Path) -> None: + (tmp_path / "row").mkdir() + (tmp_path / "row" / "training.stdout.log").write_text("noise") + assert validate_bundle(tmp_path / "row") is False + + +def test_malformed_json_fails(tmp_path: Path) -> None: + (tmp_path / "row").mkdir() + (tmp_path / "row" / "benchmark_training_x_2026-07-28_12-00-00.json").write_text("{not json") + assert validate_bundle(tmp_path / "row") is False + + +def test_bundle_without_schema_version_fails(tmp_path: Path) -> None: + (tmp_path / "row").mkdir() + (tmp_path / "row" / "benchmark_training_x_2026-07-28_12-00-00.json").write_text('{"run": {}}') + assert validate_bundle(tmp_path / "row") is False + + +def test_one_good_bundle_among_broken_ones_passes(tmp_path: Path) -> None: + row = tmp_path / "row" + row.mkdir() + (row / "benchmark_training_a_2026-07-28_11-00-00.json").write_text("{broken") + _bundle(row) + assert validate_bundle(row) is True + + +def test_fetch_downloads_into_the_row_directory(tmp_path: Path) -> None: + calls: list[tuple[str, Path]] = [] + + class _Client: + def data_download(self, remote_uri: str, dest_dir: Path) -> None: + calls.append((remote_uri, dest_dir)) + _bundle(dest_dir) + + dest = fetch_results( + client=_Client(), + base_uri="s3://b/results", + dispatch_id="20260728-120000", + row_key="row", + dest_dir=tmp_path, + ) + + assert dest == tmp_path / "row" + assert calls[0][0] == "s3://b/results/20260728-120000/row" + assert validate_bundle(dest) is True + + +def test_fetch_is_idempotent_when_a_valid_bundle_exists(tmp_path: Path) -> None: + _bundle(tmp_path / "row") + + class _Client: + def data_download(self, remote_uri: str, dest_dir: Path) -> None: + raise AssertionError("should not re-download a valid bundle") + + assert fetch_results(client=_Client(), base_uri="s3://b", dispatch_id="d", row_key="row", dest_dir=tmp_path) == ( + tmp_path / "row" + ) + + +def test_fetch_returns_the_row_dir_even_when_the_bundle_is_bad(tmp_path: Path) -> None: + # The caller reclassifies this as malformed_bundle; fetch itself must not + # raise, or one bad row would abort the whole dispatch. + class _Client: + def data_download(self, remote_uri: str, dest_dir: Path) -> None: + dest_dir.mkdir(parents=True, exist_ok=True) + + dest = fetch_results(client=_Client(), base_uri="s3://b", dispatch_id="d", row_key="row", dest_dir=tmp_path) + assert dest == tmp_path / "row" + assert validate_bundle(dest) is False diff --git a/tools/odin/tests/test_state.py b/tools/odin/tests/test_state.py new file mode 100644 index 000000000000..eacb94f39412 --- /dev/null +++ b/tools/odin/tests/test_state.py @@ -0,0 +1,192 @@ +# 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 + +"""Round-tripping, invariants, and transitions for ``dispatch.json``.""" + +from pathlib import Path + +import pytest + +from tools.odin.state import ( + SCHEMA_VERSION, + DispatchState, + FailureInfo, + JobEntry, + read_dispatch_state, + reset_in_flight_to_pending, + write_dispatch_state, +) + + +def _job(row_key: str = "rsl_rl_physx_Isaac-Ant_seed42") -> JobEntry: + return JobEntry( + row_key=row_key, + task_id="Isaac-Ant", + rl_library="rsl_rl", + physics="physx", + renderer=None, + presets=(), + seed=42, + num_envs=4096, + max_iterations=500, + timeout_s=3600, + osmo_task_name="rsl-rl-physx-isaac-ant-seed42", + image_ref="nvcr.io/nvidian/x@sha256:abc", + side="a", + ) + + +def _state(*jobs: JobEntry) -> DispatchState: + return DispatchState( + schema_version=SCHEMA_VERSION, + dispatch_id="20260728-120000", + started_at="2026-07-28T12:00:00Z", + ended_at=None, + seeds=[42], + images={"a": "nvcr.io/nvidian/x@sha256:abc"}, + jobs=list(jobs), + ) + + +def test_round_trip_preserves_every_field(tmp_path: Path) -> None: + state = _state(_job()) + state.osmo_workflow_ids = ["wf-1", "wf-2"] + write_dispatch_state(tmp_path, state) + + loaded = read_dispatch_state(tmp_path) + + assert loaded is not None + assert loaded.dispatch_id == "20260728-120000" + assert loaded.images == {"a": "nvcr.io/nvidian/x@sha256:abc"} + assert loaded.osmo_workflow_ids == ["wf-1", "wf-2"] + assert loaded.jobs[0].row_key == "rsl_rl_physx_Isaac-Ant_seed42" + assert loaded.jobs[0].renderer is None + assert loaded.jobs[0].side == "a" + assert loaded.jobs[0].num_envs == 4096 + + +def test_optional_sizing_survives_the_round_trip(tmp_path: Path) -> None: + # Run #1 omits sizing so each task runs at its shipped default. + job = _job() + job.num_envs = None + job.max_iterations = None + write_dispatch_state(tmp_path, _state(job)) + + loaded = read_dispatch_state(tmp_path) + + assert loaded is not None + assert loaded.jobs[0].num_envs is None + assert loaded.jobs[0].max_iterations is None + + +def test_absent_physics_round_trips_as_none(tmp_path: Path) -> None: + # Tasks that declare no physics preset carry physics=None. Reloading it as + # the string "None" survives every is-not-None guard and renders a bogus + # `physics=None` selector into a retry's workflow. + job = _job() + job.physics = None + write_dispatch_state(tmp_path, _state(job)) + + loaded = read_dispatch_state(tmp_path) + + assert loaded is not None + assert loaded.jobs[0].physics is None + + +def test_read_returns_none_when_absent(tmp_path: Path) -> None: + assert read_dispatch_state(tmp_path) is None + + +def test_a_different_schema_version_is_rejected(tmp_path: Path) -> None: + (tmp_path / "dispatch.json").write_text('{"schema_version": "1.6", "dispatch_id": "x"}') + with pytest.raises(ValueError, match="schema_version"): + read_dispatch_state(tmp_path) + + +def test_write_is_atomic_leaving_no_temp_files(tmp_path: Path) -> None: + write_dispatch_state(tmp_path, _state(_job())) + assert [p.name for p in tmp_path.iterdir()] == ["dispatch.json"] + + +def test_transition_to_running_sets_started_at() -> None: + job = _job() + job.transition_to("running", assigned_to="osmo:wf-1") + assert job.status == "running" + assert job.started_at is not None + assert job.assigned_to == "osmo:wf-1" + + +def test_transition_to_running_requires_an_assignee() -> None: + with pytest.raises(ValueError, match="assigned_to"): + _job().transition_to("running") + + +def test_transition_to_failed_requires_failure_info() -> None: + job = _job() + job.transition_to("running", assigned_to="osmo:wf-1") + with pytest.raises(ValueError, match="failure"): + job.transition_to("failed") + + +def test_transition_to_failed_records_kind_and_ended_at() -> None: + job = _job() + job.transition_to("running", assigned_to="osmo:wf-1") + job.transition_to("failed", failure=FailureInfo(kind="timeout", message="exceeded")) + assert job.status == "failed" + assert job.ended_at is not None + assert job.failure is not None + assert job.failure.kind == "timeout" + + +def test_pending_to_terminal_is_allowed_for_fast_osmo_tasks() -> None: + # OSMO can report a task finished without the poller ever seeing it RUNNING. + job = _job() + job.transition_to("completed") + assert job.status == "completed" + assert job.ended_at is not None + + +def test_same_state_transition_is_a_noop() -> None: + job = _job() + job.transition_to("running", assigned_to="osmo:wf-1") + first_started = job.started_at + job.transition_to("running", assigned_to="osmo:wf-1") + assert job.started_at == first_started + + +def test_illegal_transition_is_rejected() -> None: + job = _job() + job.transition_to("completed") + with pytest.raises(ValueError, match="transition"): + job.transition_to("running", assigned_to="osmo:wf-1") + + +def test_failure_details_round_trip(tmp_path: Path) -> None: + job = _job() + job.transition_to( + "failed", + failure=FailureInfo(kind="infrastructure", message="evicted", details={"osmo_state": "FAILED_EVICTED"}), + ) + write_dispatch_state(tmp_path, _state(job)) + + loaded = read_dispatch_state(tmp_path) + + assert loaded is not None + assert loaded.jobs[0].failure is not None + assert loaded.jobs[0].failure.details["osmo_state"] == "FAILED_EVICTED" + + +def test_reset_in_flight_returns_running_jobs_to_pending() -> None: + running, done = _job("a"), _job("b") + running.transition_to("running", assigned_to="osmo:wf-1") + done.transition_to("completed") + state = _state(running, done) + + reset_in_flight_to_pending(state) + + assert state.jobs[0].status == "pending" + assert state.jobs[0].started_at is None + assert state.jobs[0].assigned_to is None + assert state.jobs[1].status == "completed" diff --git a/tools/odin/tests/test_workflow.py b/tools/odin/tests/test_workflow.py new file mode 100644 index 000000000000..ec78944534df --- /dev/null +++ b/tools/odin/tests/test_workflow.py @@ -0,0 +1,173 @@ +# 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 + +"""Rendering of the OSMO workflow YAML. + +The rendered artefact is pinned whole by the goldens under ``golden/``. The +tests below cover the invariants that a golden diff would show but not explain. +""" + +import dataclasses + +import yaml + +from tools.odin.config_file import ImageSpec, OdinConfig, ResourcesSpec, RetrySpec +from tools.odin.plan import UV_EXTRAS, PlannedRow +from tools.odin.workflow import osmo_safe_task_name, render_workflow_yaml + +_CFG = OdinConfig( + osmo_profile="default", + pool="isaac-dev-l40s-04", + priority="NORMAL", + image=ImageSpec(registry="nvcr.io/nvidian", repository="antoiner-isaac-lab", pull_credential="ngc_read_only"), + resources=ResourcesSpec(cpu=8, gpu=1, memory="64Gi", storage="64Gi", platform="ovx-l40s"), + exec_timeout_s=86400, + queue_timeout_s=172800, + chunk_size=25, + results_uri="s3://isaac-odin/results", + retry=RetrySpec(reschedule_codes="3001-3006", restart_codes=""), +) + +_ROW = PlannedRow( + row_key="rsl_rl_physx_Isaac-Ant_seed42", + task_id="Isaac-Ant", + rl_library="rsl_rl", + physics="physx", + renderer=None, + presets=(), + play=False, + keep_checkpoint=False, + video_length=200, + seed=42, + num_envs=None, + max_iterations=None, + timeout_s=None, + uv_extras=UV_EXTRAS, + osmo_task_name="rsl-rl-physx-isaac-ant-seed42", +) + +_IMAGE = "nvcr.io/nvidian/antoiner-isaac-lab@sha256:abc" + + +_OUTPUT_URI = "swift://h/AUTH_team-isaac/results/20260728-120000/" + + +def _render(rows=(_ROW,), chunk_index=0, output_uri=_OUTPUT_URI): + return render_workflow_yaml( + dispatch_id="20260728-120000", + chunk_index=chunk_index, + rows=list(rows), + cfg=_CFG, + image_ref=_IMAGE, + output_uri=output_uri, + ) + + +def _task(rendered: str, index: int = 0) -> dict: + return yaml.safe_load(rendered)["workflow"]["groups"][index]["tasks"][0] + + +def _script(rendered: str, index: int = 0) -> str: + return _task(rendered, index)["files"][0]["contents"] + + +def test_default_row_renders_the_golden_workflow(assert_golden) -> None: + assert_golden("workflow_default.yaml", _render()) + + +def test_sized_camera_row_renders_the_golden_workflow(assert_golden) -> None: + row = dataclasses.replace( + _ROW, + num_envs=4096, + max_iterations=500, + timeout_s=900, + renderer="ovrtx", + presets=("depth", "simple_shading_full_mdl"), + ) + assert_golden("workflow_sized_renderer_presets.yaml", _render(rows=(row,))) + + +def test_play_and_keep_checkpoint_row_renders_the_golden_workflow(assert_golden) -> None: + row = dataclasses.replace(_ROW, play=True, keep_checkpoint=True, video_length=120) + assert_golden("workflow_play_keep_checkpoint.yaml", _render(rows=(row,))) + + +def test_rendered_yaml_parses() -> None: + assert yaml.safe_load(_render())["workflow"]["name"] + + +def test_each_task_gets_its_own_group() -> None: + # OSMO's exec_timeout clock starts at each group's RUNNING transition. With + # tasks at the workflow root they share one implicit group, so a + # late-scheduled task is killed for other tasks' queue time. + second = dataclasses.replace(_ROW, row_key="other", osmo_task_name="other") + groups = yaml.safe_load(_render(rows=(_ROW, second)))["workflow"]["groups"] + assert len(groups) == 2 + assert all(len(group["tasks"]) == 1 for group in groups) + + +def test_pull_credential_maps_the_name_to_the_registry_host() -> None: + # OSMO rejects a bare `pull_credential:` field, and its `credentials:` block + # is keyed by credential name with the registry HOST as the value -- not the + # namespaced registry path. + assert _task(_render())["credentials"] == {"ngc_read_only": "nvcr.io"} + + +def test_entry_script_preserves_the_benchmark_exit_code() -> None: + # Results must publish even on failure, so the script captures rc rather + # than dying under `set -e`, then exits with it. + script = _script(_render()) + assert "rc=$?" in script + assert "exit $rc" in script + + +def test_artifact_listing_cannot_fail_the_task() -> None: + # `head` closes the pipe early, so `find` dies of SIGPIPE and the pipeline + # exits 141. Under `set -o pipefail` that ends the script before `exit $rc`, + # turning a successful run with many output files into a failed row. + assert 'find "$OUT" -type f | head -40 || true' in _script(_render()) + + +def test_workflow_name_is_unique_per_chunk() -> None: + first = yaml.safe_load(_render(chunk_index=0))["workflow"]["name"] + second = yaml.safe_load(_render(chunk_index=1))["workflow"]["name"] + assert first != second + + +def test_long_row_key_is_truncated_with_a_stable_hash() -> None: + long_key = "rsl_rl_newton_mjwarp_" + "Isaac-Very-Long-Task-Name-" * 4 + "seed42" + name = osmo_safe_task_name(long_key) + assert len(name) <= 63 + assert name == osmo_safe_task_name(long_key) + + +def test_chained_play_is_skipped_when_training_fails() -> None: + # Nothing to roll out, and a play error would mask the real verdict. + script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) + assert 'if [ "$rc" -ne 0 ]; then' in script + assert 'PLAY_STATUS="skipped_training_failed"' in script + + +def test_training_exit_code_remains_the_verdict() -> None: + # A play failure must not turn a good training run red. + script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) + assert script.rstrip().endswith("exit $rc") + + +def test_chained_script_carries_the_same_presets_to_both_steps() -> None: + row = dataclasses.replace(_ROW, play=True, presets=("depth",), renderer="ovrtx") + script = _script(_render(rows=(row,))) + assert script.count("presets=depth") == 2 + assert script.count("renderer=ovrtx") == 2 + + +def test_entry_script_never_calls_system_python() -> None: + # The base image is nvidia/cuda plus uv, which manages its own Python, so + # there is no system interpreter on PATH. Invoking one silently yielded an + # empty checkpoint and a misleading "no checkpoint" diagnosis. + script = _script(_render(rows=(dataclasses.replace(_ROW, play=True),))) + code = "\n".join(line for line in script.splitlines() if not line.lstrip().startswith("#")) + assert "python3" not in code + assert "/workspace/isaaclab/.venv/bin/python" in code diff --git a/tools/odin/workflow.py b/tools/odin/workflow.py new file mode 100644 index 000000000000..779102136ab1 --- /dev/null +++ b/tools/odin/workflow.py @@ -0,0 +1,97 @@ +# 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 + +"""Workflow rendering for OdinV2.""" + +from __future__ import annotations + +import hashlib +import re +from pathlib import Path +from typing import TYPE_CHECKING + +from jinja2 import Environment, FileSystemLoader, StrictUndefined + +if TYPE_CHECKING: + from tools.odin.config_file import OdinConfig + from tools.odin.plan import PlannedRow + +__all__ = ["osmo_safe_task_name", "render_workflow_yaml"] + + +_DNS_1123_LABEL_MAX = 63 +_HASH_SUFFIX_LEN = 7 # "-" + 6 hex chars +_NON_ALNUM_DASH = re.compile(r"[^a-z0-9-]") +_RUN_OF_DASHES = re.compile(r"-+") + + +def osmo_safe_task_name(row_key: str) -> str: + """Convert an OdinV2 ``row_key`` into a DNS-1123-compliant OSMO task name. + + Constraints, per Kubernetes' DNS-1123 label rules: + + - At most 63 characters. + - Lowercase alphanumerics and ``-`` only. + - Must not start or end with ``-``. + + On truncation a six-hex-character hash of the full *row_key* is appended, so + distinct long inputs still produce distinct outputs. + + Args: + row_key: Row identity, e.g. ``rsl_rl_physx_Isaac-Ant_seed42``. + + Returns: + A DNS-1123-safe label. + """ + dashed = re.sub(r"[_.\s]+", "-", row_key.lower()) + collapsed = _RUN_OF_DASHES.sub("-", _NON_ALNUM_DASH.sub("-", dashed)).strip("-") + if not collapsed: + # Degenerate input: emit a stable hash-only label. + return f"odin-{hashlib.sha256(row_key.encode('utf-8')).hexdigest()[:6]}" + if len(collapsed) <= _DNS_1123_LABEL_MAX: + return collapsed + digest = hashlib.sha256(row_key.encode("utf-8")).hexdigest()[:6] + return f"{collapsed[: _DNS_1123_LABEL_MAX - _HASH_SUFFIX_LEN].rstrip('-')}-{digest}" + + +_TEMPLATES_DIR = Path(__file__).parent / "templates" + + +def render_workflow_yaml( + *, + dispatch_id: str, + chunk_index: int, + rows: list[PlannedRow], + cfg: OdinConfig, + image_ref: str, + output_uri: str, +) -> str: + """Render the OSMO workflow YAML for one dispatch chunk. + + Args: + dispatch_id: Dispatch identifier, ``YYYYMMDD-HHMMSS``. + chunk_index: Zero-based chunk position; disambiguates workflow names. + rows: Rows belonging to this chunk. + cfg: Validated ``odin.yaml`` contents. + image_ref: Digest-pinned image reference every task in this chunk runs. + output_uri: Storage prefix for the dispatch, emitted as each task's + ``outputs:`` block so OSMO performs the upload itself. + + Returns: + The rendered workflow YAML. + """ + env = Environment( + loader=FileSystemLoader(str(_TEMPLATES_DIR)), + undefined=StrictUndefined, + keep_trailing_newline=True, + ) + return env.get_template("dispatch.yaml.j2").render( + dispatch_id=dispatch_id, + chunk_index=chunk_index, + rows=rows, + cfg=cfg, + image_ref=image_ref, + output_uri=output_uri, + ) diff --git a/tools/wheel_builder/uv-overrides.txt b/tools/wheel_builder/uv-overrides.txt index 762de5ba9d9f..34dcd1efd6fd 100644 --- a/tools/wheel_builder/uv-overrides.txt +++ b/tools/wheel_builder/uv-overrides.txt @@ -7,3 +7,4 @@ torch==2.11.0 torchvision==0.26.0 torchaudio==2.11.0 typing-extensions>=4.15.0 +packaging>=20,<27 diff --git a/uv.lock b/uv.lock index d727d974a8b7..753395ba1782 100644 --- a/uv.lock +++ b/uv.lock @@ -22,9 +22,6 @@ conflicts = [[ ], [ { package = "isaaclab-dev", extra = "isaacsim" }, { package = "isaaclab-dev", extra = "teleop" }, -], [ - { package = "isaaclab-dev", extra = "isaacsim" }, - { package = "isaaclab-dev", extra = "ovphysx" }, ], [ { package = "isaaclab-dev", extra = "isaacsim" }, { package = "isaaclab-dev", extra = "viser" }, @@ -49,6 +46,7 @@ overrides = [ { name = "newton", extras = ["sim", "importers"], git = "https://github.com/newton-physics/newton.git?rev=d7581b732d83843577411d36f6a58cccee909bce" }, { name = "newton-usd-schemas", specifier = ">=0.4.0" }, { name = "numpy", specifier = ">=2" }, + { name = "packaging", specifier = ">=20,<27" }, { name = "torch", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = "==2.11.0" }, { name = "torch", marker = "platform_machine == 'AMD64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu128" }, { name = "torch", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu130" }, @@ -119,14 +117,13 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "huggingface-hub" }, { name = "numpy" }, - { name = "packaging", version = "23.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, - { name = "packaging", version = "26.0", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "packaging" }, { name = "psutil" }, { name = "pyyaml" }, { name = "safetensors" }, - { name = "torch", version = "2.11.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine 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'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cufile-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cupti = [ - { name = "nvidia-cuda-cupti-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-cupti-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] curand = [ - { name = "nvidia-curand-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-curand-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusolver = [ - { name = "nvidia-cusolver-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusolver-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusparse = [ - { name = "nvidia-cusparse-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusparse-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvjitlink = [ - { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvrtc = [ - { name = "nvidia-cuda-nvrtc-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-nvrtc-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvtx = [ - { name = "nvidia-nvtx-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvtx-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] [[package]] @@ -1468,37 +1465,37 @@ wheels = [ [package.optional-dependencies] cublas = [ - { name = "nvidia-cublas", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cublas", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cudart = [ - { name = "nvidia-cuda-runtime", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-runtime", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cufft = [ - { name = "nvidia-cufft", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cufft", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cufile = [ - { name = "nvidia-cufile", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cufile", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cupti = [ - { name = "nvidia-cuda-cupti", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-cupti", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] curand = [ - { name = "nvidia-curand", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-curand", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusolver = [ - { name = "nvidia-cusolver", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusolver", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] cusparse = [ - { name = "nvidia-cusparse", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cusparse", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvjitlink = [ - { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvrtc = [ - { name = "nvidia-cuda-nvrtc", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-cuda-nvrtc", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] nvtx = [ - { name = "nvidia-nvtx", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvtx", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] [[package]] @@ -1515,12 +1512,12 @@ name = "cyclopts" version = "5.0.0a7" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "attrs", version = "25.1.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "attrs", version = "26.1.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all') or (platform_machine == 'aarch64' and extra != 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all') or (platform_machine == 'arm64' and extra != 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 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(platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and sys_platform != 'win32') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "torchvision", version = "0.26.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32' or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "torchvision", version = "0.26.0+cu130", source = { registry = "https://download.pytorch.org/whl/cu130" }, marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'arm64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "tqdm" }, { name = "transformers" }, { name = "trimesh", version = "4.11.1", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "trimesh", version = "4.12.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "trimesh", version = "4.12.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, { name = "typing-extensions" }, - { name = "usd-core", marker = "platform_machine in 'x86_64 AMD64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "usd-exchange", marker = "platform_machine in 'aarch64 arm64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "usd-core", marker = "platform_machine in 'x86_64 AMD64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "usd-exchange", marker = "platform_machine in 'aarch64 arm64' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "warp-lang" }, ] @@ -2827,7 +2822,7 @@ all = [ { name = "pandas" }, { name = "peft" }, { name = "pyarrow" }, - { name = "ray", extra = ["default"], marker = "extra == 'extra-12-isaaclab-dev-all' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "ray", extra = ["default"], marker = "extra == 'extra-12-isaaclab-dev-all' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "rerun-sdk" }, { name = "rich" }, { name = "rl-games" }, @@ -2861,7 +2856,7 @@ rerun = [ ] rl-games = [ { name = "aiohttp", version = "3.12.14", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "aiohttp", version = "3.14.3", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "aiohttp", version = "3.14.3", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, { name = "gym" }, { name = "rl-games" }, { name = "standard-distutils" }, @@ -2893,7 +2888,7 @@ skrl = [ teleop = [ { name = "dex-retargeting", marker = "platform_machine in 'x86_64 AMD64' and sys_platform == 'linux'" }, { name = "isaaclab-teleop" }, - { name = "isaacteleop", extra = ["cloudxr", "retargeters", "ui"], marker = "(platform_machine in 'x86_64 AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine not in 'x86_64 AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, + { name = "isaacteleop", extra = ["cloudxr", "retargeters", "ui"], marker = "(platform_machine in 'x86_64 AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine not in 'x86_64 AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, ] test = [ { name = "coverage", version = "7.15.2", source = { registry = "https://pypi.org/simple" } }, @@ -3025,7 +3020,7 @@ provides-extras = ["test", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun" [[package]] name = "isaaclab-experimental" -version = "0.1.4" +version = "0.1.5" source = { editable = "source/isaaclab_experimental" } dependencies = [ { name = "isaaclab" }, @@ -3053,7 +3048,7 @@ requires-dist = [ [[package]] name = "isaaclab-newton" -version = "2.2.0" +version = "2.3.1" source = { editable = "source/isaaclab_newton" } dependencies = [ { name = "isaaclab" }, @@ -3064,7 +3059,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-ov" -version = "0.9.0" +version = "0.10.0" source = { editable = "source/isaaclab_ov" } dependencies = [ { name = "isaaclab" }, @@ -3079,7 +3074,7 @@ requires-dist = [ [[package]] name = "isaaclab-ovphysx" -version = "7.0.0" +version = "8.1.0" source = { editable = "source/isaaclab_ovphysx" } dependencies = [ { name = "isaaclab" }, @@ -3094,7 +3089,7 @@ requires-dist = [ [[package]] name = "isaaclab-physx" -version = "3.1.0" +version = "3.1.2" source = { editable = "source/isaaclab_physx" } dependencies = [ { name = "isaaclab" }, @@ -3116,7 +3111,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }] [[package]] name = "isaaclab-rl" -version = "0.9.0" +version = "0.10.0" source = { editable = "source/isaaclab_rl" } dependencies = [ { name = "isaaclab" }, @@ -3133,7 +3128,7 @@ requires-dist = [ [[package]] name = "isaaclab-tasks" -version = "9.1.1" +version = "9.2.0" source = { editable = "source/isaaclab_tasks" } dependencies = [ { name = "isaaclab" }, @@ -3324,7 +3319,7 @@ dependencies = [ { name = "oauthlib" }, { name = "opencv-python-headless", version = "4.13.0.90", source = { registry = "https://pypi.org/simple" } }, { name = "osqp" }, - { name = "packaging", version = "26.0", source = { registry = "https://pypi.org/simple" } }, + { name = "packaging" }, { name = "portalocker" }, { name = "pycollada" }, { name = "pynvvideocodec" }, @@ -3342,15 +3337,15 @@ dependencies = [ { name = "six" }, { name = "sympy" }, { name = "tinyobjloader" }, - { name = "torch", version = "2.11.0", source = { registry = "https://pypi.org/simple" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or 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'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "torch", version = "2.11.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 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== 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra != 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 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and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or 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extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 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'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cudnn-cu13/nvidia_cudnn_cu13-9.19.0.56-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:6ed29ffaee1176c612daf442e4dd6cfeb6a0caa43ddcbeb59da94953030b1be4" }, @@ -4795,7 +4789,7 @@ name = "nvidia-cufft" version = "12.0.0.61" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 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extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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== 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cufft/nvidia_cufft-12.0.0.61-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:2708c852ef8cd89d1d2068bdbece0aa188813a0c934db3779b9b1faa8442e5f5" }, @@ -4808,7 +4802,7 @@ name = "nvidia-cufft-cu12" version = "11.3.3.83" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cufft-cu12/nvidia_cufft_cu12-11.3.3.83-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:848ef7224d6305cdb2a4df928759dca7b1201874787083b6e7550dd6765ce69a" }, @@ -4859,9 +4853,9 @@ name = "nvidia-cusolver" version = "12.0.4.66" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-cublas", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or 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'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cusolver/nvidia_cusolver-12.0.4.66-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:02c2457eaa9e39de20f880f4bd8820e6a1cfb9f9a34f820eb12a155aa5bc92d2" }, @@ -4874,9 +4868,9 @@ name = "nvidia-cusolver-cu12" version = "11.7.3.90" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-cublas-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 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(sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cusolver-cu12/nvidia_cusolver_cu12-11.7.3.90-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:db9ed69dbef9715071232caa9b69c52ac7de3a95773c2db65bdba85916e4e5c0" }, @@ -4889,7 +4883,7 @@ name = "nvidia-cusparse" version = "12.6.3.3" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and 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platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and sys_platform != 'linux' and extra == 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or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cusparse/nvidia_cusparse-12.6.3.3-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:80bcc4662f23f1054ee334a15c72b8940402975e0eab63178fc7e670aa59472c" }, @@ -4902,7 +4896,7 @@ name = "nvidia-cusparse-cu12" version = "12.5.8.93" source = { registry = "https://pypi.nvidia.com/" } dependencies = [ - { name = "nvidia-nvjitlink-cu12", marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and 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'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, ] wheels = [ { url = "https://pypi.nvidia.com/nvidia-cusparse-cu12/nvidia_cusparse_cu12-12.5.8.93-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:9b6c161cb130be1a07a27ea6923df8141f3c295852f4b260c65f18f3e0a091dc" }, @@ -5083,8 +5077,7 @@ dependencies = [ { name = "numpy" }, { name = "onnx" }, { name = "onnx-ir" }, - { name = "packaging", version = "23.2", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-all' or extra != 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser')" }, - { name = "packaging", version = "26.0", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-12-isaaclab-dev-isaacsim' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "packaging" }, { name = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/51/aa/1aecf63010d380a0c518ea2436204da86d16b244ce09d5f261c1e81bf35a/onnxscript-0.7.2.dev20260725.tar.gz", hash = "sha256:4df491866df7017a5838e0e0149eee5456e53ca21c23f39409b1d32128784b2e", size = 643240, upload-time = "2026-07-25T07:19:01.381Z" } @@ -5097,22 +5090,22 @@ name = "open3d" version = "0.19.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "addict", marker = "platform_machine != 'aarch64' or sys_platform != 'linux' or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') 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'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "torch", version = "2.11.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'AMD64' and platform_machine != 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32' or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, + { name = "torch", version = "2.11.0+cu130", source = { registry = "https://download.pytorch.org/whl/cu130" }, marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine != 'aarch64' and platform_machine != 'arm64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'arm64' and sys_platform == 'linux') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform != 'linux' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, { name = "tqdm" }, { name = "transformers" }, ] @@ -5521,11 +5480,11 @@ name = "pin" version = "3.9.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cmeel", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 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- { name = "cmeel-boost", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'x86_64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or sys_platform == 'linux' or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (sys_platform == 'win32' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop')" }, - { name = "cmeel-urdfdom", marker = "(platform_machine != 'AMD64' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'x86_64' and sys_platform != 'win32') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'AMD64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-test') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-viser') or (platform_machine == 'aarch64' and extra == 'extra-12-isaaclab-dev-mimic' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-isaacsim') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-all' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-mimic') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-ovphysx') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 'extra-12-isaaclab-dev-teleop') or (platform_machine == 'arm64' and extra == 'extra-12-isaaclab-dev-isaacsim' and extra == 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